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QRRTImpl.h
A shared pointer wrapper for ompl::base::Path.
A shared pointer wrapper for ompl::base::SpaceInformation.
Implementation of QuotientSpace Rapidly-Exploring Random Trees Algorithm.
Definition QRRTImpl.h:53
double getImportance() const override
Importance based on how many vertices the tree has.
Definition QRRTImpl.cpp:162
virtual bool sampleQuotient(ompl::base::State *) override
Quotient-Space sampling by choosing a random vertex from parent class tree.
Definition QRRTImpl.cpp:204
virtual void grow() override
One iteration of RRT with adjusted sampling function.
Definition QRRTImpl.cpp:106
virtual void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition QRRTImpl.cpp:84
virtual bool sample(ompl::base::State *q_random) override
Uniform sampling.
Definition QRRTImpl.cpp:182
virtual void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition QRRTImpl.cpp:76
A configuration in quotient-space.
Definition QuotientSpaceGraph.h:76