RRT.cpp
47 Planner::declareParam<double>("goal_bias", this, &RRT::setGoalBias, &RRT::getGoalBias, "0.:.05:1.");
48 Planner::declareParam<bool>("intermediate_states", this, &RRT::setIntermediateStates, &RRT::getIntermediateStates,
62 nn_->setDistanceFunction([this](const Motion *a, const Motion *b) { return distanceFunction(a, b); });
93 ompl::base::PlannerStatus ompl::control::RRT::solve(const base::PlannerTerminationCondition &ptc)
118 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), nn_->size());
140 /* sample a random control that attempts to go towards the random state, and also sample a control duration */
141 unsigned int cd = controlSampler_->sampleTo(rctrl, nmotion->control, nmotion->state, rmotion->state);
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: RRT.cpp:263
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Continue solving for some amount of time. Return true if solution was found.
Definition: RRT.cpp:93
const SpaceInformation * siC_
The base::SpaceInformation cast as control::SpaceInformation, for convenience.
Definition: RRT.h:271
A shared pointer wrapper for ompl::base::SpaceInformation.
Representation of an edge in PlannerData for planning with controls. This structure encodes a specifi...
Definition: PlannerData.h:124
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: Planner.cpp:92
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
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:112
void clear() override
Clear datastructures. Call this function if the input data to the planner has changed and you do not ...
Definition: RRT.cpp:65
bool getIntermediateStates() const
Return true if the intermediate states generated along motions are to be added to the tree itself.
Definition: RRT.h:197
void setIntermediateStates(bool addIntermediateStates)
Specify whether the intermediate states generated along motions are to be added to the tree itself.
Definition: RRT.h:204
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
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
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: RRT.cpp:57
virtual bool hasControls() const
Indicate whether any information about controls (ompl::control::Control) is stored in this instance.
Definition: PlannerData.cpp:784