PDST.h
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: PDST.cpp:52
Comparator used to order motions in the priority queue.
Definition: PDST.h:135
Class representing the tree of motions exploring the state space.
Definition: PDST.h:146
ompl::BinaryHeap< Motion *, MotionCompare >::Element * heapElement_
Handle to the element of the priority queue for this Motion.
Definition: PDST.h:188
std::vector< Motion * > startMotions_
Vector holding all of the start states supplied for the problem Each start motion is the root of its ...
Definition: PDST.h:285
A boost shared pointer wrapper for ompl::base::StateSampler.
ompl::base::ProjectionEvaluatorPtr projectionEvaluator_
Projection evaluator for the problem.
Definition: PDST.h:291
double goalBias_
Number between 0 and 1 specifying the probability with which the goal should be sampled.
Definition: PDST.h:293
std::vector< Motion * > motions_
The motions contained in this cell. Motions are stored only in leaf nodes.
Definition: PDST.h:258
When an element is added to the heap, an instance of Element* is created. This instance contains the ...
Definition: BinaryHeap.h:61
void addMotion(Motion *motion, Cell *cell, base::State *, base::EuclideanProjection &)
Inserts the motion into the appropriate cell.
Definition: PDST.cpp:187
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:49
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:54
unsigned int splitDimension_
Dimension along which the cell is split into smaller cells.
Definition: PDST.h:248
ompl::BinaryHeap< Motion *, MotionCompare > priorityQueue_
Priority queue of motions.
Definition: PDST.h:287
A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition: ProjectionEvaluator.h:62
ompl::base::GoalSampleableRegion * goalSampler_
Objected used to sample the goal.
Definition: PDST.h:295
Motion * propagateFrom(Motion *motion, base::State *, base::State *)
Select a state along motion and propagate a new motion from there. Return NULL if no valid motion cou...
Definition: PDST.cpp:171
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state...
Definition: PDST.h:96
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: PDST.h:108
void updateHeapElement(Motion *motion)
Either update heap after motion's priority has changed or insert motion into heap.
Definition: PDST.h:265
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:48
bool operator()(Motion *p1, Motion *p2) const
returns true if m1 is lower priority than m2
Definition: PDST.h:138
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: PDST.cpp:238
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition: PDST.h:102
*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: PDST.h:120
virtual void getPlannerData(base::PlannerData &data) const
Extracts the planner data from the priority queue into data.
Definition: PDST.cpp:282
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: PDST.cpp:267
Cell * stab(const ompl::base::EuclideanProjection &projection) const
Locates the cell that this motion begins in.
Definition: PDST.h:217
unsigned int iteration_
Iteration number and priority of the next Motion that will be generated.
Definition: PDST.h:297
double priority_
Priority for selecting this path to extend from in the future.
Definition: PDST.h:182