LazyPRM.h
bool starStrategy_
Flag indicating whether the default connection strategy is the Star strategy.
Definition: LazyPRM.h:294
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
boost::property_map< Graph, vertex_state_t >::type stateProperty_
Access to the internal base::state at each Vertex.
Definition: LazyPRM.h:327
A boost shared pointer wrapper for ompl::base::ProblemDefinition.
base::OptimizationObjectivePtr opt_
Objective cost function for PRM graph edges.
Definition: LazyPRM.h:349
boost::property_map< Graph, boost::vertex_index_t >::type indexProperty_
Access to the internal base::state at each Vertex.
Definition: LazyPRM.h:324
boost::shared_ptr< NearestNeighbors< Vertex > > RoadmapNeighbors
A nearest neighbors data structure for roadmap vertices.
Definition: LazyPRM.h:130
A boost shared pointer wrapper for ompl::base::StateSampler.
boost::property_map< Graph, vertex_component_t >::type vertexComponentProperty_
Access the connected component of a vertex.
Definition: LazyPRM.h:333
ConnectionStrategy connectionStrategy_
Function that returns the milestones to attempt connections with.
Definition: LazyPRM.h:297
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
boost::adjacency_list< boost::vecS, boost::listS, boost::undirectedS, boost::property< vertex_state_t, base::State *, boost::property< boost::vertex_index_t, unsigned long int, boost::property< vertex_flags_t, unsigned int, boost::property< vertex_component_t, unsigned long int, boost::property< boost::vertex_predecessor_t, Vertex, boost::property< boost::vertex_rank_t, unsigned long int > > > > > >, boost::property< boost::edge_weight_t, base::Cost, boost::property< edge_flags_t, unsigned int > > > Graph
The underlying roadmap graph.
Definition: LazyPRM.h:124
boost::property_map< Graph, boost::edge_weight_t >::type weightProperty_
Access to the weights of each Edge.
Definition: LazyPRM.h:330
boost::function< const std::vector< Vertex > &(const Vertex)> ConnectionStrategy
A function returning the milestones that should be attempted to connect to.
Definition: LazyPRM.h:134
ConnectionFilter connectionFilter_
Function that can reject a milestone connection.
Definition: LazyPRM.h:300
boost::function< bool(const Vertex &, const Vertex &)> ConnectionFilter
A function that can reject connections.
Definition: LazyPRM.h:141
boost::property_map< Graph, vertex_flags_t >::type vertexValidityProperty_
Access the validity state of a vertex.
Definition: LazyPRM.h:336
void setConnectionFilter(const ConnectionFilter &connectionFilter)
Set the function that can reject a milestone connection.
Definition: LazyPRM.h:207
boost::adjacency_list_traits< boost::vecS, boost::listS, boost::undirectedS >::vertex_descriptor Vertex
The type for a vertex in the roadmap.
Definition: LazyPRM.h:96
unsigned long int componentCount_
Number of connected components created so far. This is used as an ID only, does not represent the act...
Definition: LazyPRM.h:343
unsigned long int edgeCount() const
Return the number of edges currently in the graph.
Definition: LazyPRM.h:219
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A boost shared pointer wrapper for ompl::base::SpaceInformation.
void setConnectionStrategy(const ConnectionStrategy &connectionStrategy)
Set the connection strategy function that specifies the milestones that connection attempts will be m...
Definition: LazyPRM.h:183
unsigned long int milestoneCount() const
Return the number of milestones currently in the graph.
Definition: LazyPRM.h:213
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: LazyPRM.h:159
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: LazyPRM.h:284
A boost shared pointer wrapper for ompl::base::OptimizationObjective.
boost::graph_traits< Graph >::edge_descriptor Edge
The type for an edge in the roadmap.
Definition: LazyPRM.h:127
bool userSetConnectionStrategy_
Flag indicating whether the employed connection strategy was set by the user (or defaults are assumed...
Definition: LazyPRM.h:303
boost::property_map< Graph, edge_flags_t >::type edgeValidityProperty_
Access the validity state of an edge.
Definition: LazyPRM.h:339
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
std::map< unsigned long int, unsigned long int > componentSize_
The number of elements in each component in the LazyPRM roadmap.
Definition: LazyPRM.h:346
A boost shared pointer wrapper for ompl::base::Path.
base::StateSamplerPtr sampler_
Sampler user for generating random in the state space.
Definition: LazyPRM.h:309