Class SyclopEST

Inheritance Relationships

Base Type

Class Documentation

class SyclopEST : public ompl::control::Syclop

SyclopEST is Syclop with EST as its low-level tree planner. .

Public Functions

inline SyclopEST(const SpaceInformationPtr &si, const DecompositionPtr &d)

Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.

inline ~SyclopEST() override
virtual void setup() override

Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceInformation::setup() if needed. This must be called before solving.

virtual void clear() override

Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.

virtual void getPlannerData(base::PlannerData &data) const override

Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between).

Protected Functions

virtual Syclop::Motion *addRoot(const base::State *s) override

Add State s as a new root in the low-level tree, and return the Motion corresponding to s.

virtual void selectAndExtend(Region &region, std::vector<Motion*> &newMotions) override

Select a Motion from the given Region, and extend the tree from the Motion. Add any new motions created to newMotions.

void freeMemory()

Free the memory allocated by this planner.

Protected Attributes

base::StateSamplerPtr sampler_
ControlSamplerPtr controlSampler_
std::vector<Motion*> motions_
Motion *lastGoalMotion_

The most recent goal motion. Used for PlannerData computation.