Class SyclopRRT

Inheritance Relationships

class SyclopRRT : public ompl::control::Syclop 

SyclopRRT is Syclop with RRT as its low-level tree planner. .

Public Functions

inline SyclopRRT(const SpaceInformationPtr &si, const DecompositionPtr &d): Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.

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).

inline void setRegionalNearestNeighbors(bool enabled): If regionalNearestNeighbors is enabled, then when computing the closest Motion to a generated state in a given Region, SyclopRRT will perform a linear search over the current Region and its neighbors instead of querying a NearestNeighbors datastructure over the whole tree. This approach is enabled by default, and should be disabled if there exist Regions of the Decomposition that will be extremely densely populated with states - in such cases, querying a global NearestNeighbors datastructure will probably be faster.

template<template<typename T> class NN> inline void setNearestNeighbors(): Set a different nearest neighbors datastructure.

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.

inline double distanceFunction(const Motion *a, const Motion *b) const: Compute distance between motions (actually distance between contained states)

Protected Attributes

Motion *lastGoalMotion_: The most recent goal motion. Used for PlannerData computation.