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AITstar.h
234 std::array<ompl::base::Cost, 2u> computeSortKey(const std::shared_ptr<aitstar::Vertex> &vertex) const;
240 std::vector<aitstar::Edge> getOutgoingEdges(const std::shared_ptr<aitstar::Vertex> &vertex) const;
257 ompl::base::PlannerStatus::StatusType updateSolution(const std::shared_ptr<aitstar::Vertex> &vertex);
260 ompl::base::Cost computeCostToGoToStartHeuristic(const std::shared_ptr<aitstar::Vertex> &vertex) const;
263 ompl::base::Cost computeCostToGoToGoalHeuristic(const std::shared_ptr<aitstar::Vertex> &vertex) const;
279 void invalidateCostToComeFromGoalOfReverseBranch(const std::shared_ptr<aitstar::Vertex> &vertex);
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition PlannerData.h:175
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition PlannerTerminationCondition.h:64
std::shared_ptr< aitstar::Vertex > getNextVertexInQueue() const
Get the next vertex in the queue.
Definition AITstar.cpp:624
void setMaxNumberOfGoals(unsigned int numberOfGoals)
Set the maximum number of goals AIT* will sample from sampleable goal regions.
Definition AITstar.cpp:361
void setRewireFactor(double rewireFactor)
Set the rewire factor of the RGG graph.
Definition AITstar.cpp:313
ompl::base::PlannerStatus::StatusType ensureStartAndGoalStates(const ompl::base::PlannerTerminationCondition &terminationCondition)
Checks whether the problem is successfully setup.
Definition AITstar.cpp:169
unsigned int getMaxNumberOfGoals() const
Get the maximum number of goals AIT* will sample from sampleable goal regions.
Definition AITstar.cpp:366
std::vector< std::shared_ptr< aitstar::Vertex > > getVerticesInQueue() const
Get the vertex queue.
Definition AITstar.cpp:599
AITstar(const ompl::base::SpaceInformationPtr &spaceInformation)
Constructs a AIT*.
Definition AITstar.cpp:55
bool getUseKNearest() const
Get whether to use a k-nearest RGG connection model. If false, AIT* uses an r-disc model.
Definition AITstar.cpp:356
void getPlannerData(base::PlannerData &data) const override
Get the planner data.
Definition AITstar.cpp:259
void setup() override
Additional setup that can only be done once a problem definition is set.
Definition AITstar.cpp:94
ompl::base::PlannerStatus solve(const ompl::base::PlannerTerminationCondition &terminationCondition) override
Solves a motion planning problem.
Definition AITstar.cpp:215
ompl::base::PlannerStatus::StatusType ensureSetup()
Checks whether the planner is successfully setup.
Definition AITstar.cpp:145
std::vector< std::shared_ptr< aitstar::Vertex > > getVerticesInReverseSearchTree() const
Get the vertices in the reverse search tree.
Definition AITstar.cpp:634
void trackApproximateSolutions(bool track)
Set whether to track approximate solutions.
Definition AITstar.cpp:323
void setUseKNearest(bool useKNearest)
Set whether to use a k-nearest RGG connection model. If false, AIT* uses an r-disc model.
Definition AITstar.cpp:351
bool areApproximateSolutionsTracked() const
Get whether approximate solutions are tracked.
Definition AITstar.cpp:336
Definition Edge.h:56
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
A class to store the exit status of Planner::solve()
Definition PlannerStatus.h:49