PRM.h
298 void expandRoadmap(const base::PlannerTerminationCondition &ptc, std::vector<base::State*> &workStates);
304 bool maybeConstructSolution(const std::vector<Vertex> &starts, const std::vector<Vertex> &goals, base::PathPtr &solution);
unsigned long int milestoneCount() const
Return the number of milestones currently in the graph.
Definition: PRM.h:259
boost::shared_ptr< NearestNeighbors< Vertex > > RoadmapNeighbors
A nearest neighbors data structure for roadmap vertices.
Definition: PRM.h:130
double distanceFunction(const Vertex a, const Vertex b) const
Compute distance between two milestones (this is simply distance between the states of the milestones...
Definition: PRM.h:317
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
base::ValidStateSamplerPtr sampler_
Sampler user for generating valid samples in the state space.
Definition: PRM.h:345
A boost shared pointer wrapper for ompl::base::ProblemDefinition.
A boost shared pointer wrapper for ompl::base::ValidStateSampler.
A boost shared pointer wrapper for ompl::base::StateSampler.
ConnectionStrategy connectionStrategy_
Function that returns the milestones to attempt connections with.
Definition: PRM.h:383
void setConnectionFilter(const ConnectionFilter &connectionFilter)
Set the function that can reject a milestone connection.
Definition: PRM.h:186
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
Definition: PRM.h:87
boost::disjoint_sets< boost::property_map< Graph, boost::vertex_rank_t >::type, boost::property_map< Graph, boost::vertex_predecessor_t >::type > disjointSets_
Data structure that maintains the connected components.
Definition: PRM.h:380
bool addedNewSolution_
A flag indicating that a solution has been added during solve()
Definition: PRM.h:395
boost::property_map< Graph, boost::edge_weight_t >::type weightProperty_
Access to the weights of each Edge.
Definition: PRM.h:374
boost::property_map< Graph, vertex_successful_connection_attempts_t >::type successfulConnectionAttemptsProperty_
Access to the number of successful connection attempts for a vertex.
Definition: PRM.h:371
boost::graph_traits< Graph >::edge_descriptor Edge
The type for an edge in the roadmap.
Definition: PRM.h:127
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:54
bool starStrategy_
Flag indicating whether the default connection strategy is the Star strategy.
Definition: PRM.h:342
base::StateSamplerPtr simpleSampler_
Sampler user for generating random in the state space.
Definition: PRM.h:348
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A boost shared pointer wrapper for ompl::base::SpaceInformation.
boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, boost::property< vertex_state_t, base::State *, boost::property< vertex_total_connection_attempts_t, unsigned long int, boost::property< vertex_successful_connection_attempts_t, unsigned long int, boost::property< boost::vertex_predecessor_t, unsigned long int, boost::property< boost::vertex_rank_t, unsigned long int > > > > >, boost::property< boost::edge_weight_t, base::Cost > > Graph
The underlying roadmap graph.
Definition: PRM.h:122
void setConnectionStrategy(const ConnectionStrategy &connectionStrategy)
Set the connection strategy function that specifies the milestones that connection attempts will be m...
Definition: PRM.h:163
boost::property_map< Graph, vertex_state_t >::type stateProperty_
Access to the internal base::state at each Vertex.
Definition: PRM.h:363
bool userSetConnectionStrategy_
Flag indicating whether the employed connection strategy was set by the user (or defaults are assumed...
Definition: PRM.h:389
boost::function< const std::vector< Vertex > &(const Vertex)> ConnectionStrategy
A function returning the milestones that should be attempted to connect to.
Definition: PRM.h:134
A boost shared pointer wrapper for ompl::base::OptimizationObjective.
ConnectionFilter connectionFilter_
Function that can reject a milestone connection.
Definition: PRM.h:386
base::OptimizationObjectivePtr opt_
Objective cost function for PRM graph edges.
Definition: PRM.h:401
boost::graph_traits< Graph >::vertex_descriptor Vertex
The type for a vertex in the roadmap.
Definition: PRM.h:125
unsigned long int edgeCount() const
Return the number of edges currently in the graph.
Definition: PRM.h:265
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
boost::function< bool(const Vertex &, const Vertex &)> ConnectionFilter
A function that can reject connections.
Definition: PRM.h:141
A boost shared pointer wrapper for ompl::base::Path.
boost::property_map< Graph, vertex_total_connection_attempts_t >::type totalConnectionAttemptsProperty_
Access to the number of total connection attempts for a vertex.
Definition: PRM.h:367