LBTRRT.h
169 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parentLb_(NULL), parentApx_(NULL), costLb_(0.0), costApx_(0.0)
199 CostCompare(const base::OptimizationObjective &opt, Motion *motion_): opt_(opt), motion(motion_)
205 base::Cost costA = opt_.combineCosts(motionA->costLb_, opt_.motionCost(motionA->state, motion->state));
206 base::Cost costB = opt_.combineCosts(motionB->costLb_, opt_.motionCost(motionB->state, motion->state));
void removeFromParentLb(Motion *m)
remove motion from its parent in the lower bound tree
Definition: LBTRRT.cpp:405
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
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: LBTRRT.cpp:137
bool attemptNodeUpdate(Motion *potentialParent, Motion *child)
attempt to rewire the trees
Definition: LBTRRT.cpp:321
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: LBTRRT.h:235
A boost shared pointer wrapper for ompl::base::StateSampler.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
void removeFromParentApx(Motion *m)
remove motion from its parent in the approximation tree
Definition: LBTRRT.cpp:409
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
Definition: LBTRRT.h:251
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: LBTRRT.cpp:89
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:54
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: LBTRRT.h:266
void removeFromParent(const Motion *m, std::vector< Motion *> &vec)
remove motion from a vector
Definition: LBTRRT.cpp:413
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: LBTRRT.cpp:367
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
void updateChildCostsLb(Motion *m)
update the child cost of the lower bound tree
Definition: LBTRRT.cpp:388
A boost shared pointer wrapper for ompl::base::SpaceInformation.
void updateChildCostsApx(Motion *m)
update the child cost of the approximation tree
Definition: LBTRRT.cpp:396
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: LBTRRT.h:108
Abstract definition of optimization objectives.
Definition: OptimizationObjective.h:66
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: LBTRRT.h:169
A boost shared pointer wrapper for ompl::base::OptimizationObjective.
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: LBTRRT.cpp:75
static const double kRRG
kRRG = 2e~5.5 is a valid choice for all problem instances
Definition: LBTRRT.h:154
boost::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: LBTRRT.h:248
std::vector< Motion * > goalMotions_
A list of states in the tree that satisfy the goal condition.
Definition: LBTRRT.h:269
base::Cost incCost_
The incremental lower bound cost of this motion's parent to this motion (this is stored to save dista...
Definition: LBTRRT.h:191
Definition: LBTRRT.h:197
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47