EST.cpp
49 Planner::declareParam<double>("goal_bias", this, &EST::setGoalBias, &EST::getGoalBias, "0.:.05:1.");
94 ompl::base::PlannerStatus ompl::control::EST::solve(const base::PlannerTerminationCondition &ptc)
121 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), tree_.size);
146 controlSampler_->sampleTo(rmotion->control, existing->control, existing->state, rmotion->state);
200 path->append(mpath[i]->state, mpath[i]->control, mpath[i]->steps * siC_->getPropagationStepSize());
214 OMPL_INFORM("%s: Created %u states in %u cells", getName().c_str(), tree_.size, tree_.grid.size());
222 return cell && !cell->data.empty() ? cell->data[rng_.uniformInt(0, cell->data.size() - 1)] : nullptr;
263 data.addEdge(base::PlannerDataVertex(motion->parent->state), base::PlannerDataVertex(motion->state),
A shared pointer wrapper for ompl::base::SpaceInformation.
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:225
Representation of an edge in PlannerData for planning with controls. This structure encodes a specifi...
Definition: PlannerData.h:124
void setGoalBias(double goalBias)
In the process of randomly selecting states in the state space to attempt to go towards,...
Definition: EST.h:188
This class contains methods that automatically configure various parameters for motion planning....
Definition: SelfConfig.h:123
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: EST.cpp:94
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:127
const SpaceInformation * siC_
The base::SpaceInformation cast as control::SpaceInformation, for convenience.
Definition: EST.h:333
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: EST.cpp:57
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:112
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: EST.cpp:245
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: EST.cpp:67
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
void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj)
If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...
Definition: SelfConfig.cpp:231
Motion * selectMotion()
Select a motion to continue the expansion of the tree from.
Definition: EST.cpp:219
bool approximateSolutions
Flag indicating whether the planner is able to compute approximate solutions.
Definition: Planner.h:259
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
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:111
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:122
virtual bool hasControls() const
Indicate whether any information about controls (ompl::control::Control) is stored in this instance.
Definition: PlannerData.cpp:784