time_indexed_rrt_connect.cpp
/tmp/ws/src/exotica/exotations/solvers/exotica_time_indexed_rrt_connect_solver/src/
time__indexed__rrt__connect_8cpp.html
exotica_time_indexed_rrt_connect_solver/time_indexed_rrt_connect.h
exotica
time_indexed_rrt_connect.h
/tmp/ws/src/exotica/exotations/solvers/exotica_time_indexed_rrt_connect_solver/include/exotica_time_indexed_rrt_connect_solver/
time__indexed__rrt__connect_8h.html
exotica::OMPLTimeIndexedRRTConnect::Motion
exotica::OMPLTimeIndexedRNStateSpace
exotica::OMPLTimeIndexedRRTConnect
exotica::OMPLTimeIndexedStateValidityChecker
exotica::OMPLTimeIndexedRNStateSpace::StateType
exotica::TimeIndexedRRTConnectSolver
exotica::OMPLTimeIndexedRRTConnect::TreeGrowingInfo
exotica
boost::function< ompl::base::PlannerPtr(const ompl::base::SpaceInformationPtr &si, const std::string &name)>
ConfiguredPlannerAllocator
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exotica::OMPLTimeIndexedRRTConnect::Motion
classexotica_1_1OMPLTimeIndexedRRTConnect_1_1Motion.html
Motion
classexotica_1_1OMPLTimeIndexedRRTConnect_1_1Motion.html
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()=default
Motion
classexotica_1_1OMPLTimeIndexedRRTConnect_1_1Motion.html
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(const base::SpaceInformationPtr &si)
~Motion
classexotica_1_1OMPLTimeIndexedRRTConnect_1_1Motion.html
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()=default
Motion *
parent
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const base::State *
root
classexotica_1_1OMPLTimeIndexedRRTConnect_1_1Motion.html
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base::State *
state
classexotica_1_1OMPLTimeIndexedRRTConnect_1_1Motion.html
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exotica::OMPLTimeIndexedRNStateSpace
classexotica_1_1OMPLTimeIndexedRNStateSpace.html
exotica::OMPLTimeIndexedRNStateSpace::StateType
ompl::base::StateSamplerPtr
allocDefaultStateSampler
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() const override
void
ExoticaToOMPLState
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(const Eigen::VectorXd &q, const double &t, ompl::base::State *state) const
OMPLTimeIndexedRNStateSpace
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(TimeIndexedSamplingProblemPtr &prob, TimeIndexedRRTConnectSolverInitializer init)
void
OMPLToExoticaState
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(const ompl::base::State *state, Eigen::VectorXd &q, double &t) const
void
StateDebug
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(const Eigen::VectorXd &q) const
TimeIndexedSamplingProblemPtr
prob_
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exotica::OMPLTimeIndexedRRTConnect
classexotica_1_1OMPLTimeIndexedRRTConnect.html
exotica::OMPLTimeIndexedRRTConnect::Motion
exotica::OMPLTimeIndexedRRTConnect::TreeGrowingInfo
void
clear
classexotica_1_1OMPLTimeIndexedRRTConnect.html
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() override
void
getPlannerData
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(base::PlannerData &data) const override
double
getRange
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() const
OMPLTimeIndexedRRTConnect
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(const base::SpaceInformationPtr &si)
void
setNearestNeighbors
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()
void
setRange
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(double distance)
void
setup
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() override
base::PlannerStatus
solve
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(const base::PlannerTerminationCondition &ptc) override
virtual
~OMPLTimeIndexedRRTConnect
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()
ADVANCED
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GrowState
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TRAPPED
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ADVANCED
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REACHED
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REACHED
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TRAPPED
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std::shared_ptr< NearestNeighbors< Motion * > >
TreeData
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bool
correctTime
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(const Motion *a, Motion *b, bool reverse, bool &changed) const
double
distanceFunction
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(const Motion *a, const Motion *b) const
double
forwardTimeDistance
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(const Motion *a, const Motion *b) const
void
freeMemory
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()
GrowState
growTree
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(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion)
double
reverseTimeDistance
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(const Motion *a, const Motion *b) const
std::pair< base::State *, base::State * >
connectionPoint_
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double
maxDistance_
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bool
reverse_check_
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RNG
rng_
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base::StateSamplerPtr
sampler_
classexotica_1_1OMPLTimeIndexedRRTConnect.html
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TreeData
tGoal_
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TreeData
tStart_
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exotica::OMPLTimeIndexedStateValidityChecker
classexotica_1_1OMPLTimeIndexedStateValidityChecker.html
bool
isValid
classexotica_1_1OMPLTimeIndexedStateValidityChecker.html
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(const ompl::base::State *state) const override
bool
isValid
classexotica_1_1OMPLTimeIndexedStateValidityChecker.html
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(const ompl::base::State *state, double &dist) const override
OMPLTimeIndexedStateValidityChecker
classexotica_1_1OMPLTimeIndexedStateValidityChecker.html
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(const ompl::base::SpaceInformationPtr &si, const TimeIndexedSamplingProblemPtr &prob)
TimeIndexedSamplingProblemPtr
prob_
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exotica::OMPLTimeIndexedRNStateSpace::StateType
classexotica_1_1OMPLTimeIndexedRNStateSpace_1_1StateType.html
ompl::base::RealVectorStateSpace::StateType &
getRNSpace
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()
const ompl::base::RealVectorStateSpace::StateType &
getRNSpace
classexotica_1_1OMPLTimeIndexedRNStateSpace_1_1StateType.html
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() const
ompl::base::TimeStateSpace::StateType &
getTime
classexotica_1_1OMPLTimeIndexedRNStateSpace_1_1StateType.html
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()
const ompl::base::TimeStateSpace::StateType &
getTime
classexotica_1_1OMPLTimeIndexedRNStateSpace_1_1StateType.html
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() const
StateType
classexotica_1_1OMPLTimeIndexedRNStateSpace_1_1StateType.html
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()
exotica::TimeIndexedRRTConnectSolver
classexotica_1_1TimeIndexedRRTConnectSolver.html
exotica::MotionSolver
Instantiable< TimeIndexedRRTConnectSolverInitializer >
void
Instantiate
classexotica_1_1TimeIndexedRRTConnectSolver.html
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(const TimeIndexedRRTConnectSolverInitializer &init) override
void
SetPlannerTerminationCondition
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(const std::shared_ptr< ompl::base::PlannerTerminationCondition > &ptc)
void
Solve
classexotica_1_1TimeIndexedRRTConnectSolver.html
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(Eigen::MatrixXd &solution) override
void
SpecifyProblem
classexotica_1_1TimeIndexedRRTConnectSolver.html
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(PlanningProblemPtr pointer) override
void
GetPath
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(Eigen::MatrixXd &traj, ompl::base::PlannerTerminationCondition &ptc)
void
PostSolve
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()
void
PreSolve
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()
void
SetGoalState
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(const Eigen::VectorXd &qT, const double t, const double eps=0)
static ompl::base::PlannerPtr
allocatePlanner
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(const ompl::base::SpaceInformationPtr &si, const std::string &new_name)
std::string
algorithm_
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ompl::geometric::SimpleSetupPtr
ompl_simple_setup_
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ConfiguredPlannerAllocator
planner_allocator_
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TimeIndexedSamplingProblemPtr
prob_
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std::shared_ptr< ompl::base::PlannerTerminationCondition >
ptc_
classexotica_1_1TimeIndexedRRTConnectSolver.html
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ompl::base::StateSpacePtr
state_space_
classexotica_1_1TimeIndexedRRTConnectSolver.html
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exotica::OMPLTimeIndexedRRTConnect::TreeGrowingInfo
structexotica_1_1OMPLTimeIndexedRRTConnect_1_1TreeGrowingInfo.html
bool
correct_time
structexotica_1_1OMPLTimeIndexedRRTConnect_1_1TreeGrowingInfo.html
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bool
start
structexotica_1_1OMPLTimeIndexedRRTConnect_1_1TreeGrowingInfo.html
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Motion *
xmotion
structexotica_1_1OMPLTimeIndexedRRTConnect_1_1TreeGrowingInfo.html
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base::State *
xstate
structexotica_1_1OMPLTimeIndexedRRTConnect_1_1TreeGrowingInfo.html
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exotica
namespaceexotica.html
exotica::OMPLTimeIndexedRNStateSpace
exotica::OMPLTimeIndexedRRTConnect
exotica::OMPLTimeIndexedStateValidityChecker
exotica::TimeIndexedRRTConnectSolver
boost::function< ompl::base::PlannerPtr(const ompl::base::SpaceInformationPtr &si, const std::string &name)>
ConfiguredPlannerAllocator
namespaceexotica.html
ad589253e70df9293f4a3f9c03e006ea4