RLRT.cpp
47 Planner::declareParam<double>("goal_bias", this, &RLRT::setGoalBias, &RLRT::getGoalBias, "0.:.05:1.");
49 Planner::declareParam<bool>("keep_last_valid", this, &RLRT::setKeepLast, &RLRT::getKeepLast, "0,1");
88 ompl::base::PlannerStatus ompl::geometric::RLRT::solve(const base::PlannerTerminationCondition &ptc)
110 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), motions_.size());
238 data.addEdge(base::PlannerDataVertex(motion->parent->state), base::PlannerDataVertex(motion->state));
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:48
virtual bool isSatisfied(const State *st) const =0
Return true if the state satisfies the goal constraints.
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:59
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
unsigned int addStartVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
Definition: PlannerData.cpp:413
unsigned int addGoalVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
Definition: PlannerData.cpp:422
virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0))
Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...
Definition: PlannerData.cpp:432
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc)
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: RLRT.cpp:88
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: RLRT.cpp:65
virtual void getPlannerData(base::PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: RLRT.cpp:226
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: RLRT.cpp:57
This class contains methods that automatically configure various parameters for motion planning....
Definition: SelfConfig.h:60
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:225
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49