SyclopRRT.h
56 SyclopRRT(const SpaceInformationPtr& si, const DecompositionPtr &d) : Syclop(si,d,"SyclopRRT"), regionalNN_(false)
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
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...
Definition: SyclopRRT.cpp:105
SyclopRRT is Syclop with RRT as its low-level tree planner.
Definition: SyclopRRT.h:52
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: SyclopRRT.cpp:66
void setRegionalNearestNeighbors(bool enabled)
If regionalNearestNeighbors is enabled, then when computing the closest Motion to a generated state i...
Definition: SyclopRRT.h:75
A boost shared pointer wrapper for ompl::base::StateSampler.
Representation of a region in the Decomposition assigned to Syclop.
Definition: Syclop.h:277
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...
Definition: SyclopRRT.cpp:94
SyclopRRT(const SpaceInformationPtr &si, const DecompositionPtr &d)
Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.
Definition: SyclopRRT.h:56
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: SyclopRRT.h:107
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SyclopRRT.cpp:41
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: SyclopRRT.cpp:57
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: SyclopRRT.h:96
A boost shared pointer wrapper for ompl::control::SpaceInformation.
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: SyclopRRT.h:82
A boost shared pointer wrapper for ompl::control::Decomposition.