BKPIECE1.h
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:89
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: BKPIECE1.h:192
const base::State * root
The root state (start state) that leads to this motion.
Definition: BKPIECE1.h:287
Representation of a motion for this algorithm.
Definition: BKPIECE1.h:274
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: BKPIECE1.cpp:76
double getMinValidPathFraction() const
Get the value of the fraction set by setMinValidPathFraction()
Definition: BKPIECE1.h:260
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: BKPIECE1.h:202
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state.
Definition: BKPIECE1.h:179
double getFailedExpansionCellScoreFactor() const
Get the factor that is multiplied to a cell's score if extending a motion from that cell failed.
Definition: BKPIECE1.h:243
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: BKPIECE1.cpp:242
double minValidPathFraction_
When extending a motion, the planner can decide to keep the first valid part of it,...
Definition: BKPIECE1.h:321
void setMinValidPathFraction(double fraction)
When extending a motion, the planner can decide to keep the first valid part of it,...
Definition: BKPIECE1.h:254
void setFailedExpansionCellScoreFactor(double factor)
When extending a motion from a cell, the extension can be successful or it can fail....
Definition: BKPIECE1.h:236
double getBorderFraction() const
Get the fraction of time to focus exploration on boundary.
Definition: BKPIECE1.h:227
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
Definition: BKPIECE1.h:330
double failedExpansionScoreFactor_
When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...
Definition: BKPIECE1.h:314
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: BKPIECE1.cpp:60
One-level discretization used for KPIECE.
Definition: Discretization.h:122
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: BKPIECE1.cpp:252
base::ProjectionEvaluatorPtr projectionEvaluator_
The employed projection evaluator.
Definition: BKPIECE1.h:303
void setBorderFraction(double bp)
Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...
Definition: BKPIECE1.h:219