BiEST.h
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
std::vector< Motion * > startMotions_
The set of all states in the start tree.
Definition: BiEST.h:140
A shared pointer wrapper for ompl::base::ValidStateSampler.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: BiEST.cpp:56
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
A shared pointer wrapper for ompl::base::SpaceInformation.
Abstract representation of a container that can perform nearest neighbors queries.
Definition: NearestNeighbors.h:48
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
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: BiEST.h:130
PDF< Motion * > startPdf_
The probability distribution function over states in each tree.
Definition: BiEST.h:144
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: BiEST.cpp:84
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: BiEST.h:109
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
Definition: BiEST.h:168
std::shared_ptr< NearestNeighbors< Motion * > > nnStart_
A nearest-neighbors datastructure containing the tree of motions.
Definition: BiEST.h:136