ompl::control::SyclopEST Class Reference

SyclopEST is Syclop with EST as its low-level tree planner. More...

#include <ompl/control/planners/syclop/SyclopEST.h>

Inheritance diagram for ompl::control::SyclopEST:

List of all members.

Public Member Functions

 SyclopEST (const SpaceInformationPtr &si, const DecompositionPtr &d)
 Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.
virtual void setup ()
 Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceInformation::setup() if needed. This must be called before solving.
virtual void clear ()
 Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.
virtual void getPlannerData (base::PlannerData &data) const
 Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between).

Protected Member Functions

virtual Syclop::MotionaddRoot (const base::State *s)
 Add State s as a new root in the low-level tree, and return the Motion corresponding to s.
virtual void selectAndExtend (Region &region, std::vector< Motion * > &newMotions)
void freeMemory ()
 Free the memory allocated by this planner.

Protected Attributes

base::StateSamplerPtr sampler_
ControlSamplerPtr controlSampler_
std::vector< Motion * > motions_
Motion * lastGoalMotion_
 The most recent goal motion. Used for PlannerData computation.

Detailed Description

SyclopEST is Syclop with EST as its low-level tree planner.

Definition at line 51 of file SyclopEST.h.


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