43 namespace ompl
70 virtual void getPlannerData(base::PlannerData &data) const;
72 virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
74 virtual void clear();
86 goalBias_ = goalBias;
92 return goalBias_;
98 range_ = distance;
104 return range_;
112 return keepLast_;
121 keepLast_ = keepLast;
124 virtual void setup();
136 ~Motion() = default;
146 void freeMemory();
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
void setGoalBias(double goalBias)
Set the goal bias In the process of randomly selecting states in the state space to attempt to go tow...
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
void setKeepLast(bool keepLast)
Set whether the planner will use the range or keep last heuristic. If keepLast = false,...
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
The maximum length of a motion to be added to a tree.
virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc)
Function that can solve the motion planning problem. This function can be called multiple times on th...
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Motion * parent
The parent motion in the exploration tree.
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
base::State * state
The state contained by the motion.
void setRange(double distance)
Set the maximum distance between states in the tree.
bool getKeepLast() const
If true, the planner will not have the range limitation. Instead, if a collision is detected,...
If true, the planner will retain the last valid state during local planner. Default is false.
Free the memory allocated by this planner.
double getGoalBias() const
Get the goal bias the planner is using.
virtual void getPlannerData(base::PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...