RRT.cpp
49 Planner::declareParam<double>("goal_bias", this, &RRT::setGoalBias, &RRT::getGoalBias, "0.:.05:1.");
50 Planner::declareParam<bool>("intermediate_states", this, &RRT::setIntermediateStates, &RRT::getIntermediateStates,
79 nn_->setDistanceFunction([this](const Motion *a, const Motion *b) { return distanceFunction(a, b); });
97 ompl::base::PlannerStatus ompl::geometric::RRT::solve(const base::PlannerTerminationCondition &ptc)
119 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), nn_->size());
248 data.addEdge(base::PlannerDataVertex(motion->parent->state), base::PlannerDataVertex(motion->state));
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:225
This class contains methods that automatically configure various parameters for motion planning....
Definition: SelfConfig.h:123
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: RRT.cpp:71
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: RRT.cpp:61
void setIntermediateStates(bool addIntermediateStates)
Specify whether the intermediate states generated along motions are to be added to the tree itself.
Definition: RRT.h:204
RRT(const base::SpaceInformationPtr &si, bool addIntermediateStates=false)
Constructor.
Definition: RRT.cpp:42
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
bool directed
Flag indicating whether the planner is able to account for the fact that the validity of a motion fro...
Definition: Planner.h:269
bool addIntermediateStates_
Flag indicating whether intermediate states are added to the built tree of motions.
Definition: RRT.h:285
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: RRT.cpp:232
bool getIntermediateStates() const
Return true if the intermediate states generated along motions are to be added to the tree itself.
Definition: RRT.h:197
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
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: RRT.cpp:97
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