SyclopEST.h
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
A shared pointer wrapper for ompl::base::SpaceInformation.
A shared pointer wrapper for ompl::control::ControlSampler.
A shared pointer wrapper for ompl::control::Decomposition.
SyclopEST is Syclop with EST as its low-level tree planner. .
Definition: SyclopEST.h:52
void selectAndExtend(Region ®ion, std::vector< Motion * > &newMotions) override
Select a Motion from the given Region, and extend the tree from the Motion. Add any new motions creat...
Definition: SyclopEST.cpp:89
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: SyclopEST.cpp:56
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: SyclopEST.h:80
Syclop::Motion * addRoot(const base::State *s) override
Add State s as a new root in the low-level tree, and return the Motion corresponding to s.
Definition: SyclopEST.cpp:80
SyclopEST(const SpaceInformationPtr &si, const DecompositionPtr &d)
Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.
Definition: SyclopEST.h:55
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SyclopEST.cpp:40
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: SyclopEST.cpp:48