CForest.h
94 base::CForestStateSpaceWrapper *cfspace = new base::CForestStateSpaceWrapper(this, si_->getStateSpace().get());
173 void newSolutionFound(const base::Planner *planner, const std::vector<const base::State *> &states, const base::Cost cost);
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
std::string getNumStatesShared() const
Get number of states actually shared by the algorithm.
Definition: CForest.cpp:204
boost::unordered_set< const base::State * > statesShared_
Stores the states already shared to check if a specific state has been shared.
Definition: CForest.h:190
A boost shared pointer wrapper for ompl::base::StateSpace.
A boost shared pointer wrapper for ompl::base::StateSampler.
unsigned int numThreads_
Default number of threads to use when no planner instances are specified by the user.
Definition: CForest.h:211
std::vector< base::StateSamplerPtr > samplers_
The set of sampler allocated by the planners.
Definition: CForest.h:187
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: CForest.cpp:137
void addPlannerInstances(std::size_t num=2)
Add an specific planner instance.
Definition: CForest.h:106
State space wrapper to use together with CForest. It adds some functionalities to the regular state s...
Definition: CForestStateSpaceWrapper.h:55
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
virtual void getPlannerData(base::PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: CForest.cpp:84
boost::mutex newSolutionFoundMutex_
Mutex to control the access to the newSolutionFound() method.
Definition: CForest.h:202
base::OptimizationObjectivePtr opt_
Optimization objective taken into account when planning.
Definition: CForest.h:181
void setNumThreads(unsigned int numThreads=0)
Set default number of threads to use when no planner instances are specified by the user...
Definition: CForest.cpp:66
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: CForest.cpp:119
A boost shared pointer wrapper for ompl::base::Planner.
virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc)
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: CForest.cpp:164
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A boost shared pointer wrapper for ompl::base::SpaceInformation.
The base class for space information. This contains all the information about the space planning is d...
Definition: SpaceInformation.h:86
A boost shared pointer wrapper for ompl::base::OptimizationObjective.
std::string getNumPathsShared() const
Get number of paths shared by the algorithm.
Definition: CForest.cpp:199
void setPrune(const bool prune)
Option to control whether the tree is pruned during the search.
Definition: CForest.h:138
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
unsigned int getNumThreads()
Get default number of threads used by CForest when no planner instances are specified by the user...
Definition: CForest.h:153
base::PlannerPtr & getPlannerInstance(const std::size_t idx)
Return an specific planner instance.
Definition: CForest.h:121