EST.h
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:174
PDF< Motion * >::Element * element
A pointer to the corresponding element in the probability distribution function.
Definition: EST.h:136
void addMotion(Motion *motion, const std::vector< Motion * > &neighbors)
Add a motion to the exploration tree.
Definition: EST.cpp:230
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: EST.h:177
A shared pointer wrapper for ompl::base::ValidStateSampler.
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: EST.cpp:57
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
PDF< Motion * > pdf_
The probability distribution function over states in the tree.
Definition: EST.h:152
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: EST.cpp:75
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: EST.h:140
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: EST.h:123
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A shared pointer wrapper for ompl::base::SpaceInformation.
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: EST.cpp:98
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: EST.cpp:246
void setGoalBias(double goalBias)
In the process of randomly selecting states in the state space to attempt to go towards,...
Definition: EST.h:84
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: EST.h:146
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition: EST.h:165