37 #ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_BKPIECE1_
38 #define OMPL_GEOMETRIC_PLANNERS_KPIECE_BKPIECE1_
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include "ompl/geometric/planners/kpiece/Discretization.h"
131 dGoal_.setBorderFraction(bp);
138 return dStart_.getBorderFraction();
174 virtual void setup(
void);
177 virtual void clear(
void);
virtual void getPlannerData(base::PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
void setRange(double distance)
Set the range the planner is supposed to use.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Discretization< Motion > dGoal_
The goal tree.
const base::State * root
The root state (start state) that leads to this motion.
A boost shared pointer wrapper for ompl::base::ValidStateSampler.
Bi-directional KPIECE with one level of discretization.
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
void freeMotion(Motion *motion)
Free the memory for a motion.
base::ProjectionEvaluatorPtr projectionEvaluator_
The employed projection evaluator.
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state...
virtual void setup(void)
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
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...
double failedExpansionScoreFactor_
When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...
double getRange(void) const
Get the range the planner is using.
Discretization< Motion > dStart_
The start tree.
virtual void clear(void)
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
RNG rng_
The random number generator.
const base::ProjectionEvaluatorPtr & getProjectionEvaluator(void) const
Get the projection evaluator.
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
double maxDistance_
The maximum length of a motion to be added to a tree.
One-level discretization used for KPIECE.
Base class for a planner.
Representation of a motion for this algorithm.
A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.
double getMinValidPathFraction(void) const
Get the value of the fraction set by setMinValidPathFraction()
A class to store the exit status of Planner::solve()
void setMinValidPathFraction(double fraction)
When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion. This function sets the minimum acceptable fraction.
Definition of an abstract state.
void setFailedExpansionCellScoreFactor(double factor)
When extending a motion from a cell, the extension can be successful or it can fail. If the extension fails, the score of the cell is multiplied by factor. These number should be in the range (0, 1].
base::State * state
The state contained by this motion.
Motion * parent
The parent motion in the exploration tree.
double getFailedExpansionCellScoreFactor(void) const
Get the factor that is multiplied to a cell's score if extending a motion from that cell failed...
double getBorderFraction(void) const
Get the fraction of time to focus exploration on boundary.
double minValidPathFraction_
When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion.
BKPIECE1(const base::SpaceInformationPtr &si)
Constructor.
SpaceInformationPtr si_
The space information for which planning is done.
void setBorderFraction(double bp)
Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...
base::ValidStateSamplerPtr sampler_
The employed state sampler.