37 #ifndef OMPL_GEOMETRIC_PLANNERS_SBL_SBL_
38 #define OMPL_GEOMETRIC_PLANNERS_SBL_SBL_
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include "ompl/base/ProjectionEvaluator.h"
42 #include "ompl/datastructures/Grid.h"
43 #include "ompl/datastructures/PDF.h"
130 virtual void setup(
void);
134 virtual void clear(
void);
182 Motion* operator[](
unsigned int i)
186 std::vector<Motion*>::iterator begin (
void)
188 return motions_.begin ();
190 void erase (std::vector<Motion*>::iterator iter)
192 motions_.erase (iter);
196 motions_.push_back(m);
198 unsigned int size(
void)
const
200 return motions_.size();
202 bool empty(
void)
const
204 return motions_.empty();
207 std::vector<Motion*> motions_;
208 CellPDF::Element* elem_;
239 void addMotion(TreeData &tree, Motion *motion);
255 bool checkSolution(
bool start, TreeData &tree, TreeData &otherTree, Motion *motion, std::vector<Motion*> &solution);