EST.h
base::ProjectionEvaluatorPtr projectionEvaluator_
This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...
Definition: EST.h:244
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: EST.h:260
Motion(const SpaceInformation *si)
Constructor that allocates memory for the state and the control.
Definition: EST.h:154
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition: EST.h:128
A shared pointer wrapper for ompl::base::SpaceInformation.
void setGoalBias(double goalBias)
In the process of randomly selecting states in the state space to attempt to go towards,...
Definition: EST.h:92
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...
Definition: EST.cpp:94
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
const SpaceInformation * siC_
The base::SpaceInformation cast as control::SpaceInformation, for convenience.
Definition: EST.h:237
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: EST.cpp:57
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state.
Definition: EST.h:121
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: EST.cpp:245
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: EST.cpp:67
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:71
A shared pointer wrapper for ompl::control::DirectedControlSampler.
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition: EST.h:248
Motion * selectMotion()
Select a motion to continue the expansion of the tree from.
Definition: EST.cpp:219
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: EST.h:134
A struct containing an array of motions and a corresponding PDF element.
Definition: EST.h:184