STRIDE.h
void setMaxDegree(unsigned int maxDegree)
Set maximum degree of a node in the GNAT.
Definition: STRIDE.h:179
void setGoalBias(double goalBias)
In the process of randomly selecting states in the state space to attempt to go towards,...
Definition: STRIDE.h:132
void setDegree(unsigned int degree)
Set desired degree of a node in the GNAT.
Definition: STRIDE.h:159
bool useProjectedDistance_
Whether to use distance in the projection (instead of distance in the state space) for the GNAT.
Definition: STRIDE.h:335
double projectedDistanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between projections of contained states)
Definition: STRIDE.h:302
void setMinValidPathFraction(double fraction)
When extending a motion, the planner can decide to keep the first valid part of it,...
Definition: STRIDE.h:236
base::ProjectionEvaluatorPtr projectionEvaluator_
This algorithm can optionally use a projection to guide the exploration.
Definition: STRIDE.h:321
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition: STRIDE.h:328
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: STRIDE.h:296
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: STRIDE.cpp:82
void setUseProjectedDistance(bool useProjectedDistance)
Set whether nearest neighbors are computed based on distances in a projection of the state rather dis...
Definition: STRIDE.h:146
void setEstimatedDimension(double estimatedDimension)
Set estimated dimension of the free space, which is needed to compute the sampling weight for a node ...
Definition: STRIDE.h:203
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: STRIDE.cpp:131
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
STRIDE(const base::SpaceInformationPtr &si, bool useProjectedDistance=false, unsigned int degree=16, unsigned int minDegree=12, unsigned int maxDegree=18, unsigned int maxNumPtsPerLeaf=6, double estimatedDimension=0.0)
Constructor.
Definition: STRIDE.cpp:46
double minValidPathFraction_
When extending a motion, the planner can decide to keep the first valid part of it,...
Definition: STRIDE.h:351
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: STRIDE.cpp:242
double getMinValidPathFraction() const
Get the value of the fraction set by setMinValidPathFraction()
Definition: STRIDE.h:242
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: STRIDE.h:261
unsigned int getMaxNumPtsPerLeaf() const
Get maximum number of elements stored in a leaf node of the GNAT.
Definition: STRIDE.h:196
void setMinDegree(unsigned int minDegree)
Set minimum degree of a node in the GNAT.
Definition: STRIDE.h:169
double estimatedDimension_
Estimate of the local dimensionality of the free space around a state.
Definition: STRIDE.h:345
Motion * selectMotion()
Select a motion to continue the expansion of the tree from.
Definition: STRIDE.cpp:237
double getEstimatedDimension() const
Get estimated dimension of the free space, which is needed to compute the sampling weight for a node ...
Definition: STRIDE.h:210
void setMaxNumPtsPerLeaf(unsigned int maxNumPtsPerLeaf)
Set maximum number of elements stored in a leaf node of the GNAT.
Definition: STRIDE.h:190
bool getUseProjectedDistance() const
Return whether nearest neighbors are computed based on distances in a projection of the state rather ...
Definition: STRIDE.h:153
boost::scoped_ptr< NearestNeighborsGNAT< Motion * > > tree_
The exploration tree constructed by this algorithm.
Definition: STRIDE.h:324
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: STRIDE.cpp:107
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state.
Definition: STRIDE.h:248
unsigned int maxNumPtsPerLeaf_
Maximum number of points stored in a leaf node in the GNAT.
Definition: STRIDE.h:343