pSBL.h
236 void threadSolve(unsigned int tid, const base::PlannerTerminationCondition &ptc, SolutionInfo *sol);
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
Definition: pSBL.h:208
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: pSBL.cpp:69
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: pSBL.cpp:188
Parallel Single-query Bi-directional Lazy collision checking planner.
Definition: pSBL.h:87
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: pSBL.h:108
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: pSBL.cpp:451
A struct containing an array of motions and a corresponding PDF element.
Definition: pSBL.h:178
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state.
Definition: pSBL.h:95
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
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition: pSBL.h:102
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: pSBL.cpp:58
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
Definition: pSBL.h:269
void setThreadCount(unsigned int nthreads)
Set the number of threads the planner should use. Default is 2.
Definition: pSBL.cpp:480
Definition: pSBL.h:157
Class to ease the creation of a set of samplers. This is especially useful for multi-threaded planner...
Definition: StateSamplerArray.h:88
Definition: pSBL.h:218