SyclopEST is Syclop with EST as its low-level tree planner. More...
#include <SyclopEST.h>
Public Member Functions | |
SyclopEST (const SpaceInformationPtr &si, const DecompositionPtr &d) | |
Constructor. Requires a Decomposition, which Syclop uses to create high-level leads. | |
virtual void | setup (void) |
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceInformation::setup() if needed. This must be called before solving. | |
virtual void | clear (void) |
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work. | |
virtual void | getPlannerData (base::PlannerData &data) const |
Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between). | |
Protected Member Functions | |
virtual Syclop::Motion * | addRoot (const base::State *s) |
Add State s as a new root in the low-level tree, and return the Motion corresponding to s. | |
virtual void | selectAndExtend (Region ®ion, std::vector< Motion * > &newMotions) |
Select a Motion from the given Region, and extend the tree from the Motion. Add any new motions created to newMotions. | |
void | freeMemory (void) |
Free the memory allocated by this planner. | |
Protected Attributes | |
base::StateSamplerPtr | sampler_ |
ControlSamplerPtr | controlSampler_ |
std::vector< Motion * > | motions_ |