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LazyLBTRRT.h
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:89
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition: LazyLBTRRT.h:397
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: LazyLBTRRT.cpp:318
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: LazyLBTRRT.h:193
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:127
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: LazyLBTRRT.cpp:122
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: LazyLBTRRT.h:400
void sampleBiased(const base::GoalSampleableRegion *goal_s, base::State *rstate)
sample with goal biasing
Definition: LazyLBTRRT.cpp:344
virtual bool isSatisfied(const State *st) const =0
Return true if the state satisfies the goal constraints.
double distanceFunction(const base::State *a, const base::State *b) const
Compute distance between motions (actually distance between contained states)
Definition: LazyLBTRRT.h:313
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: LazyLBTRRT.h:409
Definition: LPAstarOnGraph.h:102
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:111
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: LazyLBTRRT.h:206
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: LazyLBTRRT.h:393
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: LazyLBTRRT.cpp:92
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: LazyLBTRRT.cpp:77