SyclopEST.h
SyclopEST(const SpaceInformationPtr &si, const DecompositionPtr &d)
Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.
Definition: SyclopEST.h:55
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
A boost shared pointer wrapper for ompl::base::StateSampler.
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: SyclopEST.cpp:56
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: SyclopEST.cpp:48
SyclopEST is Syclop with EST as its low-level tree planner.
Definition: SyclopEST.h:51
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: SyclopEST.h:80
A boost shared pointer wrapper for ompl::control::SpaceInformation.
virtual void selectAndExtend(Region ®ion, std::vector< Motion * > &newMotions)
Select a Motion from the given Region, and extend the tree from the Motion. Add any new motions creat...
Definition: SyclopEST.cpp:91
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SyclopEST.cpp:40
A boost shared pointer wrapper for ompl::control::Decomposition.
virtual Syclop::Motion * addRoot(const base::State *s)
Add State s as a new root in the low-level tree, and return the Motion corresponding to s...
Definition: SyclopEST.cpp:82