RLRT.h
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: RLRT.h:132
bool keepLast_
If true, the planner will retain the last valid state during local planner. Default is false.
Definition: RLRT.h:160
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
Definition: RLRT.h:153
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...
Definition: RLRT.cpp:88
void setGoalBias(double goalBias)
Set the goal bias In the process of randomly selecting states in the state space to attempt to go tow...
Definition: RLRT.h:84
void setRange(double distance)
Set the maximum distance between states in the tree.
Definition: RLRT.h:96
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: RLRT.cpp:65
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: RLRT.h:167
void setKeepLast(bool keepLast)
Set whether the planner will use the range or keep last heuristic. If keepLast = false,...
Definition: RLRT.h:119
virtual void getPlannerData(base::PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: RLRT.cpp:226
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: RLRT.cpp:57
bool getKeepLast() const
If true, the planner will not have the range limitation. Instead, if a collision is detected,...
Definition: RLRT.h:110
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49