43 namespace ompl
66 RLRT(const base::SpaceInformationPtr &si);
68 virtual ~RLRT();
74 virtual void clear();
86 goalBias_ = goalBias;
92 return goalBias_;
98 range_ = distance;
104 return range_;
112 return keepLast_;
121 keepLast_ = keepLast;
124 virtual void setup();
136 ~Motion() = default;
146 void freeMemory();
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Motion * parent
The parent motion in the exploration tree.
base::State * state
The state contained by the motion.
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
If true, the planner will retain the last valid state during local planner. Default is false.
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
The maximum length of a motion to be added to a tree.
double getGoalBias() const
Get the goal bias the planner is using.
virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc)
Function that can solve the motion planning problem. This function can be called multiple times on th...
void setGoalBias(double goalBias)
Set the goal bias In the process of randomly selecting states in the state space to attempt to go tow...
void setRange(double distance)
Set the maximum distance between states in the tree.
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Free the memory allocated by this planner.
double getRange() const
Get the maximum distance between states in the tree.
void setKeepLast(bool keepLast)
Set whether the planner will use the range or keep last heuristic. If keepLast = false,...
virtual void getPlannerData(base::PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
bool getKeepLast() const
If true, the planner will not have the range limitation. Instead, if a collision is detected,...