37 #ifndef OMPL_GEOMETRIC_PLANNERS_EST_EST_
38 #define OMPL_GEOMETRIC_PLANNERS_EST_EST_
40 #include "ompl/datastructures/Grid.h"
41 #include "ompl/geometric/planners/PlannerIncludes.h"
42 #include "ompl/base/ProjectionEvaluator.h"
43 #include "ompl/datastructures/PDF.h"
84 virtual void clear(
void);
140 virtual void setup(
void);
182 Motion* operator[](
unsigned int i)
186 const Motion* operator[](
unsigned int i)
const
192 motions_.push_back(m);
194 unsigned int size(
void)
const
196 return motions_.size();
198 bool empty(
void)
const
200 return motions_.empty();
202 std::vector<Motion*> motions_;
203 CellPDF::Element* elem_;
RNG rng_
The random number generator.
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Representation of a simple grid.
A boost shared pointer wrapper for ompl::base::ValidStateSampler.
The data contained by a tree of exploration.
double maxDistance_
The maximum length of a motion to be added to a tree.
PDF< GridCell * > CellPDF
A PDF of grid cells.
base::ProjectionEvaluatorPtr projectionEvaluator_
This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...
base::ValidStateSamplerPtr sampler_
Valid state sampler.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Grid< MotionInfo >::Cell GridCell
A grid cell.
base::State * state
The state contained by the motion.
Grid< MotionInfo > grid
A grid where each cell contains an array of motions.
The definition of a motion.
virtual void clear(void)
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
unsigned int size
The total number of motions in the grid.
const base::ProjectionEvaluatorPtr & getProjectionEvaluator(void) const
Get the projection evaluator.
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
double getRange(void) const
Get the range the planner is using.
Base class for a planner.
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
virtual void getPlannerData(base::PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
double getGoalBias(void) const
Get the goal bias the planner is using.
A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.
A class to store the exit status of Planner::solve()
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...
void freeMemory(void)
Free the memory allocated by this planner.
Definition of an abstract state.
void setRange(double distance)
Set the range the planner is supposed to use.
Definition of a cell in this grid.
virtual void setup(void)
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
void setGoalBias(double goalBias)
In the process of randomly selecting states in the state space to attempt to go towards, the algorithm may in fact choose the actual goal state, if it knows it, with some probability. This probability is a real number between 0.0 and 1.0; its value should usually be around 0.05 and should not be too large. It is probably a good idea to use the default value.
EST(const base::SpaceInformationPtr &si)
Constructor.
CellPDF pdf_
The PDF used for selecting a cell from which to sample a motion.
Motion * parent
The parent motion in the exploration tree.
void addMotion(Motion *motion)
Add a motion to the exploration tree.
Motion * selectMotion(void)
Select a motion to continue the expansion of the tree from.
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state...
SpaceInformationPtr si_
The space information for which planning is done.
A struct containing an array of motions and a corresponding PDF element.
TreeData tree_
The exploration tree constructed by this algorithm.
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...