SyclopRRT.h
A shared pointer wrapper for ompl::base::SpaceInformation.
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: SyclopRRT.h:183
Syclop(const SpaceInformationPtr &si, DecompositionPtr d, const std::string &plannerName)
Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.
Definition: Syclop.h:199
void setRegionalNearestNeighbors(bool enabled)
If regionalNearestNeighbors is enabled, then when computing the closest Motion to a generated state i...
Definition: SyclopRRT.h:176
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SyclopRRT.cpp:41
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
A shared pointer wrapper for ompl::control::DirectedControlSampler.
A shared pointer wrapper for ompl::control::Decomposition.
SyclopRRT(const SpaceInformationPtr &si, const DecompositionPtr &d)
Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.
Definition: SyclopRRT.h:152
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
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