AITstar.h
200 std::array<ompl::base::Cost, 2u> computeSortKey(const std::shared_ptr<aitstar::Vertex> &vertex) const;
206 std::vector<aitstar::Edge> getOutgoingEdges(const std::shared_ptr<aitstar::Vertex> &vertex) const;
224 ompl::base::Cost computeCostToGoToStartHeuristic(const std::shared_ptr<aitstar::Vertex> &vertex) const;
227 ompl::base::Cost computeCostToGoToGoalHeuristic(const std::shared_ptr<aitstar::Vertex> &vertex) const;
243 void invalidateCostToComeFromGoalOfReverseBranch(const std::shared_ptr<aitstar::Vertex> &vertex);
259 ompl::BinaryHeap<aitstar::Edge, std::function<bool(const aitstar::Edge &, const aitstar::Edge &)>>;
265 using KeyVertexPair = std::pair<std::array<ompl::base::Cost, 2u>, std::shared_ptr<aitstar::Vertex>>;
269 ompl::BinaryHeap<KeyVertexPair, std::function<bool(const KeyVertexPair &, const KeyVertexPair &)>>;
This class provides an implementation of an updatable min-heap. Using it is a bit cumbersome,...
Definition: BinaryHeap.h:53
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
A shared pointer wrapper for ompl::base::MotionValidator.
A shared pointer wrapper for ompl::base::OptimizationObjective.
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::SpaceInformation.
std::vector< std::shared_ptr< aitstar::Vertex > > getVerticesInQueue() const
Get the vertex queue.
Definition: AITstar.cpp:504
void setRewireFactor(double rewireFactor)
Set the rewire factor of the RGG graph.
Definition: AITstar.cpp:311
std::vector< std::shared_ptr< aitstar::Vertex > > getVerticesInReverseSearchTree() const
Get the vertices in the reverse search tree.
Definition: AITstar.cpp:539
AITstar(const ompl::base::SpaceInformationPtr &spaceInformation)
Constructs a AIT*.
Definition: AITstar.cpp:53
bool getUseKNearest() const
Get whether to use a k-nearest RGG connection model. If false, AIT* uses an r-disc model.
Definition: AITstar.cpp:354
void getPlannerData(base::PlannerData &data) const override
Get the planner data.
Definition: AITstar.cpp:256
void setRepairReverseSearch(bool repairReverseSearch)
Enable LPA* repair of reverse search.
Definition: AITstar.cpp:359
std::shared_ptr< aitstar::Vertex > getNextVertexInQueue() const
Get the next vertex in the queue.
Definition: AITstar.cpp:529
void setup() override
Additional setup that can only be done once a problem definition is set.
Definition: AITstar.cpp:104
ompl::base::PlannerStatus solve(const ompl::base::PlannerTerminationCondition &terminationCondition) override
Solves a motion planning problem.
Definition: AITstar.cpp:171
void trackApproximateSolutions(bool track)
Set whether to track approximate solutions.
Definition: AITstar.cpp:321
void setUseKNearest(bool useKNearest)
Set whether to use a k-nearest RGG connection model. If false, AIT* uses an r-disc model.
Definition: AITstar.cpp:349
bool areApproximateSolutionsTracked() const
Get whether approximate solutions are tracked.
Definition: AITstar.cpp:334
Definition: Edge.h:56
Main namespace. Contains everything in this library.
Definition: ConstrainedSpaceInformation.h:53
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49