EST.cpp
49 Planner::declareParam<double>("goal_bias", this, &EST::setGoalBias, &EST::getGoalBias, "0.:.05:1.");
94 ompl::base::PlannerStatus ompl::control::EST::solve(const base::PlannerTerminationCondition &ptc)
121 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), tree_.size);
146 controlSampler_->sampleTo(rmotion->control, existing->control, existing->state, rmotion->state);
200 path->append(mpath[i]->state, mpath[i]->control, mpath[i]->steps * siC_->getPropagationStepSize());
214 OMPL_INFORM("%s: Created %u states in %u cells", getName().c_str(), tree_.size, tree_.grid.size());
222 return cell && !cell->data.empty() ? cell->data[rng_.uniformInt(0, cell->data.size() - 1)] : nullptr;
263 data.addEdge(base::PlannerDataVertex(motion->parent->state), base::PlannerDataVertex(motion->state),
bool approximateSolutions
Flag indicating whether the planner is able to compute approximate solutions.
Definition: Planner.h:203
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
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:94
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: EST.cpp:67
Motion * selectMotion()
Select a motion to continue the expansion of the tree from.
Definition: EST.cpp:219
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:245
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
Representation of an edge in PlannerData for planning with controls. This structure encodes a specifi...
Definition: PlannerData.h:60
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
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
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
virtual bool isSatisfied(const State *st) const =0
Return true if the state satisfies the goal constraints.
A shared pointer wrapper for ompl::control::SpaceInformation.
void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj)
If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...
Definition: SelfConfig.cpp:231
virtual bool hasControls() const
Indicate whether any information about controls (ompl::control::Control) is stored in this instance...
Definition: PlannerData.cpp:784
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: EST.cpp:57
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:92
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
const SpaceInformation * siC_
The base::SpaceInformation cast as control::SpaceInformation, for convenience.
Definition: EST.h:237