37 #ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_LBKPIECE1_
38 #define OMPL_GEOMETRIC_PLANNERS_KPIECE_LBKPIECE1_
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include "ompl/geometric/planners/kpiece/Discretization.h"
131 dGoal_.setBorderFraction(bp);
138 return dStart_.getBorderFraction();
158 virtual void setup(
void);
161 virtual void clear(
void);
virtual void getPlannerData(base::PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
base::ProjectionEvaluatorPtr projectionEvaluator_
The employed projection evaluator.
Motion * parent
The parent motion in the exploration tree.
Representation of a motion for this algorithm.
virtual void setup(void)
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
double getBorderFraction(void) const
Get the fraction of time to focus exploration on boundary.
std::vector< Motion * > children
The set of motions descending from the current motion.
base::State * state
The state contained by this motion.
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...
void removeMotion(Discretization< Motion > &disc, Motion *motion)
Remove a motion from a tree of motions.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
double maxDistance_
The maximum length of a motion to be added to a tree.
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
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.
virtual void clear(void)
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
One-level discretization used for KPIECE.
Base class for a planner.
void setRange(double distance)
Set the range the planner is supposed to use.
double getMinValidPathFraction(void) const
Get the value of the fraction set by setMinValidPathFraction()
Discretization< Motion > dStart_
The start tree.
Discretization< Motion > dGoal_
The goal tree.
A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.
A class to store the exit status of Planner::solve()
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
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...
base::StateSamplerPtr sampler_
The employed state sampler.
Definition of an abstract state.
bool valid
Flag indicating whether this motion has been checked for validity.
void freeMotion(Motion *motion)
Free the memory for a motion.
Lazy Bi-directional KPIECE with one level of discretization.
const base::ProjectionEvaluatorPtr & getProjectionEvaluator(void) const
Get the projection evaluator.
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...
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.
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
double getRange(void) const
Get the range the planner is using.
SpaceInformationPtr si_
The space information for which planning is done.
RNG rng_
The random number generator.
const base::State * root
The root state (start state) that leads to this motion.
void setBorderFraction(double bp)
Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...
LBKPIECE1(const base::SpaceInformationPtr &si)
Constructor.