#include <time_indexed_rrt_connect.h>

Inheritance diagram for exotica::OMPLTimeIndexedRRTConnect:

Classes
class	Motion
	Representation of a motion. More...

struct	TreeGrowingInfo
	Information attached to growing a tree of motions (used internally) More...

Public Member Functions
void	clear () override

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

double	getRange () const
	Get the range the planner is using. More...

	OMPLTimeIndexedRRTConnect (const base::SpaceInformationPtr &si)

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

void	setRange (double distance)
	Set the range the planner is supposed to use. This parameter greatly influences the runtime of the algorithm. It represents the maximum length of a motion to be added in the tree of motions. More...

void	setup () override

base::PlannerStatus	solve (const base::PlannerTerminationCondition &ptc) override

virtual	~OMPLTimeIndexedRRTConnect ()

Protected Types
enum	GrowState { TRAPPED, ADVANCED, REACHED }
	The state of the tree after an attempt to extend it. More...

typedef std::shared_ptr< NearestNeighbors< Motion * > >	TreeData
	A nearest-neighbor datastructure representing a tree of motions. More...

Protected Member Functions
bool	correctTime (const Motion a, Motion b, bool reverse, bool &changed) const

double	distanceFunction (const Motion a, const Motion b) const
	Compute distance between motions (actually distance between contained states) More...

double	forwardTimeDistance (const Motion a, const Motion b) const

void	freeMemory ()
	Free the memory allocated by this planner. More...

GrowState	growTree (TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion)
	Grow a tree towards a random state. More...

double	reverseTimeDistance (const Motion a, const Motion b) const

Protected Attributes
std::pair< base::State , base::State >	connectionPoint_
	The pair of states in each tree connected during planning. Used for PlannerData computation. More...

double	maxDistance_
	The maximum length of a motion to be added to a tree. More...

bool	reverse_check_

RNG	rng_
	The random number generator. More...

base::StateSamplerPtr	sampler_
	State sampler. More...

TreeData	tGoal_
	The goal tree. More...

TreeData	tStart_
	The start tree. More...

Detailed Description

Definition at line 137 of file time_indexed_rrt_connect.h.

Member Typedef Documentation

typedef std::shared_ptr<NearestNeighbors<Motion *> > exotica::OMPLTimeIndexedRRTConnect::TreeData

protected

A nearest-neighbor datastructure representing a tree of motions.

Definition at line 194 of file time_indexed_rrt_connect.h.

Member Enumeration Documentation

enum exotica::OMPLTimeIndexedRRTConnect::GrowState

protected

The state of the tree after an attempt to extend it.

Enumerator
TRAPPED	no progress has been made
ADVANCED	progress has been made towards the randomly sampled state
REACHED	the randomly sampled state was reached

Definition at line 206 of file time_indexed_rrt_connect.h.

Constructor & Destructor Documentation

exotica::OMPLTimeIndexedRRTConnect::OMPLTimeIndexedRRTConnect ( const base::SpaceInformationPtr & si )

Definition at line 275 of file time_indexed_rrt_connect.cpp.

exotica::OMPLTimeIndexedRRTConnect::~OMPLTimeIndexedRRTConnect ( )

virtual

Definition at line 286 of file time_indexed_rrt_connect.cpp.

Member Function Documentation

void exotica::OMPLTimeIndexedRRTConnect::clear ( void )

override

Definition at line 335 of file time_indexed_rrt_connect.cpp.

bool exotica::OMPLTimeIndexedRRTConnect::correctTime	(	const Motion *	a,
		Motion *	b,
		bool	reverse,
		bool &	changed
	)		const

inlineprotected

Definition at line 257 of file time_indexed_rrt_connect.h.

double exotica::OMPLTimeIndexedRRTConnect::distanceFunction	(	const Motion *	a,
		const Motion *	b
	)		const

inlineprotected

Compute distance between motions (actually distance between contained states)

Definition at line 220 of file time_indexed_rrt_connect.h.

double exotica::OMPLTimeIndexedRRTConnect::forwardTimeDistance	(	const Motion *	a,
		const Motion *	b
	)		const

inlineprotected

Definition at line 225 of file time_indexed_rrt_connect.h.

void exotica::OMPLTimeIndexedRRTConnect::freeMemory ( )

protected

Free the memory allocated by this planner.

Definition at line 310 of file time_indexed_rrt_connect.cpp.

void exotica::OMPLTimeIndexedRRTConnect::getPlannerData ( base::PlannerData & data ) const

override

Definition at line 543 of file time_indexed_rrt_connect.cpp.

double exotica::OMPLTimeIndexedRRTConnect::getRange ( ) const

inline

Get the range the planner is using.

Definition at line 160 of file time_indexed_rrt_connect.h.

OMPLTimeIndexedRRTConnect::GrowState exotica::OMPLTimeIndexedRRTConnect::growTree	(	TreeData &	tree,
		TreeGrowingInfo &	tgi,
		Motion *	rmotion
	)

protected

Grow a tree towards a random state.

Definition at line 345 of file time_indexed_rrt_connect.cpp.

double exotica::OMPLTimeIndexedRRTConnect::reverseTimeDistance	(	const Motion *	a,
		const Motion *	b
	)		const

inlineprotected

Definition at line 241 of file time_indexed_rrt_connect.h.

template<template< typename T > class NN>

void exotica::OMPLTimeIndexedRRTConnect::setNearestNeighbors ( )

inline

Set a different nearest neighbors datastructure.

Definition at line 167 of file time_indexed_rrt_connect.h.

void exotica::OMPLTimeIndexedRRTConnect::setRange ( double distance )

inline

Set the range the planner is supposed to use. This parameter greatly influences the runtime of the algorithm. It represents the maximum length of a motion to be added in the tree of motions.

Definition at line 154 of file time_indexed_rrt_connect.h.

void exotica::OMPLTimeIndexedRRTConnect::setup ( )

override

Definition at line 291 of file time_indexed_rrt_connect.cpp.

ompl::base::PlannerStatus exotica::OMPLTimeIndexedRRTConnect::solve ( const base::PlannerTerminationCondition & ptc )

override

Definition at line 393 of file time_indexed_rrt_connect.cpp.