SyclopEST.h
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34 
35 /* Author: Matt Maly */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPEST_
38 #define OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPEST_
39 
40 #include "ompl/control/planners/syclop/Syclop.h"
41 #include "ompl/control/planners/syclop/Decomposition.h"
42 #include "ompl/control/planners/syclop/GridDecomposition.h"
43 
44 namespace ompl
45 {
46  namespace control
47  {
51  class SyclopEST : public Syclop
52  {
53  public:
55  SyclopEST(const SpaceInformationPtr& si, const DecompositionPtr &d) : Syclop(si,d,"SyclopEST")
56  {
57  }
58 
59  virtual ~SyclopEST()
60  {
61  freeMemory();
62  }
63 
64  virtual void setup();
65  virtual void clear();
66  virtual void getPlannerData(base::PlannerData &data) const;
67 
68  protected:
69  virtual Syclop::Motion* addRoot(const base::State *s);
70  virtual void selectAndExtend(Region &region, std::vector<Motion*> &newMotions);
71 
73  void freeMemory();
74 
75  base::StateSamplerPtr sampler_;
76  ControlSamplerPtr controlSampler_;
77  std::vector<Motion*> motions_;
78 
81  };
82  }
83 }
84 #endif
SyclopEST(const SpaceInformationPtr &si, const DecompositionPtr &d)
Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.
Definition: SyclopEST.h:55
Synergistic Combination of Layers of Planning.
Definition: Syclop.h:70
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
void freeMemory()
Free the memory allocated by this planner.
Definition: SyclopEST.cpp:118
A boost shared pointer wrapper for ompl::base::StateSampler.
Representation of a motion.
Definition: Syclop.h:251
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: SyclopEST.cpp:56
Main namespace. Contains everything in this library.
Definition: Cost.h:42
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: SyclopEST.cpp:48
SyclopEST is Syclop with EST as its low-level tree planner.
Definition: SyclopEST.h:51
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: SyclopEST.h:80
Definition of an abstract state.
Definition: State.h:50
A boost shared pointer wrapper for ompl::control::SpaceInformation.
virtual void selectAndExtend(Region &region, std::vector< Motion * > &newMotions)
Select a Motion from the given Region, and extend the tree from the Motion. Add any new motions creat...
Definition: SyclopEST.cpp:91
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SyclopEST.cpp:40
A boost shared pointer wrapper for ompl::control::Decomposition.
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: SyclopEST.cpp:82