ThunderDB.h
ThunderDB(const base::StateSpacePtr &space)
Constructor needs the state space used for planning.
Definition: ThunderDB.cpp:48
bool findNearestStartGoal(int nearestK, const base::State *start, const base::State *goal, ompl::geometric::SPARSdb::CandidateSolution &candidateSolution, const base::PlannerTerminationCondition &ptc)
Find the k nearest paths to our queries one.
Definition: ThunderDB.cpp:278
ompl::base::PlannerDataStorage plannerDataStorage_
Helper class for storing each plannerData instance.
Definition: ThunderDB.h:163
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
void setSavingEnabled(bool saving_enabled)
Setter for enabling experience database saving.
Definition: ThunderDB.h:144
Object that handles loading/storing a PlannerData object to/from a binary stream. Serialization of ve...
Definition: PlannerDataStorage.h:80
void debugVertex(const ompl::base::PlannerDataVertex &vertex)
Print info to screen.
Definition: ThunderDB.cpp:296
void getAllPlannerDatas(std::vector< ompl::base::PlannerDataPtr > &plannerDatas) const
Get a vector of all the planner datas in the database.
Definition: ThunderDB.cpp:263
bool addPath(ompl::geometric::PathGeometric &solutionPath, double &insertionTime)
Add a new solution path to our database. Des not actually save to file so experience will be lost if ...
Definition: ThunderDB.cpp:129
std::shared_ptr< ompl::geometric::SPARSdb > SPARSdbPtr
Definition: ThunderDB.h:64
bool saveIfChanged(const std::string &fileName)
Save loaded database to file, except skips saving if no paths have been added.
Definition: ThunderDB.cpp:165
void setSPARSdb(ompl::tools::SPARSdbPtr &prm)
Create the database structure for saving experiences.
Definition: ThunderDB.cpp:250
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:59
Struct for passing around partially solved solutions.
Definition: SPARSdb.h:234