BKPIECE1.h
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: BKPIECE1.h:96
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: BKPIECE1.h:106
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
const base::State * root
The root state (start state) that leads to this motion.
Definition: BKPIECE1.h:191
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
Definition: BKPIECE1.h:234
A shared pointer wrapper for ompl::base::ValidStateSampler.
Bi-directional KPIECE with one level of discretization.
Definition: BKPIECE1.h:73
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition: BKPIECE1.h:90
base::ProjectionEvaluatorPtr projectionEvaluator_
The employed projection evaluator.
Definition: BKPIECE1.h:207
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state...
Definition: BKPIECE1.h:83
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: BKPIECE1.cpp:66
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
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: BKPIECE1.cpp:258
double failedExpansionScoreFactor_
When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...
Definition: BKPIECE1.h:218
double getFailedExpansionCellScoreFactor() const
Get the factor that is multiplied to a cell's score if extending a motion from that cell failed...
Definition: BKPIECE1.h:147
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: BKPIECE1.h:184
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
One-level discretization used for KPIECE.
Definition: Discretization.h:58
Representation of a motion for this algorithm.
Definition: BKPIECE1.h:178
A shared pointer wrapper for ompl::base::ProjectionEvaluator.
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A shared pointer wrapper for ompl::base::SpaceInformation.
void setMinValidPathFraction(double fraction)
When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion. This function sets the minimum acceptable fraction.
Definition: BKPIECE1.h:158
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: BKPIECE1.cpp:248
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: BKPIECE1.cpp:82
void setFailedExpansionCellScoreFactor(double factor)
When extending a motion from a cell, the extension can be successful or it can fail. If the extension fails, the score of the cell is multiplied by factor. These number should be in the range (0, 1].
Definition: BKPIECE1.h:140
double getBorderFraction() const
Get the fraction of time to focus exploration on boundary.
Definition: BKPIECE1.h:131
double getMinValidPathFraction() const
Get the value of the fraction set by setMinValidPathFraction()
Definition: BKPIECE1.h:164
double minValidPathFraction_
When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion.
Definition: BKPIECE1.h:225
void setBorderFraction(double bp)
Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...
Definition: BKPIECE1.h:123