QuotientSpaceGraph.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
A shared pointer wrapper for ompl::base::Path.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
A shared pointer wrapper for ompl::base::SpaceInformation.
A configuration in quotient-space.
Definition: QuotientSpaceGraph.h:76
normalized_index_type index
Index of configuration in boost::graph. Usually in the interval [0,num_vertices(graph)],...
Definition: QuotientSpaceGraph.h:106
void * pdf_element
Element of Probability Density Function (needed to update probability)
Definition: QuotientSpaceGraph.h:88
An edge in quotient-space.
Definition: QuotientSpaceGraph.h:111
virtual void getPlannerData(ompl::base::PlannerData &data) const override
Return plannerdata structure, whereby each vertex is marked depending to which component it belongs (...
Definition: QuotientSpaceGraph.cpp:403
ompl::base::PathPtr getPath(const Vertex &start, const Vertex &goal)
Shortest path on quotient-graph.
Definition: QuotientSpaceGraph.cpp:319
virtual double getImportance() const override
Importance of quotient-space depending on number of vertices in quotient-graph.
Definition: QuotientSpaceGraph.cpp:160
virtual void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: QuotientSpaceGraph.cpp:77
virtual void print(std::ostream &out) const override
Internal function implementing actual printing to stream.
Definition: QuotientSpaceGraph.cpp:390
void printConfiguration(const Configuration *) const
Print configuration to std::cout.
Definition: QuotientSpaceGraph.cpp:398
void init()
Initialization methods for the first iteration (adding start configuration and doing sanity checks)
Definition: QuotientSpaceGraph.cpp:166
boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, Configuration *, EdgeInternalState, GraphBundle > Graph
A quotient-graph structure using boost::adjacency_list bundles.
Definition: QuotientSpaceGraph.h:143
double graphLength_
Length of graph (useful for determing importance of quotient-space.
Definition: QuotientSpaceGraph.h:236
RoadmapNeighborsPtr nearestDatastructure_
Nearest neighbor structure for quotient space configurations.
Definition: QuotientSpaceGraph.h:227
void clearQuery() override
Clears internal datastructures of any query-specific information from the previous query....
Definition: QuotientSpaceGraph.cpp:155
virtual void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: QuotientSpaceGraph.cpp:106
QuotientSpace(const ompl::base::SpaceInformationPtr &si, QuotientSpace *parent_=nullptr)
Quotient Space contains three OMPL spaces, which we call Q1, Q0 and X1.
Definition: QuotientSpace.cpp:50
Main namespace. Contains everything in this library.
Definition: ConstrainedSpaceInformation.h:53