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