47 namespace ompl
79 ~EST() override;
83 void clear() override;
94 goalBias_ = goalBias;
100 return goalBias_;
110 maxDistance_ = distance;
116 return maxDistance_;
123 projectionEvaluator_ = projectionEvaluator;
136 return projectionEvaluator_;
139 void setup() override;
161 ~Motion() = default;
187 Motion *operator(unsigned int i)
191 const Motion *operator(unsigned int i) const
195 void push_back(Motion *m)
208 CellPDF::Element *elem_;
214 TreeData() : grid(0), size(0)
226 void freeMemory();
double getRange() const
Get the range the planner is using.
Motion(const SpaceInformation *si)
Constructor that allocates memory for the state and the control.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
void addMotion(Motion *motion)
Add a motion to the exploration tree.
This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state...
Control * control
The control contained by the motion.
double getGoalBias() const
Get the goal bias the planner is using.
A shared pointer wrapper for ompl::base::ValidStateSampler.
Directed control sampler.
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Motion * selectMotion()
Select a motion to continue the expansion of the tree from.
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
The PDF used for selecting a cell from which to sample a motion.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
A struct containing an array of motions and a corresponding PDF element.
Valid state sampler.
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
The exploration tree constructed by this algorithm.
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
unsigned int steps
The number of steps the control is applied for.
A shared pointer wrapper for ompl::control::DirectedControlSampler.
Motion * parent
The parent motion in the exploration tree.
unsigned int size
The total number of motions in the grid.
A shared pointer wrapper for ompl::base::ProjectionEvaluator.
A class to store the exit status of Planner::solve()
A shared pointer wrapper for ompl::control::SpaceInformation.
void setRange(double distance)
Set the range the planner is supposed to use.
base::State * state
The state contained by the motion.
Free the memory allocated by this planner.
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
void setGoalBias(double goalBias)
In the process of randomly selecting states in the state space to attempt to go towards, the algorithm may in fact choose the actual goal state, if it knows it, with some probability. This probability is a real number between 0.0 and 1.0; its value should usually be around 0.05 and should not be too large. It is probably a good idea to use the default value.
The maximum length of a motion to be added to a tree.
The space information for which planning is done.
Space information containing necessary information for planning with controls. setup() needs to be ca...
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
const SpaceInformation * siC_
The base::SpaceInformation cast as control::SpaceInformation, for convenience.
Grid< MotionInfo > grid
A grid where each cell contains an array of motions.