45 namespace ompl
69 EST(const base::SpaceInformationPtr &si);
71 ~EST() override;
75 void clear() override;
86 goalBias_ = goalBias;
92 return goalBias_;
102 maxDistance_ = distance;
111 return maxDistance_;
114 void setup() override;
123 Motion() = default;
130 ~Motion() = default;
158 void freeMemory();
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
The space information for which planning is done.
PDF< Motion * >::Element * element
A pointer to the corresponding element in the probability distribution function.
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
base::State * state
The state contained by the motion.
Motion * parent
The parent motion in the exploration tree.
double getGoalBias() const
Get the goal bias the planner is using.
PDF< Motion * > pdf_
The probability distribution function over states in the tree.
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
void setGoalBias(double goalBias)
In the process of randomly selecting states in the state space to attempt to go towards,...
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
std::vector< Motion * > motions_
The set of all states in the tree.
void setRange(double distance)
Set the range the planner is supposed to use.
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Free the memory allocated by this planner.
double getRange() const
Get the range the planner is using.
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
void addMotion(Motion *motion, const std::vector< Motion * > &neighbors)
Add a motion to the exploration tree.
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Valid state sampler.
The maximum length of a motion to be added to a tree.
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...
The radius considered for neighborhood.
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)