PDST.h
unsigned int controlDuration_
The duration that the control was applied to arrive at this state from the parent.
Definition: PDST.h:181
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: PDST.cpp:318
Motion * propagateFrom(Motion *motion, base::State *, base::State *)
Select a state along motion and propagate a new motion from there. Return NULL if no valid motion cou...
Definition: PDST.cpp:174
unsigned int iteration_
Iteration number and priority of the next Motion that will be generated.
Definition: PDST.h:312
double priority_
Priority for selecting this path to extend from in the future.
Definition: PDST.h:183
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state...
Definition: PDST.h:98
A boost shared pointer wrapper for ompl::base::StateSampler.
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition: PDST.h:104
Class representing the tree of motions exploring the state space.
Definition: PDST.h:148
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: PDST.h:110
bool operator()(Motion *p1, Motion *p2) const
returns true if m1 is lower priority than m2
Definition: PDST.h:140
virtual void getPlannerData(base::PlannerData &data) const
Extracts the planner data from the priority queue into data.
Definition: PDST.cpp:333
Cell * stab(const base::EuclideanProjection &projection) const
Locates the cell that this motion begins in.
Definition: PDST.h:218
This class provides an implementation of an updatable min-heap. Using it is a bit cumbersome...
Definition: BinaryHeap.h:53
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:49
BinaryHeap< Motion *, MotionCompare >::Element * heapElement_
Handle to the element of the priority queue for this Motion.
Definition: PDST.h:189
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:54
BinaryHeap< Motion *, MotionCompare > priorityQueue_
Priority queue of motions.
Definition: PDST.h:302
A boost shared pointer wrapper for ompl::control::DirectedControlSampler.
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: PDST.cpp:284
void updateHeapElement(Motion *motion)
Either update heap after motion's priority has changed or insert motion into heap.
Definition: PDST.h:268
void addMotion(Motion *motion, Cell *cell, base::State *, base::State *, base::EuclideanProjection &, base::EuclideanProjection &)
Inserts the motion into the appropriate cells, splitting the motion as necessary. motion is assumed t...
Definition: PDST.cpp:203
A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition: ProjectionEvaluator.h:62
unsigned int findDurationAndAncestor(Motion *motion, base::State *state, base::State *scratch, Motion *&ancestor) const
Find the max. duration that the control_ in motion can be applied s.t. the trajectory passes through ...
Definition: PDST.cpp:244
control::Control * control_
The control that was applied to arrive at this state from the parent.
Definition: PDST.h:179
std::vector< Motion * > motions_
The motions contained in this cell. Motions are stored only in leaf nodes.
Definition: PDST.h:259
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:48
std::vector< Motion * > startMotions_
Vector holding all of the start states supplied for the problem Each start motion is the root of its ...
Definition: PDST.h:300
Comparator used to order motions in the priority queue.
Definition: PDST.h:137
base::ProjectionEvaluatorPtr projectionEvaluator_
Projection evaluator for the problem.
Definition: PDST.h:306
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: PDST.cpp:52
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:69
unsigned int splitDimension_
Dimension along which the cell is split into smaller cells.
Definition: PDST.h:249
double goalBias_
Number between 0 and 1 specifying the probability with which the goal should be sampled.
Definition: PDST.h:308
*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.
Definition: PDST.h:122