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PDST.h
271 void addMotion(Motion *motion, Cell *bsp, base::State * /*state*/, Eigen::Ref<Eigen::VectorXd> /*proj*/);
When an element is added to the heap, an instance of Element* is created. This instance contains the ...
Definition BinaryHeap.h:60
This class provides an implementation of an updatable min-heap. Using it is a bit cumbersome,...
Definition BinaryHeap.h:53
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition RandomNumbers.h:58
Abstract definition of a goal region that can be sampled.
Definition GoalSampleableRegion.h:48
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition PlannerData.h:175
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition PlannerTerminationCondition.h:64
A shared pointer wrapper for ompl::base::ProjectionEvaluator.
The lower and upper bounds for an Rn space.
Definition RealVectorBounds.h:48
A shared pointer wrapper for ompl::base::StateSampler.
ompl::base::ProjectionEvaluatorPtr projectionEvaluator_
Projection evaluator for the problem.
Definition PDST.h:299
void updateHeapElement(Motion *motion)
Either update heap after motion's priority has changed or insert motion into heap.
Definition PDST.h:273
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition PDST.h:98
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition PDST.h:104
double goalBias_
Number between 0 and 1 specifying the probability with which the goal should be sampled.
Definition PDST.h:301
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition PDST.cpp:267
void getPlannerData(base::PlannerData &data) const override
Extracts the planner data from the priority queue into data.
Definition PDST.cpp:282
ompl::BinaryHeap< Motion *, MotionCompare > priorityQueue_
Priority queue of motions.
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 nullptr if no valid motion ...
Definition PDST.cpp:170
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition PDST.cpp:50
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition PDST.cpp:237
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:92
void setGoalBias(double goalBias)
In the process of randomly selecting states in the state space to attempt to go towards,...
Definition PDST.h:116
unsigned int iteration_
Iteration number and priority of the next Motion that will be generated.
Definition PDST.h:305
void addMotion(Motion *motion, Cell *bsp, base::State *, Eigen::Ref< Eigen::VectorXd >)
Inserts the motion into the appropriate cell.
Definition PDST.cpp:186
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:293
ompl::base::GoalSampleableRegion * goalSampler_
Objected used to sample the goal.
Definition PDST.h:303
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66
A class to store the exit status of Planner::solve()
Definition PlannerStatus.h:49
Cell * stab(const Eigen::Ref< Eigen::VectorXd > &projection) const
Locates the cell that this motion begins in.
Definition PDST.h:226
unsigned int splitDimension_
Dimension along which the cell is split into smaller cells.
Definition PDST.h:257
std::vector< Motion * > motions_
The motions contained in this cell. Motions are stored only in leaf nodes.
Definition PDST.h:267
Comparator used to order motions in the priority queue.
Definition PDST.h:132
bool operator()(Motion *p1, Motion *p2) const
returns true if m1 is lower priority than m2
Definition PDST.h:134
Class representing the tree of motions exploring the state space.
Definition PDST.h:143
ompl::BinaryHeap< Motion *, MotionCompare >::Element * heapElement_
Handle to the element of the priority queue for this Motion.
Definition PDST.h:194