LazyRRT.h
150 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL), valid(false)
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: LazyRRT.h:131
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
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
A boost shared pointer wrapper for ompl::base::StateSampler.
boost::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: LazyRRT.h:187
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 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
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:54
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
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
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A boost shared pointer wrapper for ompl::base::SpaceInformation.
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: LazyRRT.h:178
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: LazyRRT.h:150