SyclopEST.cpp
98 unsigned int duration = controlSampler_->sampleStepCount(siC_->getMinControlDuration(), siC_->getMaxControlDuration());
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: Syclop.cpp:48
unsigned int getMinControlDuration() const
Get the minimum number of steps a control is propagated for.
Definition: SpaceInformation.h:161
unsigned int propagateWhileValid(const base::State *state, const Control *control, int steps, base::State *result) const
Propagate the model of the system forward, starting at a given state, with a given control...
Definition: SpaceInformation.cpp:147
virtual bool hasControls() const
Indicate whether any information about controls (ompl::control::Control) is stored in this instance...
Definition: PlannerData.cpp:800
Representation of a region in the Decomposition assigned to Syclop.
Definition: Syclop.h:277
unsigned int addGoalVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
Definition: PlannerData.cpp:434
const SpaceInformation * siC_
Handle to the control::SpaceInformation object.
Definition: Syclop.h:393
Representation of an edge in PlannerData for planning with controls. This structure encodes a specifi...
Definition: PlannerData.h:60
void freeControl(Control *control) const
Free the memory of a control.
Definition: SpaceInformation.h:100
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: Syclop.cpp:57
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
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:60
double getPropagationStepSize() const
Propagation is performed at integer multiples of a specified step size. This function returns the val...
Definition: SpaceInformation.h:207
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: SyclopEST.cpp:48
ControlSamplerPtr allocControlSampler() const
Allocate a control sampler.
Definition: SpaceInformation.h:148
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: SyclopEST.h:80
virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0))
Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...
Definition: PlannerData.cpp:444
unsigned int addStartVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
Definition: PlannerData.cpp:425
virtual void selectAndExtend(Region ®ion, 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
unsigned int getMaxControlDuration() const
Get the maximum number of steps a control is propagated for.
Definition: SpaceInformation.h:167
void nullControl(Control *control) const
Make the control have no effect if it were to be applied to a state for any amount of time...
Definition: SpaceInformation.h:137
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
int uniformInt(int lower_bound, int upper_bound)
Generate a random integer within given bounds: [lower_bound, upper_bound].
Definition: RandomNumbers.h:75
void copyControl(Control *destination, const Control *source) const
Copy a control to another.
Definition: SpaceInformation.h:106