LazyRRT.cpp
42 ompl::geometric::LazyRRT::LazyRRT(const base::SpaceInformationPtr &si) : base::Planner(si, "LazyRRT")
49 Planner::declareParam<double>("range", this, &LazyRRT::setRange, &LazyRRT::getRange, "0.:1.:10000.");
50 Planner::declareParam<double>("goal_bias", this, &LazyRRT::setGoalBias, &LazyRRT::getGoalBias, "0.:.05:1.");
94 ompl::base::PlannerStatus ompl::geometric::LazyRRT::solve(const base::PlannerTerminationCondition &ptc)
117 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), nn_->size());
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: LazyRRT.cpp:69
The planner failed to find a solution.
Definition: PlannerStatus.h:62
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: LazyRRT.cpp:94
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:434
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: LazyRRT.cpp:235
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
void append(const base::State *state)
Append state to the end of this path. The memory for state is copied.
Definition: PathGeometric.cpp:432
bool directed
Flag indicating whether the planner is able to account for the fact that the validity of a motion fro...
Definition: Planner.h:222
virtual void sampleGoal(State *st) const =0
Sample a state in the goal region.
void removeMotion(Motion *motion)
Remove a motion from the tree datastructure.
Definition: LazyRRT.cpp:207
std::vector< Motion * > children
The set of motions that descend from this one.
Definition: LazyRRT.h:168
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:60
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:49
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: LazyRRT.h:199
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: LazyRRT.h:118
bool tagState(const State *st, int tag)
Set the integer tag associated with the given state. If the given state does not exist in a vertex...
Definition: PlannerData.cpp:578
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: LazyRRT.cpp:58
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
Definition: LazyRRT.h:190
The planner found an exact solution.
Definition: PlannerStatus.h:66
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:444
bool canSample() const
Return true if maxSampleCount() > 0, since in this case samples can certainly be produced.
Definition: GoalSampleableRegion.h:70
A boost shared pointer wrapper for ompl::base::SpaceInformation.
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:425
virtual bool isSatisfied(const State *st) const =0
Return true if the state satisfies the goal constraints.
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: LazyRRT.h:178
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:232
This class contains methods that automatically configure various parameters for motion planning...
Definition: SelfConfig.h:58
A boost shared pointer wrapper for ompl::base::Path.