LightningDB.h
124 std::vector<ompl::base::PlannerDataPtr> findNearestStartGoal(int nearestK, const base::State *start,
152 double distanceFunction(const ompl::base::PlannerDataPtr &a, const ompl::base::PlannerDataPtr &b) const;
std::size_t getExperiencesCount() const
Get the total number of paths stored in the database.
Definition: LightningDB.cpp:257
ompl::base::PlannerDataStorage plannerDataStorage_
Helper class for storing each plannerData instance.
Definition: LightningDB.h:223
A shared pointer wrapper for ompl::base::PlannerData.
std::vector< ompl::base::PlannerDataPtr > findNearestStartGoal(int nearestK, const base::State *start, const base::State *goal)
Find the k nearest paths to our queries one.
Definition: LightningDB.cpp:221
std::size_t getStatesCount() const
Get the total number of states stored in the database, across all paths.
Definition: LightningDB.cpp:262
void getAllPlannerDatas(std::vector< ompl::base::PlannerDataPtr > &plannerDatas) const
Get a vector of all the paths in the nearest neighbor tree.
Definition: LightningDB.cpp:211
Object that handles loading/storing a PlannerData object to/from a binary stream. Serialization of ve...
Definition: PlannerDataStorage.h:143
bool saveIfChanged(const std::string &fileName)
Save loaded database to file, except skips saving if no paths have been added.
Definition: LightningDB.cpp:156
LightningDB(const base::StateSpacePtr &space)
Constructor needs the state space used for planning.
Definition: LightningDB.cpp:47
void addPath(geometric::PathGeometric &solutionPath, double &insertionTime)
Add a new solution path to our database. Des not actually save to file so experience will be lost if ...
Definition: LightningDB.cpp:124