ProjEST.h
Grid< MotionInfo > grid
A grid where each cell contains an array of motions.
Definition: ProjEST.h:204
The data contained by a tree of exploration.
Definition: ProjEST.h:199
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::ValidStateSampler.
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
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: ProjEST.h:107
base::ProjectionEvaluatorPtr projectionEvaluator_
This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...
Definition: ProjEST.h:227
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
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 shared pointer wrapper for ompl::base::ProjectionEvaluator.
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: ProjEST.h:133
A shared pointer wrapper for ompl::base::SpaceInformation.
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: ProjEST.h:150
CellPDF pdf_
The PDF used for selecting a cell from which to sample a motion.
Definition: ProjEST.h:240
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state...
Definition: ProjEST.h:120
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
Definition: ProjEST.h:231
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: ProjEST.h:243
A struct containing an array of motions and a corresponding PDF element.
Definition: ProjEST.h:172
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition: ProjEST.h:127