RRT.h
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
A shared pointer wrapper for ompl::base::StateSampler.
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: RRT.h:178
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: RRT.cpp:56
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: RRT.h:163
bool getIntermediateStates() const
Return true if the intermediate states generated along motions are to be added to the tree itself...
Definition: RRT.h:101
bool addIntermediateStates_
Flag indicating whether intermediate states are added to the built tree of motions.
Definition: RRT.h:185
void setIntermediateStates(bool addIntermediateStates)
Specify whether the intermediate states generated along motions are to be added to the tree itself...
Definition: RRT.h:108
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
A shared pointer wrapper for ompl::control::DirectedControlSampler.
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: RRT.h:191
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
Motion(const SpaceInformation *si)
Constructor that allocates memory for the state and the control.
Definition: RRT.h:139
A shared pointer wrapper for ompl::control::SpaceInformation.
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Continue solving for some amount of time. Return true if solution was found.
Definition: RRT.cpp:95
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:265
const SpaceInformation * siC_
The base::SpaceInformation cast as control::SpaceInformation, for convenience.
Definition: RRT.h:175
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:70
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
Definition: RRT.h:182
void clear() override
Clear datastructures. Call this function if the input data to the planner has changed and you do not ...
Definition: RRT.cpp:67