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ImplicitGraph.h
120 void updateStartAndGoalStates(const ompl::base::PlannerTerminationCondition &terminationCondition,
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
Helper class to extract valid start & goal states. Usually used internally by planners.
Definition Planner.h:78
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition PlannerTerminationCondition.h:64
bool isStart(const std::shared_ptr< Vertex > &vertex) const
Checks whether the vertex is a start vertex.
Definition ImplicitGraph.cpp:415
bool hasAStartState() const
Returns whether the graph has a goal state.
Definition ImplicitGraph.cpp:148
std::size_t getNumberOfNearestNeighborCalls() const
Get the number of nearest neighbor calls.
Definition ImplicitGraph.cpp:532
const std::vector< std::shared_ptr< Vertex > > & getStartVertices() const
Get the start vertices.
Definition ImplicitGraph.cpp:439
std::vector< std::shared_ptr< Vertex > > getVertices() const
Get all vertices.
Definition ImplicitGraph.cpp:449
void setMaxNumberOfGoals(unsigned int maxNumberOfGoals)
Set the maximum number of goals AIT* will sample from sampleable goal regions.
Definition ImplicitGraph.cpp:95
bool isGoal(const std::shared_ptr< Vertex > &vertex) const
Checks whether the vertex is a goal vertex.
Definition ImplicitGraph.cpp:427
std::size_t getNumberOfStateCollisionChecks() const
Get the number of state collision checks.
Definition ImplicitGraph.cpp:525
std::size_t getNumberOfValidSamples() const
Returns the total number of valid samples found.
Definition ImplicitGraph.cpp:520
void prune()
Prune all samples that can not contribute to a solution better than the current one.
Definition ImplicitGraph.cpp:456
void updateStartAndGoalStates(const ompl::base::PlannerTerminationCondition &terminationCondition, ompl::base::PlannerInputStates *inputStates)
Adds new start and goals to the graph if avavilable and creates a new informed sampler if necessary.
Definition ImplicitGraph.cpp:159
void registerStartState(const ompl::base::State *const startState)
Registers a state as a start state.
Definition ImplicitGraph.cpp:115
void clear()
Resets the graph to its construction state, without resetting options.
Definition ImplicitGraph.cpp:71
void registerGoalState(const ompl::base::State *const goalState)
Registers a state as a goal state.
Definition ImplicitGraph.cpp:133
const std::vector< std::shared_ptr< Vertex > > & getGoalVertices() const
Get the goal vertices.
Definition ImplicitGraph.cpp:444
bool addSamples(std::size_t numNewSamples, const ompl::base::PlannerTerminationCondition &terminationCondition)
Adds a batch of samples and returns the samples it has added.
Definition ImplicitGraph.cpp:315
void setup(const ompl::base::SpaceInformationPtr &spaceInformation, const ompl::base::ProblemDefinitionPtr &problemDefinition, ompl::base::PlannerInputStates *inputStates)
The setup method for the graph. Needed to have it on the stack.
Definition ImplicitGraph.cpp:55
ImplicitGraph(const ompl::base::Cost &solutionCost)
Constructs an implicit graph.
Definition ImplicitGraph.cpp:50
virtual ~ImplicitGraph()=default
Destructs an implicit graph.
std::vector< std::shared_ptr< Vertex > > getNeighbors(const std::shared_ptr< Vertex > &vertex) const
Get neighbors of a vertex.
Definition ImplicitGraph.cpp:391
std::size_t getNumVertices() const
Gets the number of samples in the graph.
Definition ImplicitGraph.cpp:380
bool hasAGoalState() const
Returns whether the graph has a goal state.
Definition ImplicitGraph.cpp:153
bool getUseKNearest() const
Whether the graph uses a k-nearest connection model. If false, it uses an r-disc model.
Definition ImplicitGraph.cpp:110
std::size_t getNumberOfSampledStates() const
Returns the total number of sampled states.
Definition ImplicitGraph.cpp:515
void setRewireFactor(double rewireFactor)
Set the rewire factor of the RGG.
Definition ImplicitGraph.cpp:85
void setTrackApproximateSolution(bool track)
Sets whether to track approximate solutions or not.
unsigned int getMaxNumberOfGoals() const
Get the maximum number of goals AIT* will sample from sampleable goal regions.
Definition ImplicitGraph.cpp:100
void setUseKNearest(bool useKNearest)
Whether to use a k-nearest connection model. If false, it uses an r-disc model.
Definition ImplicitGraph.cpp:105
This namespace contains code that is specific to planning under geometric constraints.
Definition GeneticSearch.h:48
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66