SST.h
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
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.
A shared pointer wrapper for ompl::control::ControlSampler.
Motion(const SpaceInformation *si)
Constructor that allocates memory for the state and the control.
Definition: SST.h:160
Definition: SST.h:198
Definition: SST.h:60
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: SST.cpp:403
void setSelectionRadius(double selectionRadius)
Set the radius for selecting nodes relative to random sample.
Definition: SST.h:105
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SST.cpp:65
double selectionRadius_
The radius for determining the node selected for extension.
Definition: SST.h:258
double pruningRadius_
The radius for determining the size of the pruning region.
Definition: SST.h:261
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Continue solving for some amount of time. Return true if solution was found.
Definition: SST.cpp:210
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition: SST.h:255
const SpaceInformation * siC_
The base::SpaceInformation cast as control::SpaceInformation, for convenience.
Definition: SST.h:245
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: SST.h:233
Motion * selectNode(Motion *sample)
Finds the best node in the tree withing the selection radius around a random sample.
Definition: SST.cpp:157
double getSelectionRadius() const
Get the selection radius the planner is using.
Definition: SST.h:111
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: SST.h:248
std::shared_ptr< NearestNeighbors< Motion * > > witnesses_
A nearest-neighbors datastructure containing the tree of witness motions.
Definition: SST.h:251
void clear() override
Clear datastructures. Call this function if the input data to the planner has changed and you do not ...
Definition: SST.cpp:104
Witness * findClosestWitness(Motion *node)
Find the closest witness node to a newly generated potential node.
Definition: SST.cpp:186
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:71
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