BiEST.cpp
48 Planner::declareParam<double>("range", this, &BiEST::setRange, &BiEST::getRange, "0.:1.:10000.");
120 ompl::base::PlannerStatus ompl::geometric::BiEST::solve(const base::PlannerTerminationCondition &ptc)
228 // Get all states in the other tree within a maxDistance_ ball (bigger than "neighborhood" ball)
282 void ompl::geometric::BiEST::addMotion(Motion *motion, std::vector<Motion *> &motions, PDF<Motion *> &pdf,
323 data.addEdge(data.vertexIndex(connectionPoint_.first), data.vertexIndex(connectionPoint_.second));
PDF< Motion * >::Element * element
A pointer to the corresponding element in the probability distribution function.
Definition: BiEST.h:123
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
The planner failed to find a solution.
Definition: PlannerStatus.h:62
GoalType recognizedGoal
The type of goal specification the planner can use.
Definition: Planner.h:197
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
unsigned int vertexIndex(const PlannerDataVertex &v) const
Return the index for the vertex associated with the given data. INVALID_INDEX is returned if this ver...
Definition: PlannerData.cpp:315
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
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
double getWeight(const Element *elem) const
Returns the current weight of the given Element.
Definition: PDF.h:171
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: BiEST.cpp:56
The goal is of a type that a planner does not recognize.
Definition: PlannerStatus.h:60
The planner found an exact solution.
Definition: PlannerStatus.h:66
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: BiEST.cpp:120
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
Abstract representation of a container that can perform nearest neighbors queries.
Definition: NearestNeighbors.h:48
void update(Element *elem, const double w)
Updates the data in the given Element with a new weight value.
Definition: PDF.h:155
_T & sample(double r) const
Returns a piece of data from the PDF according to the input sampling value, which must be between 0 a...
Definition: PDF.h:132
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: BiEST.cpp:299
void addMotion(Motion *motion, std::vector< Motion *> &motions, PDF< Motion *> &pdf, const std::shared_ptr< NearestNeighbors< Motion *>> &nn, const std::vector< Motion *> &neighbors)
Add a motion to the exploration tree.
Definition: BiEST.cpp:282
Element * add(const _T &d, const double w)
Adds a piece of data with a given weight to the PDF. Returns a corresponding Element, which can be used to subsequently update or remove the data from the PDF.
Definition: PDF.h:97
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
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: BiEST.cpp:84
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible...
Definition: GoalTypes.h:56