37 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPRRT_
38 #define OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPRRT_
40 #include "ompl/control/planners/syclop/Syclop.h"
41 #include "ompl/control/planners/syclop/Decomposition.h"
42 #include "ompl/control/planners/syclop/GridDecomposition.h"
43 #include "ompl/datastructures/NearestNeighbors.h"
65 virtual void setup(
void);
66 virtual void clear(
void);
77 regionalNN_ = enabled;
81 template<
template<
typename T>
class NN>
85 nn_.reset(
new NN<Motion*>());
90 virtual void selectAndExtend(Region& region, std::vector<Motion*>& newMotions);
103 boost::shared_ptr< NearestNeighbors<Motion*> > nn_;
Synergistic Combination of Layers of Planning.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
base::State * state
The state contained by the motion.
SyclopRRT is Syclop with RRT as its low-level tree planner.
void setRegionalNearestNeighbors(bool enabled)
If regionalNearestNeighbors is enabled, then when computing the closest Motion to a generated state i...
A boost shared pointer wrapper for ompl::base::StateSampler.
virtual Syclop::Motion * addRoot(const base::State *s)
Add State s as a new root in the low-level tree, and return the Motion corresponding to s...
SyclopRRT(const SpaceInformationPtr &si, const DecompositionPtr &d)
Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Representation of a motion.
void setNearestNeighbors(void)
Set a different nearest neighbors datastructure.
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
virtual void clear(void)
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
void freeMemory(void)
Free the memory allocated by this planner.
A boost shared pointer wrapper for ompl::control::DirectedControlSampler.
Definition of an abstract 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...
virtual void selectAndExtend(Region ®ion, std::vector< Motion * > &newMotions)
Select a Motion from the given Region, and extend the tree from the Motion. Add any new motions creat...
virtual void setup(void)
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
A boost shared pointer wrapper for ompl::control::Decomposition.
SpaceInformationPtr si_
The space information for which planning is done.