LBKPIECE1.h
177 Motion(const base::SpaceInformationPtr &si) : root(NULL), state(si->allocState()), parent(NULL), valid(false)
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
base::ProjectionEvaluatorPtr projectionEvaluator_
The employed projection evaluator.
Definition: LBKPIECE1.h:218
virtual void getPlannerData(base::PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: LBKPIECE1.cpp:322
Representation of a motion for this algorithm.
Definition: LBKPIECE1.h:168
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: LBKPIECE1.cpp:312
std::vector< Motion * > children
The set of motions descending from the current motion.
Definition: LBKPIECE1.h:198
double getBorderFraction() const
Get the fraction of time to focus exploration on boundary.
Definition: LBKPIECE1.h:136
A boost shared pointer wrapper for ompl::base::StateSampler.
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state...
Definition: LBKPIECE1.h:89
void removeMotion(Discretization< Motion > &disc, Motion *motion)
Remove a motion from a tree of motions.
Definition: LBKPIECE1.cpp:274
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: LBKPIECE1.h:234
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition: LBKPIECE1.h:96
double getMinValidPathFraction() const
Get the value of the fraction set by setMinValidPathFraction()
Definition: LBKPIECE1.h:153
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: LBKPIECE1.h:231
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:54
One-level discretization used for KPIECE.
Definition: Discretization.h:59
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: LBKPIECE1.h:112
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: LBKPIECE1.h:102
A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: LBKPIECE1.h:177
A boost shared pointer wrapper for ompl::base::SpaceInformation.
bool isPathValid(Discretization< Motion > &disc, Motion *motion, base::State *temp)
Since solutions are computed in a lazy fashion, once trees are connected, the solution found needs to...
Definition: LBKPIECE1.cpp:229
bool valid
Flag indicating whether this motion has been checked for validity.
Definition: LBKPIECE1.h:195
Lazy Bi-directional KPIECE with one level of discretization.
Definition: LBKPIECE1.h:78
virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc)
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: LBKPIECE1.cpp:75
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: LBKPIECE1.h:147
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
Definition: LBKPIECE1.h:240
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: LBKPIECE1.cpp:61
const base::State * root
The root state (start state) that leads to this motion.
Definition: LBKPIECE1.h:186
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: LBKPIECE1.h:128