pRRT.cpp
42 ompl::geometric::pRRT::pRRT(const base::SpaceInformationPtr &si) : base::Planner(si, "pRRT"), samplerArray_(si)
51 Planner::declareParam<double>("goal_bias", this, &pRRT::setGoalBias, &pRRT::getGoalBias, "0.:.05:1.");
52 Planner::declareParam<unsigned int>("thread_count", this, &pRRT::setThreadCount, &pRRT::getThreadCount, "1:64");
99 void ompl::geometric::pRRT::threadSolve(unsigned int tid, const base::PlannerTerminationCondition &ptc,
172 ompl::base::PlannerStatus ompl::geometric::pRRT::solve(const base::PlannerTerminationCondition &ptc)
199 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), nn_->size());
268 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
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
Definition: pRRT.h:139
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: pRRT.cpp:74
bool multithreaded
Flag indicating whether multiple threads are used in the computation of the planner.
Definition: Planner.h:200
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 setThreadCount(unsigned int nthreads)
Set the number of threads the planner should use. Default is 2.
Definition: pRRT.cpp:272
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
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: pRRT.cpp:60
The goal is of a type that a planner does not recognize.
Definition: PlannerStatus.h:60
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: pRRT.cpp:172
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
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
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: pRRT.cpp:252
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:225
Definition: pRRT.h:154
This class contains methods that automatically configure various parameters for motion planning...
Definition: SelfConfig.h:59