SyclopRRT.cpp
85 data.addEdge(base::PlannerDataVertex(motion->parent->state), base::PlannerDataVertex(motion->state),
88 data.addEdge(base::PlannerDataVertex(motion->parent->state), base::PlannerDataVertex(motion->state));
106 void ompl::control::SyclopRRT::selectAndExtend(Region ®ion, std::vector<Motion *> &newMotions)
Representation of an edge in PlannerData for planning with controls. This structure encodes a specifi...
Definition: PlannerData.h:124
DirectedControlSamplerPtr allocDirectedControlSampler() const
Allocate an instance of the DirectedControlSampler to use. This will be the default (SimpleDirectedCo...
Definition: SpaceInformation.cpp:95
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: Syclop.cpp:64
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: Syclop.cpp:49
const SpaceInformation * siC_
Handle to the control::SpaceInformation object.
Definition: Syclop.h:480
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SyclopRRT.cpp:41
Representation of a region in the Decomposition assigned to Syclop.
Definition: Syclop.h:374
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: SyclopRRT.h:212
void selectAndExtend(Region ®ion, std::vector< Motion * > &newMotions) override
Select a Motion from the given Region, and extend the tree from the Motion. Add any new motions creat...
Definition: SyclopRRT.cpp:106
unsigned int addStartVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
Definition: PlannerData.cpp:413
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: SyclopRRT.h:201
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: SyclopRRT.cpp:60
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: SyclopRRT.cpp:69
virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0))
Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...
Definition: PlannerData.cpp:432
unsigned int addGoalVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
Definition: PlannerData.cpp:422
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:122
Syclop::Motion * addRoot(const base::State *s) override
Add State s as a new root in the low-level tree, and return the Motion corresponding to s.
Definition: SyclopRRT.cpp:95
virtual bool hasControls() const
Indicate whether any information about controls (ompl::control::Control) is stored in this instance.
Definition: PlannerData.cpp:784