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pRRT.h
162 void threadSolve(unsigned int tid, const base::PlannerTerminationCondition &ptc, SolutionInfo *sol);
virtual std::size_t size() const =0
Get the number of elements in the datastructure.
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
Class to ease the creation of a set of samplers. This is especially useful for multi-threaded planner...
Definition StateSamplerArray.h:88
Definition pRRT.h:140
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 pRRT.cpp:252
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition pRRT.h:180
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition pRRT.cpp:74
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition pRRT.cpp:60
void setThreadCount(unsigned int nthreads)
Set the number of threads the planner should use. Default is 2.
Definition pRRT.cpp:272
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition pRRT.cpp:172
A class to store the exit status of Planner::solve()
Definition PlannerStatus.h:49