SyclopEST.h
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34 
35 /* Author: Matt Maly */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPEST_
38 #define OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPEST_
39 
40 #include "ompl/control/planners/syclop/Syclop.h"
41 #include "ompl/control/planners/syclop/Decomposition.h"
42 #include "ompl/control/planners/syclop/GridDecomposition.h"
43 
44 namespace ompl
45 {
46  namespace control
47  {
51  class SyclopEST : public Syclop
52  {
53  public:
55  SyclopEST(const SpaceInformationPtr &si, const DecompositionPtr &d) : Syclop(si, d, "SyclopEST")
56  {
57  }
58 
59  ~SyclopEST() override
60  {
61  freeMemory();
62  }
63 
64  void setup() override;
65  void clear() override;
66  void getPlannerData(base::PlannerData &data) const override;
67 
68  protected:
69  Syclop::Motion *addRoot(const base::State *s) override;
70  void selectAndExtend(Region &region, std::vector<Motion *> &newMotions) override;
71 
73  void freeMemory();
74 
75  base::StateSamplerPtr sampler_;
76  ControlSamplerPtr controlSampler_;
77  std::vector<Motion *> motions_;
78 
81  };
82  }
83 }
84 #endif
SyclopEST(const SpaceInformationPtr &si, const DecompositionPtr &d)
Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.
Definition: SyclopEST.h:55
Synergistic Combination of Layers of Planning.
Definition: Syclop.h:73
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
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
void freeMemory()
Free the memory allocated by this planner.
Definition: SyclopEST.cpp:117
A shared pointer wrapper for ompl::base::StateSampler.
A shared pointer wrapper for ompl::control::ControlSampler.
Representation of a region in the Decomposition assigned to Syclop.
Definition: Syclop.h:290
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
Representation of a motion.
Definition: Syclop.h:265
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: SyclopEST.cpp:48
SyclopEST is Syclop with EST as its low-level tree planner.
Definition: SyclopEST.h:51
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: SyclopEST.h:80
void selectAndExtend(Region &region, 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
Definition of an abstract state.
Definition: State.h:49
A shared pointer wrapper for ompl::control::SpaceInformation.
A shared pointer wrapper for ompl::control::Decomposition.
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SyclopEST.cpp:40