PDST.h
271 void addMotion(Motion *motion, Cell *bsp, base::State * /*state*/, base::EuclideanProjection & /*proj*/);
ompl::BinaryHeap< Motion *, MotionCompare > priorityQueue_
Priority queue of motions.
Definition: PDST.h:295
Comparator used to order motions in the priority queue.
Definition: PDST.h:131
Class representing the tree of motions exploring the state space.
Definition: PDST.h:142
std::vector< Motion * > startMotions_
Vector holding all of the start states supplied for the problem Each start motion is the root of its ...
Definition: PDST.h:293
A shared pointer wrapper for ompl::base::StateSampler.
ompl::base::ProjectionEvaluatorPtr projectionEvaluator_
Projection evaluator for the problem.
Definition: PDST.h:299
double goalBias_
Number between 0 and 1 specifying the probability with which the goal should be sampled.
Definition: PDST.h:301
When an element is added to the heap, an instance of Element* is created. This instance contains the ...
Definition: BinaryHeap.h:59
std::vector< Motion * > motions_
The motions contained in this cell. Motions are stored only in leaf nodes.
Definition: PDST.h:267
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: PDST.cpp:238
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:47
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
unsigned int splitDimension_
Dimension along which the cell is split into smaller cells.
Definition: PDST.h:257
void getPlannerData(base::PlannerData &data) const override
Extracts the planner data from the priority queue into data.
Definition: PDST.cpp:282
A shared pointer wrapper for ompl::base::ProjectionEvaluator.
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition: ProjectionEvaluator.h:59
ompl::base::GoalSampleableRegion * goalSampler_
Objected used to sample the goal.
Definition: PDST.h:303
Motion * propagateFrom(Motion *motion, base::State *, base::State *)
Select a state along motion and propagate a new motion from there. Return nullptr if no valid motion ...
Definition: PDST.cpp:171
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state...
Definition: PDST.h:92
void updateHeapElement(Motion *motion)
Either update heap after motion's priority has changed or insert motion into heap.
Definition: PDST.h:273
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: PDST.cpp:267
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:47
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition: PDST.h:98
*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: PDST.h:116
void addMotion(Motion *motion, Cell *bsp, base::State *, base::EuclideanProjection &)
Inserts the motion into the appropriate cell.
Definition: PDST.cpp:187
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: PDST.h:104
ompl::BinaryHeap< Motion *, MotionCompare >::Element * heapElement_
Handle to the element of the priority queue for this Motion.
Definition: PDST.h:194
bool operator()(Motion *p1, Motion *p2) const
returns true if m1 is lower priority than m2
Definition: PDST.h:134
Cell * stab(const ompl::base::EuclideanProjection &projection) const
Locates the cell that this motion begins in.
Definition: PDST.h:226
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: PDST.cpp:51
unsigned int iteration_
Iteration number and priority of the next Motion that will be generated.
Definition: PDST.h:305
double priority_
Priority for selecting this path to extend from in the future.
Definition: PDST.h:188