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VFRRT.h
72 VFRRT(const base::SpaceInformationPtr &si, VectorField vf, double exploration, double initial_lambda,
88 double biasedSampling(const Eigen::VectorXd &vrand, const Eigen::VectorXd &vfield, double lambdaScale);
103 Eigen::VectorXd computeAlphaBeta(double omega, const Eigen::VectorXd &vrand, const Eigen::VectorXd &vfield);
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition PlannerTerminationCondition.h:64
RRT(const base::SpaceInformationPtr &si, bool addIntermediateStates=false)
Constructor.
Definition RRT.cpp:42
double biasedSampling(const Eigen::VectorXd &vrand, const Eigen::VectorXd &vfield, double lambdaScale)
Definition VFRRT.cpp:116
VFRRT(const base::SpaceInformationPtr &si, VectorField vf, double exploration, double initial_lambda, unsigned int update_freq)
Definition VFRRT.cpp:51
~VFRRT() override
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Definition VFRRT.cpp:194
Eigen::VectorXd getNewDirection(const base::State *qnear, const base::State *qrand)
Definition VFRRT.cpp:93
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition VFRRT.cpp:74
Motion * extendTree(Motion *m, base::State *rstate, const Eigen::VectorXd &v)
Definition VFRRT.cpp:154
void updateExplorationEfficiency(Motion *m)
Definition VFRRT.cpp:184
Eigen::VectorXd computeAlphaBeta(double omega, const Eigen::VectorXd &vrand, const Eigen::VectorXd &vfield)
Definition VFRRT.cpp:140
This namespace contains code that is specific to planning under geometric constraints.
Definition GeneticSearch.h:48
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66
A class to store the exit status of Planner::solve()
Definition PlannerStatus.h:49