pRRT.h
165 void threadSolve(unsigned int tid, const base::PlannerTerminationCondition &ptc, SolutionInfo *sol);
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
Class to ease the creation of a set of samplers. This is especially useful for multi-threaded planner...
Definition: StateSamplerArray.h:88
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
Definition: pRRT.h:136
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: pRRT.h:183
void setThreadCount(unsigned int nthreads)
Set the number of threads the planner should use. Default is 2.
Definition: pRRT.cpp:271
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: pRRT.cpp:76
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A boost shared pointer wrapper for ompl::base::SpaceInformation.
Definition: pRRT.h:157
virtual void getPlannerData(base::PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: pRRT.cpp:250
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: pRRT.cpp:173
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: pRRT.cpp:65