#include <time_indexed_rrt_connect.h>

Inheritance diagram for exotica::OMPLTimeIndexedRRTConnect:

Collaboration 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
	OMPLTimeIndexedRRTConnect (const base::SpaceInformationPtr &si)

virtual	~OMPLTimeIndexedRRTConnect ()

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

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

void	clear () override

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...

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

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

void	setup () override

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

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

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

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

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

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

TreeData	tStart_
	The start tree. More...

TreeData	tGoal_
	The goal tree. More...

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

RNG	rng_
	The random number generator. More...

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

bool	reverse_check_

Member Typedef Documentation

◆ TreeData

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

protected

A nearest-neighbor datastructure representing a tree of motions.

Member Enumeration Documentation

◆ GrowState

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

Constructor & Destructor Documentation

◆ OMPLTimeIndexedRRTConnect()

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

◆ ~OMPLTimeIndexedRRTConnect()

virtual exotica::OMPLTimeIndexedRRTConnect::~OMPLTimeIndexedRRTConnect ( )

virtual

Member Function Documentation

◆ clear()

void exotica::OMPLTimeIndexedRRTConnect::clear ( )

override

◆ correctTime()

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

inlineprotected

◆ distanceFunction()

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

inlineprotected

Compute distance between motions (actually distance between contained states)

◆ forwardTimeDistance()

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

inlineprotected

◆ freeMemory()

void exotica::OMPLTimeIndexedRRTConnect::freeMemory ( )

protected

Free the memory allocated by this planner.

◆ getPlannerData()

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

override

◆ getRange()

double exotica::OMPLTimeIndexedRRTConnect::getRange ( ) const

inline

Get the range the planner is using.

◆ growTree()

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

protected

Grow a tree towards a random state.

◆ reverseTimeDistance()

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

inlineprotected

◆ setNearestNeighbors()

template<template< typename T > class NN>

void exotica::OMPLTimeIndexedRRTConnect::setNearestNeighbors ( )

inline

Set a different nearest neighbors datastructure.

◆ setRange()

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.

◆ setup()

void exotica::OMPLTimeIndexedRRTConnect::setup ( )

override

◆ solve()

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

override

Member Data Documentation

◆ connectionPoint_

std::pair<base::State *, base::State *> exotica::OMPLTimeIndexedRRTConnect::connectionPoint_

protected

The pair of states in each tree connected during planning. Used for PlannerData computation.

◆ maxDistance_

double exotica::OMPLTimeIndexedRRTConnect::maxDistance_

protected

The maximum length of a motion to be added to a tree.

◆ reverse_check_

bool exotica::OMPLTimeIndexedRRTConnect::reverse_check_

protected

◆ rng_

RNG exotica::OMPLTimeIndexedRRTConnect::rng_

protected

The random number generator.

◆ sampler_

base::StateSamplerPtr exotica::OMPLTimeIndexedRRTConnect::sampler_

protected

State sampler.

◆ tGoal_

TreeData exotica::OMPLTimeIndexedRRTConnect::tGoal_

protected

The goal tree.

◆ tStart_

TreeData exotica::OMPLTimeIndexedRRTConnect::tStart_

protected

The start tree.

The documentation for this class was generated from the following file:

/tmp/exotica/exotations/solvers/exotica_time_indexed_rrt_connect_solver/include/exotica_time_indexed_rrt_connect_solver/time_indexed_rrt_connect.h

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Member Typedef Documentation

◆ TreeData

Member Enumeration Documentation

◆ GrowState

Constructor & Destructor Documentation

◆ OMPLTimeIndexedRRTConnect()

◆ ~OMPLTimeIndexedRRTConnect()

Member Function Documentation

◆ clear()

◆ correctTime()

◆ distanceFunction()

◆ forwardTimeDistance()

◆ freeMemory()

◆ getPlannerData()

◆ getRange()

◆ growTree()

◆ reverseTimeDistance()

◆ setNearestNeighbors()

◆ setRange()

◆ setup()

◆ solve()

Member Data Documentation

◆ connectionPoint_

◆ maxDistance_

◆ reverse_check_

◆ rng_

◆ sampler_

◆ tGoal_

◆ tStart_