EST.h
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
PDF< Motion * >::Element * element
A pointer to the corresponding element in the probability distribution function.
Definition: EST.h:136
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: EST.h:177
A shared pointer wrapper for ompl::base::ValidStateSampler.
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: EST.cpp:57
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
PDF< Motion * > pdf_
The probability distribution function over states in the tree.
Definition: EST.h:152
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: EST.cpp:75
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: EST.h:140
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: EST.h:123
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A shared pointer wrapper for ompl::base::SpaceInformation.
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: EST.cpp:98
void addMotion(Motion *motion, const std::vector< Motion *> &neighbors)
Add a motion to the exploration tree.
Definition: EST.cpp:230
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: EST.cpp:246
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: EST.h:84
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: EST.h:146
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
Definition: EST.h:165