Class QMPImpl

Defined in File QMPImpl.h

Inheritance Relationships

Base Type

public ompl::multilevel::BundleSpaceGraph (Class BundleSpaceGraph)

Derived Type

public ompl::multilevel::QMPStarImpl (Class QMPStarImpl)

Class Documentation

class QMPImpl : public ompl::multilevel::BundleSpaceGraph 

Implementation of the Quotient space roadMap Planner.

Subclassed by ompl::multilevel::QMPStarImpl

Public Functions

QMPImpl(const ompl::base::SpaceInformationPtr &si, BundleSpace *parent_)

virtual ~QMPImpl() override

virtual void grow() override: One iteration of QMP with adjusted sampling function.

virtual void clear() override: Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.

void expand(): sample random node from Probabilty density function

virtual unsigned int computeK()

void connectNeighbors(Configuration *x)

virtual Vertex addConfiguration(Configuration *q) override: Add configuration to graph. Return its vertex in boost graph.

virtual void deleteConfiguration(Configuration *q) override

void updatePDF(Configuration *q)

Protected Attributes

std::vector<base::State*> randomWorkStates_

unsigned int k_NearestNeighbors_ = {10}: k nearest variable

PDF pdf