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LBTRRT.h
Definition DynamicSSSP.h:58
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition RandomNumbers.h:58
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
double costLb_
The lower bound cost of the motion while it is stored in the lowerBoundGraph_ and this may seem redun...
Definition LBTRRT.h:181
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition LBTRRT.h:165
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition LBTRRT.cpp:84
void removeFromParentApx(Motion *m)
remove motion from its parent in the approximation tree
Definition LBTRRT.cpp:426
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition LBTRRT.h:241
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition LBTRRT.h:267
double lazilyUpdateApxParent(Motion *child, Motion *parent)
lazily update the parent in the approximation tree without updating costs to cildren
Definition LBTRRT.cpp:414
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition LBTRRT.cpp:385
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition LBTRRT.h:289
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition LBTRRT.h:277
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 LBTRRT.cpp:112
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition LBTRRT.cpp:70
void considerEdge(Motion *parent, Motion *child, double c)
consider an edge for addition to the roadmap
Definition LBTRRT.cpp:307
void updateChildCostsApx(Motion *m, double delta)
update the child cost of the approximation tree
Definition LBTRRT.cpp:405
std::vector< Motion * > idToMotionMap_
mapping between a motion id and the motion
Definition LBTRRT.h:273
A class to store the exit status of Planner::solve()
Definition PlannerStatus.h:49
comparator - metric is the lower bound cost
Definition LBTRRT.h:213
comparator - metric is the cost to reach state via a specific state
Definition LBTRRT.h:192