KPIECE1.h
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
One-level discretization used for KPIECE.
Definition: Discretization.h:59
Representation of a motion for this algorithm.
Definition: KPIECE1.h:197
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: KPIECE1.h:202
Kinematic Planning by Interior-Exterior Cell Exploration.
Definition: KPIECE1.h:72
base::ProjectionEvaluatorPtr projectionEvaluator_
This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...
Definition: KPIECE1.h:227
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition: KPIECE1.h:236
void setFailedExpansionCellScoreFactor(double factor)
When extending a motion from a cell, the extension can be successful or it can fail....
Definition: KPIECE1.h:158
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: KPIECE1.cpp:91
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: KPIECE1.h:185
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: KPIECE1.cpp:212
double getMinValidPathFraction() const
Get the value of the fraction set by setMinValidPathFraction()
Definition: KPIECE1.h:149
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: KPIECE1.cpp:61
Discretization< Motion > disc_
The tree datastructure and the grid that covers it.
Definition: KPIECE1.h:222
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition: KPIECE1.h:179
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: KPIECE1.h:252
void setMinValidPathFraction(double fraction)
When extending a motion, the planner can decide to keep the first valid part of it,...
Definition: KPIECE1.h:143
double minValidPathFraction_
When extending a motion, the planner can decide to keep the first valid part of it,...
Definition: KPIECE1.h:243
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: KPIECE1.h:108
void setBorderFraction(double bp)
Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...
Definition: KPIECE1.h:125
double getFailedExpansionCellScoreFactor() const
Get the factor that is multiplied to a cell's score if extending a motion from that cell failed.
Definition: KPIECE1.h:165
double failedExpansionScoreFactor_
When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...
Definition: KPIECE1.h:232
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state.
Definition: KPIECE1.h:172
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: KPIECE1.cpp:76
double getBorderFraction() const
Get the fraction of time to focus exploration on boundary.
Definition: KPIECE1.h:132
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