37 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPEST_
38 #define OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPEST_
40 #include "ompl/control/planners/syclop/Syclop.h"
41 #include "ompl/control/planners/syclop/Decomposition.h"
42 #include "ompl/control/planners/syclop/GridDecomposition.h"
64 virtual void setup(
void);
65 virtual void clear(
void);
70 virtual void selectAndExtend(Region& region, std::vector<Motion*>& newMotions);
76 ControlSamplerPtr controlSampler_;
77 std::vector<Motion*> motions_;
SyclopEST(const SpaceInformationPtr &si, const DecompositionPtr &d)
Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.
Synergistic Combination of Layers of Planning.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
A boost shared pointer wrapper for ompl::base::StateSampler.
Representation of a motion.
virtual void getPlannerData(base::PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
SyclopEST is Syclop with EST as its low-level tree planner.
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition of an abstract state.
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...
A boost shared pointer wrapper for ompl::control::Decomposition.
virtual void setup(void)
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
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...
void freeMemory(void)
Free the memory allocated by this planner.
virtual void clear(void)
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...