PDST.h
271 void addMotion(Motion *motion, Cell *bsp, base::State * /*state*/, base::EuclideanProjection & /*proj*/);
ompl::BinaryHeap< Motion *, MotionCompare > priorityQueue_
Priority queue of motions.
Definition: PDST.h:295
Comparator used to order motions in the priority queue.
Definition: PDST.h:131
Class representing the tree of motions exploring the state space.
Definition: PDST.h:142
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:293
A shared pointer wrapper for ompl::base::StateSampler.
ompl::base::ProjectionEvaluatorPtr projectionEvaluator_
Projection evaluator for the problem.
Definition: PDST.h:299
double goalBias_
Number between 0 and 1 specifying the probability with which the goal should be sampled.
Definition: PDST.h:301
When an element is added to the heap, an instance of Element* is created. This instance contains the ...
Definition: BinaryHeap.h:59
std::vector< Motion * > motions_
The motions contained in this cell. Motions are stored only in leaf nodes.
Definition: PDST.h:267
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: PDST.cpp:238
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:47
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
unsigned int splitDimension_
Dimension along which the cell is split into smaller cells.
Definition: PDST.h:257
void getPlannerData(base::PlannerData &data) const override
Extracts the planner data from the priority queue into data.
Definition: PDST.cpp:282
A 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:59
ompl::base::GoalSampleableRegion * goalSampler_
Objected used to sample the goal.
Definition: PDST.h:303
Motion * propagateFrom(Motion *motion, base::State *, base::State *)
Select a state along motion and propagate a new motion from there. Return nullptr if no valid motion ...
Definition: PDST.cpp:171
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:92
void updateHeapElement(Motion *motion)
Either update heap after motion's priority has changed or insert motion into heap.
Definition: PDST.h:273
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: PDST.cpp:267
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:47
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition: PDST.h:98
*void setGoalBias(double goalBias)
In the process of randomly selecting states in the state space to attempt to go towards,...
Definition: PDST.h:116
void addMotion(Motion *motion, Cell *bsp, base::State *, base::EuclideanProjection &)
Inserts the motion into the appropriate cell.
Definition: PDST.cpp:187
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: PDST.h:104
ompl::BinaryHeap< Motion *, MotionCompare >::Element * heapElement_
Handle to the element of the priority queue for this Motion.
Definition: PDST.h:194
bool operator()(Motion *p1, Motion *p2) const
returns true if m1 is lower priority than m2
Definition: PDST.h:134
Cell * stab(const ompl::base::EuclideanProjection &projection) const
Locates the cell that this motion begins in.
Definition: PDST.h:226
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: PDST.cpp:51
unsigned int iteration_
Iteration number and priority of the next Motion that will be generated.
Definition: PDST.h:305
double priority_
Priority for selecting this path to extend from in the future.
Definition: PDST.h:188