SST.h
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition: SST.h:261
std::shared_ptr< NearestNeighbors< Motion * > > witnesses_
A nearest-neighbors datastructure containing the tree of witness motions.
Definition: SST.h:257
void clear() override
Clear datastructures. Call this function if the input data to the planner has changed and you do not ...
Definition: SST.cpp:104
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
Witness * findClosestWitness(Motion *node)
Find the closest witness node to a newly generated potential node.
Definition: SST.cpp:179
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Continue solving for some amount of time. Return true if solution was found.
Definition: SST.cpp:220
Definition: SST.h:207
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state and the control.
Definition: SST.h:176
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49
void setSelectionRadius(double selectionRadius)
Set the radius for selecting nodes relative to random sample.
Definition: SST.h:121
double selectionRadius_
The radius for determining the node selected for extension.
Definition: SST.h:267
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: SST.h:254
Definition: SST.h:60
double getSelectionRadius() const
Get the selection radius the planner is using.
Definition: SST.h:127
Motion * selectNode(Motion *sample)
Finds the best node in the tree withing the selection radius around a random sample.
Definition: SST.cpp:150
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: SST.h:245
double pruningRadius_
The radius for determining the size of the pruning region.
Definition: SST.h:270
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: SST.cpp:404
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SST.cpp:65