ProjEST.cpp
43 ompl::geometric::ProjEST::ProjEST(const base::SpaceInformationPtr &si) : base::Planner(si, "ProjEST")
48 Planner::declareParam<double>("range", this, &ProjEST::setRange, &ProjEST::getRange, "0.:1.:10000.");
49 Planner::declareParam<double>("goal_bias", this, &ProjEST::setGoalBias, &ProjEST::getGoalBias, "0.:.05:1.");
91 ompl::base::PlannerStatus ompl::geometric::ProjEST::solve(const base::PlannerTerminationCondition &ptc)
113 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), tree_.size);
186 OMPL_INFORM("%s: Created %u states in %u cells", getName().c_str(), tree_.size, tree_.grid.size());
194 return (cell != nullptr) && !cell->data.empty() ? cell->data[rng_.uniformInt(0, cell->data.size() - 1)] : nullptr;
233 data.addEdge(base::PlannerDataVertex(motion->parent->state), base::PlannerDataVertex(motion->state));
bool approximateSolutions
Flag indicating whether the planner is able to compute approximate solutions.
Definition: Planner.h:203
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
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
Motion * selectMotion()
Select a motion to continue the expansion of the tree from.
Definition: ProjEST.cpp:191
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: ProjEST.cpp:91
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
void setGoalBias(double goalBias)
In the process of randomly selecting states in the state space to attempt to go towards, the algorithm may in fact choose the actual goal state, if it knows it, with some probability. This probability is a real number between 0.0 and 1.0; its value should usually be around 0.05 and should not be too large. It is probably a good idea to use the default value.
Definition: ProjEST.h:91
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: ProjEST.cpp:67
bool directed
Flag indicating whether the planner is able to account for the fact that the validity of a motion fro...
Definition: Planner.h:213
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: ProjEST.h:107
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:58
Invalid start state or no start state specified.
Definition: PlannerStatus.h:56
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:47
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: ProjEST.cpp:217
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: ProjEST.cpp:57
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
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
A shared pointer wrapper for ompl::base::SpaceInformation.
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
virtual bool isSatisfied(const State *st) const =0
Return true if the state satisfies the goal constraints.
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
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:59