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SyclopEST.h
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34
35/* Author: Matt Maly */
36
37#ifndef OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPEST_
38#define OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPEST_
39
40#include "ompl/control/planners/syclop/Syclop.h"
41#include "ompl/control/planners/syclop/Decomposition.h"
42#include "ompl/control/planners/syclop/GridDecomposition.h"
43
44namespace ompl
45{
46 namespace control
47 {
51 class SyclopEST : public Syclop
52 {
53 public:
55 SyclopEST(const SpaceInformationPtr &si, const DecompositionPtr &d) : Syclop(si, d, "SyclopEST")
56 {
57 }
58
59 ~SyclopEST() override
60 {
61 freeMemory();
62 }
63
64 void setup() override;
65 void clear() override;
66 void getPlannerData(base::PlannerData &data) const override;
67
68 protected:
69 Syclop::Motion *addRoot(const base::State *s) override;
70 void selectAndExtend(Region &region, std::vector<Motion *> &newMotions) override;
71
73 void freeMemory();
74
75 base::StateSamplerPtr sampler_;
76 ControlSamplerPtr controlSampler_;
77 std::vector<Motion *> motions_;
78
81 };
82 }
83}
84#endif
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition State.h:50
A shared pointer wrapper for ompl::control::ControlSampler.
A shared pointer wrapper for ompl::control::Decomposition.
SyclopEST is Syclop with EST as its low-level tree planner. .
Definition SyclopEST.h:52
void selectAndExtend(Region &region, std::vector< Motion * > &newMotions) override
Select a Motion from the given Region, and extend the tree from the Motion. Add any new motions creat...
Definition SyclopEST.cpp:89
void freeMemory()
Free the memory allocated by this planner.
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition SyclopEST.cpp:56
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition SyclopEST.h:80
Syclop::Motion * addRoot(const base::State *s) override
Add State s as a new root in the low-level tree, and return the Motion corresponding to s.
Definition SyclopEST.cpp:80
SyclopEST(const SpaceInformationPtr &si, const DecompositionPtr &d)
Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.
Definition SyclopEST.h:55
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition SyclopEST.cpp:40
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition SyclopEST.cpp:48
Representation of a motion.
Definition Syclop.h:257
Syclop(const SpaceInformationPtr &si, DecompositionPtr d, const std::string &plannerName)
Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.
Definition Syclop.h:103
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition Control.h:45
Main namespace. Contains everything in this library.