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<div class="title">BKPIECE1.cpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Copyright (c) 2011, Rice University,</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> *********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Author: Ioan Sucan */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include "ompl/geometric/planners/kpiece/BKPIECE1.h"</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include "ompl/base/goals/GoalSampleableRegion.h"</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#include "ompl/tools/config/SelfConfig.h"</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <cassert></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BKPIECE1.html#a1e61534ba2f912016e00d94cfc5449e5"> 42</a></span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a1e61534ba2f912016e00d94cfc5449e5">ompl::geometric::BKPIECE1::BKPIECE1</a>(<span class="keyword">const</span> base::SpaceInformationPtr &si)</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  : base::Planner(si, <span class="stringliteral">"BKPIECE1"</span>)</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  , dStart_([this](<a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html">Motion</a> *m) { <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#ae81ac9338565790508efaebbef3d8459">freeMotion</a>(m); })</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  , dGoal_([<span class="keyword">this</span>](Motion *m) { freeMotion(m); })</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> {</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  specs_.recognizedGoal = <a class="code" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a6fb685fa51055688c4e130094225b7f9">base::GOAL_SAMPLEABLE_REGION</a>;</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  </div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  Planner::declareParam<double>(<span class="stringliteral">"range"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#ab803b4859de12fd5788e87b99c672679">BKPIECE1::setRange</a>, &<a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#ad01e749cab8b9096d01e8f9f3ca35f61">BKPIECE1::getRange</a>, <span class="stringliteral">"0.:1.:10000."</span>);</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  Planner::declareParam<double>(<span class="stringliteral">"border_fraction"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a57e4e557bbd43543c4fe5d5d3733b443">BKPIECE1::setBorderFraction</a>, &<a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a6dd67ede6c67a142ff0270ec91b3a2d4">BKPIECE1::getBorderFraction</a>,</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="stringliteral">"0.:.05:1."</span>);</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  Planner::declareParam<double>(<span class="stringliteral">"failed_expansion_score_factor"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a06f49930fd458b8ff60626a1f0b1b775">BKPIECE1::setFailedExpansionCellScoreFactor</a>,</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  &<a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#af93f42bd3ebf86547cfcb61ab1280e99">BKPIECE1::getFailedExpansionCellScoreFactor</a>);</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  Planner::declareParam<double>(<span class="stringliteral">"min_valid_path_fraction"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a1cc89cb07e13a333f6eed645a3dfcda3">BKPIECE1::setMinValidPathFraction</a>,</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  &<a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a1cec5e62c6aff0aea1ffef10337c0eb1">BKPIECE1::getMinValidPathFraction</a>);</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> }</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> ompl::geometric::BKPIECE1::~BKPIECE1() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  </div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BKPIECE1.html#aa724226c3dec34b09cfa9a57e94b4679"> 60</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#aa724226c3dec34b09cfa9a57e94b4679">ompl::geometric::BKPIECE1::setup</a>()</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> {</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  Planner::setup();</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <a class="code" href="classompl_1_1tools_1_1SelfConfig.html">tools::SelfConfig</a> sc(si_, getName());</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  sc.<a class="code" href="classompl_1_1tools_1_1SelfConfig.html#a6af441eace888354bcc5afe172561d62">configureProjectionEvaluator</a>(projectionEvaluator_);</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  sc.<a class="code" href="classompl_1_1tools_1_1SelfConfig.html#a65bff53ea4bc6f158342a856175ab9a6">configurePlannerRange</a>(maxDistance_);</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keywordflow">if</span> (failedExpansionScoreFactor_ < std::numeric_limits<double>::epsilon() || failedExpansionScoreFactor_ > 1.0)</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">Exception</a>(<span class="stringliteral">"Failed expansion cell score factor must be in the range (0,1]"</span>);</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">if</span> (minValidPathFraction_ < std::numeric_limits<double>::epsilon() || minValidPathFraction_ > 1.0)</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">Exception</a>(<span class="stringliteral">"The minimum valid path fraction must be in the range (0,1]"</span>);</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  </div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  dStart_.setDimension(projectionEvaluator_->getDimension());</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  dGoal_.setDimension(projectionEvaluator_->getDimension());</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> }</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BKPIECE1.html#a2cf588b5cd49be01cc43c576794c499c"> 76</a></span> <a class="code" href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a2cf588b5cd49be01cc43c576794c499c">ompl::geometric::BKPIECE1::solve</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc)</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> {</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  checkValidity();</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keyword">auto</span> *goal = <span class="keyword">dynamic_cast<</span><a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html">base::GoalSampleableRegion</a> *<span class="keyword">></span>(pdef_->getGoal().get());</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  </div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordflow">if</span> (goal == <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  {</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: Unknown type of goal"</span>, getName().c_str());</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">return</span> <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a47d769205044efa345184a640bd863ff">base::PlannerStatus::UNRECOGNIZED_GOAL_TYPE</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  }</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <a class="code" href="classompl_1_1geometric_1_1Discretization.html#a2dac26349b7da7fe428522518dfea7dc">Discretization<Motion>::Coord</a> xcoord(projectionEvaluator_->getDimension());</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  </div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keywordflow">while</span> (<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *st = pis_.nextStart())</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  {</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keyword">auto</span> *motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html">Motion</a>(si_);</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  si_->copyState(motion->state, st);</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  motion->root = motion->state;</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  projectionEvaluator_->computeCoordinates(motion->state, xcoord);</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  dStart_.addMotion(motion, xcoord);</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  }</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  </div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordflow">if</span> (dStart_.getMotionCount() == 0)</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  {</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: Motion planning start tree could not be initialized!"</span>, getName().c_str());</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordflow">return</span> <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a1f20d012b563fc223902e24a8bcd7547">base::PlannerStatus::INVALID_START</a>;</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  }</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  </div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordflow">if</span> (!goal->couldSample())</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  {</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: Insufficient states in sampleable goal region"</span>, getName().c_str());</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordflow">return</span> <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a2e2b2b7e02900c4417af0ecea272c637">base::PlannerStatus::INVALID_GOAL</a>;</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  }</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  </div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keywordflow">if</span> (!sampler_)</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  sampler_ = si_->allocValidStateSampler();</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  </div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: Starting planning with %d states already in datastructure"</span>, getName().c_str(),</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  (<span class="keywordtype">int</span>)(dStart_.getMotionCount() + dGoal_.getMotionCount()));</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  </div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  std::vector<Motion *> solution;</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *xstate = si_->allocState();</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keywordtype">bool</span> startTree = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordtype">bool</span> solved = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  </div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keywordflow">while</span> (!ptc)</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  {</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <a class="code" href="classompl_1_1geometric_1_1Discretization.html">Discretization<Motion></a> &disc = startTree ? dStart_ : dGoal_;</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  startTree = !startTree;</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <a class="code" href="classompl_1_1geometric_1_1Discretization.html">Discretization<Motion></a> &otherDisc = startTree ? dStart_ : dGoal_;</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  disc.countIteration();</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  </div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="comment">// if we have not sampled too many goals already</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordflow">if</span> (dGoal_.getMotionCount() == 0 || pis_.getSampledGoalsCount() < dGoal_.getMotionCount() / 2)</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  {</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *st = dGoal_.getMotionCount() == 0 ? pis_.nextGoal(ptc) : pis_.nextGoal();</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordflow">if</span> (st != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  {</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keyword">auto</span> *motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html">Motion</a>(si_);</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  si_->copyState(motion->state, st);</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  motion->root = motion->state;</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  projectionEvaluator_->computeCoordinates(motion->state, xcoord);</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  dGoal_.addMotion(motion, xcoord);</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  }</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keywordflow">if</span> (dGoal_.getMotionCount() == 0)</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  {</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: Unable to sample any valid states for goal tree"</span>, getName().c_str());</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  }</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  }</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  </div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <a class="code" href="classompl_1_1geometric_1_1Discretization.html#a86c80c67138c62e3da31dc5e42e0726b">Discretization<Motion>::Cell</a> *ecell = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html">Motion</a> *existing = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  disc.<a class="code" href="classompl_1_1geometric_1_1Discretization.html#a8db183fa4a3231509336ffb7057805df">selectMotion</a>(existing, ecell);</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  assert(existing);</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keywordflow">if</span> (sampler_->sampleNear(xstate, existing-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e">state</a>, maxDistance_))</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  {</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  std::pair<base::State *, double> fail(xstate, 0.0);</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="keywordtype">bool</span> keep = si_->checkMotion(existing-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e">state</a>, xstate, fail);</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keywordflow">if</span> (!keep && fail.second > minValidPathFraction_)</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  keep = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  </div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keywordflow">if</span> (keep)</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  {</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <span class="comment">/* create a motion */</span></div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keyword">auto</span> *motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html">Motion</a>(si_);</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  si_->copyState(motion->state, xstate);</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  motion->root = existing-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#ab658fee6c2727e70f145252ec4df86c6">root</a>;</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  motion->parent = existing;</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  </div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  projectionEvaluator_->computeCoordinates(motion->state, xcoord);</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  disc.<a class="code" href="classompl_1_1geometric_1_1Discretization.html#a6ac71e099d8a69dc6c2ee5ff1736a277">addMotion</a>(motion, xcoord);</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  </div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <a class="code" href="classompl_1_1geometric_1_1Discretization.html#a86c80c67138c62e3da31dc5e42e0726b">Discretization<Motion>::Cell</a> *cellC = otherDisc.getGrid().getCell(xcoord);</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  </div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keywordflow">if</span> ((cellC != <span class="keyword">nullptr</span>) && !cellC->data->motions.empty())</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  {</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html">Motion</a> *connectOther = cellC->data->motions[rng_.uniformInt(0, cellC->data->motions.size() - 1)];</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  </div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keywordflow">if</span> (goal->isStartGoalPairValid(startTree ? connectOther-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#ab658fee6c2727e70f145252ec4df86c6">root</a> : motion->root,</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  startTree ? motion->root : connectOther-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#ab658fee6c2727e70f145252ec4df86c6">root</a>) &&</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  si_->checkMotion(motion->state, connectOther-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e">state</a>))</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  {</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="keywordflow">if</span> (startTree)</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  connectionPoint_ = std::make_pair(connectOther-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e">state</a>, motion->state);</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  connectionPoint_ = std::make_pair(motion->state, connectOther-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e">state</a>);</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  </div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="comment">/* extract the motions and put them in solution vector */</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  </div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  std::vector<Motion *> mpath1;</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="keywordflow">while</span> (motion != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  {</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  mpath1.push_back(motion);</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  motion = motion->parent;</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  }</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  </div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  std::vector<Motion *> mpath2;</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordflow">while</span> (connectOther != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  {</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  mpath2.push_back(connectOther);</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  connectOther = connectOther-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a31d66a709c8a16e44787f019c9fc13b2">parent</a>;</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  }</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  </div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="keywordflow">if</span> (startTree)</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  mpath1.swap(mpath2);</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  </div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keyword">auto</span> path(std::make_shared<PathGeometric>(si_));</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  path->getStates().reserve(mpath1.size() + mpath2.size());</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = mpath1.size() - 1; i >= 0; --i)</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  path->append(mpath1[i]->state);</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &i : mpath2)</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  path->append(i->state);</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  </div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  pdef_->addSolutionPath(path, <span class="keyword">false</span>, 0.0, getName());</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  solved = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  }</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  }</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  }</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  ecell->data->score *= failedExpansionScoreFactor_;</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  }</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  ecell->data->score *= failedExpansionScoreFactor_;</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  disc.updateCell(ecell);</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  }</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  </div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  si_->freeState(xstate);</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  </div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: Created %u (%u start + %u goal) states in %u cells (%u start (%u on boundary) + %u goal (%u on "</span></div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="stringliteral">"boundary))"</span>,</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  getName().c_str(), dStart_.getMotionCount() + dGoal_.getMotionCount(), dStart_.getMotionCount(),</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  dGoal_.getMotionCount(), dStart_.getCellCount() + dGoal_.getCellCount(), dStart_.getCellCount(),</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  dStart_.getGrid().countExternal(), dGoal_.getCellCount(), dGoal_.getGrid().countExternal());</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  </div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <span class="keywordflow">return</span> solved ? <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28">base::PlannerStatus::EXACT_SOLUTION</a> : <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a620a03eebe49aa307140d6a4763278fd">base::PlannerStatus::TIMEOUT</a>;</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span> }</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  </div>
<div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BKPIECE1.html#ae81ac9338565790508efaebbef3d8459"> 235</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#ae81ac9338565790508efaebbef3d8459">ompl::geometric::BKPIECE1::freeMotion</a>(<a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html">Motion</a> *motion)</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span> {</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keywordflow">if</span> (motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e">state</a> != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  si_->freeState(motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e">state</a>);</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="keyword">delete</span> motion;</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span> }</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  </div>
<div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BKPIECE1.html#abca5f831bdfe09ab62001a434bda47b8"> 242</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#abca5f831bdfe09ab62001a434bda47b8">ompl::geometric::BKPIECE1::clear</a>()</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> {</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  Planner::clear();</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  </div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  sampler_.reset();</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  dStart_.clear();</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  dGoal_.clear();</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  connectionPoint_ = std::make_pair<base::State *, base::State *>(<span class="keyword">nullptr</span>, <span class="keyword">nullptr</span>);</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span> }</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  </div>
<div class="line"><a name="l00252"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BKPIECE1.html#a10e5170141827497ad20dc06cc167e43"> 252</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a10e5170141827497ad20dc06cc167e43">ompl::geometric::BKPIECE1::getPlannerData</a>(<a class="code" href="classompl_1_1base_1_1PlannerData.html">base::PlannerData</a> &data)<span class="keyword"> const</span></div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  Planner::getPlannerData(data);</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  dStart_.getPlannerData(data, 1, <span class="keyword">true</span>, <span class="keyword">nullptr</span>);</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  dGoal_.getPlannerData(data, 2, <span class="keyword">false</span>, <span class="keyword">nullptr</span>);</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  </div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <span class="comment">// Insert the edge connecting the two trees</span></div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#ac09c21494a8c7db500ef1a66bbbb1aa7">addEdge</a>(data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a06792592713e6463c4b9814f2a715b4c">vertexIndex</a>(connectionPoint_.first), data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a06792592713e6463c4b9814f2a715b4c">vertexIndex</a>(connectionPoint_.second));</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span> }</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_1_1Motion_html_ab658fee6c2727e70f145252ec4df86c6"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#ab658fee6c2727e70f145252ec4df86c6">ompl::geometric::BKPIECE1::Motion::root</a></div><div class="ttdeci">const base::State * root</div><div class="ttdoc">The root state (start state) that leads to this motion.</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00287">BKPIECE1.h:287</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a47d769205044efa345184a640bd863ff"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a47d769205044efa345184a640bd863ff">ompl::base::PlannerStatus::UNRECOGNIZED_GOAL_TYPE</a></div><div class="ttdeci">@ UNRECOGNIZED_GOAL_TYPE</div><div class="ttdoc">The goal is of a type that a planner does not recognize.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00188">PlannerStatus.h:188</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1SelfConfig_html_a65bff53ea4bc6f158342a856175ab9a6"><div class="ttname"><a href="classompl_1_1tools_1_1SelfConfig.html#a65bff53ea4bc6f158342a856175ab9a6">ompl::tools::SelfConfig::configurePlannerRange</a></div><div class="ttdeci">void configurePlannerRange(double &range)</div><div class="ttdoc">Compute what a good length for motion segments is.</div><div class="ttdef"><b>Definition:</b> <a href="SelfConfig_8cpp_source.html#l00225">SelfConfig.cpp:225</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_1_1Motion_html"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html">ompl::geometric::BKPIECE1::Motion</a></div><div class="ttdoc">Representation of a motion for this algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00274">BKPIECE1.h:274</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_html_ae81ac9338565790508efaebbef3d8459"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#ae81ac9338565790508efaebbef3d8459">ompl::geometric::BKPIECE1::freeMotion</a></div><div class="ttdeci">void freeMotion(Motion *motion)</div><div class="ttdoc">Free the memory for a motion.</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8cpp_source.html#l00235">BKPIECE1.cpp:235</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_html_a2cf588b5cd49be01cc43c576794c499c"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#a2cf588b5cd49be01cc43c576794c499c">ompl::geometric::BKPIECE1::solve</a></div><div class="ttdeci">base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override</div><div class="ttdoc">Function that can solve the motion planning problem. This function can be called multiple times on th...</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8cpp_source.html#l00076">BKPIECE1.cpp:76</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html"><div class="ttname"><a href="classompl_1_1base_1_1State.html">ompl::base::State</a></div><div class="ttdoc">Definition of an abstract state.</div><div class="ttdef"><b>Definition:</b> <a href="State_8h_source.html#l00113">State.h:113</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1SelfConfig_html"><div class="ttname"><a href="classompl_1_1tools_1_1SelfConfig.html">ompl::tools::SelfConfig</a></div><div class="ttdoc">This class contains methods that automatically configure various parameters for motion planning....</div><div class="ttdef"><b>Definition:</b> <a href="SelfConfig_8h_source.html#l00123">SelfConfig.h:123</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_1_1Motion_html_a31d66a709c8a16e44787f019c9fc13b2"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a31d66a709c8a16e44787f019c9fc13b2">ompl::geometric::BKPIECE1::Motion::parent</a></div><div class="ttdeci">Motion * parent</div><div class="ttdoc">The parent motion in the exploration tree.</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00293">BKPIECE1.h:293</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_html_a1cec5e62c6aff0aea1ffef10337c0eb1"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#a1cec5e62c6aff0aea1ffef10337c0eb1">ompl::geometric::BKPIECE1::getMinValidPathFraction</a></div><div class="ttdeci">double getMinValidPathFraction() const</div><div class="ttdoc">Get the value of the fraction set by setMinValidPathFraction()</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00260">BKPIECE1.h:260</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1Discretization_html_a86c80c67138c62e3da31dc5e42e0726b"><div class="ttname"><a href="classompl_1_1geometric_1_1Discretization.html#a86c80c67138c62e3da31dc5e42e0726b">ompl::geometric::Discretization::Cell</a></div><div class="ttdeci">typename Grid::Cell Cell</div><div class="ttdoc">The datatype for the maintained grid cells.</div><div class="ttdef"><b>Definition:</b> <a href="Discretization_8h_source.html#l00203">Discretization.h:203</a></div></div>
<div class="ttc" id="agroup__logging_html_ga04bc36d1b8c57ad7e13a8a48451a3a05"><div class="ttname"><a href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a></div><div class="ttdeci">#define OMPL_INFORM(fmt,...)</div><div class="ttdoc">Log a formatted information string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00068">Console.h:68</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a620a03eebe49aa307140d6a4763278fd"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a620a03eebe49aa307140d6a4763278fd">ompl::base::PlannerStatus::TIMEOUT</a></div><div class="ttdeci">@ TIMEOUT</div><div class="ttdoc">The planner failed to find a solution.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00190">PlannerStatus.h:190</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_html_ad01e749cab8b9096d01e8f9f3ca35f61"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#ad01e749cab8b9096d01e8f9f3ca35f61">ompl::geometric::BKPIECE1::getRange</a></div><div class="ttdeci">double getRange() const</div><div class="ttdoc">Get the range the planner is using.</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00208">BKPIECE1.h:208</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1Discretization_html_a6ac71e099d8a69dc6c2ee5ff1736a277"><div class="ttname"><a href="classompl_1_1geometric_1_1Discretization.html#a6ac71e099d8a69dc6c2ee5ff1736a277">ompl::geometric::Discretization::addMotion</a></div><div class="ttdeci">unsigned int addMotion(Motion *motion, const Coord &coord, double dist=0.0)</div><div class="ttdoc">Add a motion to the grid containing motions. As a hint, dist specifies the distance to the goal from ...</div><div class="ttdef"><b>Definition:</b> <a href="Discretization_8h_source.html#l00289">Discretization.h:289</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_html_ab803b4859de12fd5788e87b99c672679"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#ab803b4859de12fd5788e87b99c672679">ompl::geometric::BKPIECE1::setRange</a></div><div class="ttdeci">void setRange(double distance)</div><div class="ttdoc">Set the range the planner is supposed to use.</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00202">BKPIECE1.h:202</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a></div><div class="ttdoc">Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...</div><div class="ttdef"><b>Definition:</b> <a href="base_2PlannerData_8h_source.html#l00238">PlannerData.h:238</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_html_a1e61534ba2f912016e00d94cfc5449e5"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#a1e61534ba2f912016e00d94cfc5449e5">ompl::geometric::BKPIECE1::BKPIECE1</a></div><div class="ttdeci">BKPIECE1(const base::SpaceInformationPtr &si)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8cpp_source.html#l00042">BKPIECE1.cpp:42</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_html_af93f42bd3ebf86547cfcb61ab1280e99"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#af93f42bd3ebf86547cfcb61ab1280e99">ompl::geometric::BKPIECE1::getFailedExpansionCellScoreFactor</a></div><div class="ttdeci">double getFailedExpansionCellScoreFactor() const</div><div class="ttdoc">Get the factor that is multiplied to a cell's score if extending a motion from that cell failed.</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00243">BKPIECE1.h:243</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerTerminationCondition_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a></div><div class="ttdoc">Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...</div><div class="ttdef"><b>Definition:</b> <a href="PlannerTerminationCondition_8h_source.html#l00127">PlannerTerminationCondition.h:127</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a2e2b2b7e02900c4417af0ecea272c637"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a2e2b2b7e02900c4417af0ecea272c637">ompl::base::PlannerStatus::INVALID_GOAL</a></div><div class="ttdeci">@ INVALID_GOAL</div><div class="ttdoc">Invalid goal state.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00186">PlannerStatus.h:186</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_a06792592713e6463c4b9814f2a715b4c"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#a06792592713e6463c4b9814f2a715b4c">ompl::base::PlannerData::vertexIndex</a></div><div class="ttdeci">unsigned int vertexIndex(const PlannerDataVertex &v) const</div><div class="ttdoc">Return the index for the vertex associated with the given data. INVALID_INDEX is returned if this ver...</div><div class="ttdef"><b>Definition:</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00315">PlannerData.cpp:315</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_html_abca5f831bdfe09ab62001a434bda47b8"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#abca5f831bdfe09ab62001a434bda47b8">ompl::geometric::BKPIECE1::clear</a></div><div class="ttdeci">void clear() override</div><div class="ttdoc">Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8cpp_source.html#l00242">BKPIECE1.cpp:242</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a></div><div class="ttdoc">A class to store the exit status of Planner::solve()</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00112">PlannerStatus.h:112</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_1_1Motion_html_a4a6799d168bbc9ee73504b56ddc8c34e"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e">ompl::geometric::BKPIECE1::Motion::state</a></div><div class="ttdeci">base::State * state</div><div class="ttdoc">The state contained by this motion.</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00290">BKPIECE1.h:290</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_html_a1cc89cb07e13a333f6eed645a3dfcda3"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#a1cc89cb07e13a333f6eed645a3dfcda3">ompl::geometric::BKPIECE1::setMinValidPathFraction</a></div><div class="ttdeci">void setMinValidPathFraction(double fraction)</div><div class="ttdoc">When extending a motion, the planner can decide to keep the first valid part of it,...</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00254">BKPIECE1.h:254</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1Discretization_html_a8db183fa4a3231509336ffb7057805df"><div class="ttname"><a href="classompl_1_1geometric_1_1Discretization.html#a8db183fa4a3231509336ffb7057805df">ompl::geometric::Discretization::selectMotion</a></div><div class="ttdeci">void selectMotion(Motion *&smotion, Cell *&scell)</div><div class="ttdoc">Select a motion and the cell it is part of from the grid of motions. This is where preference is give...</div><div class="ttdef"><b>Definition:</b> <a href="Discretization_8h_source.html#l00320">Discretization.h:320</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1Discretization_html_a2dac26349b7da7fe428522518dfea7dc"><div class="ttname"><a href="classompl_1_1geometric_1_1Discretization.html#a2dac26349b7da7fe428522518dfea7dc">ompl::geometric::Discretization::Coord</a></div><div class="ttdeci">typename Grid::Coord Coord</div><div class="ttdoc">The datatype for the maintained grid coordinates.</div><div class="ttdef"><b>Definition:</b> <a href="Discretization_8h_source.html#l00206">Discretization.h:206</a></div></div>
<div class="ttc" id="anamespaceompl_1_1base_html_a1620a159019faf720c550eeca5723f55a6fb685fa51055688c4e130094225b7f9"><div class="ttname"><a href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a6fb685fa51055688c4e130094225b7f9">ompl::base::GOAL_SAMPLEABLE_REGION</a></div><div class="ttdeci">@ GOAL_SAMPLEABLE_REGION</div><div class="ttdoc">This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible.</div><div class="ttdef"><b>Definition:</b> <a href="GoalTypes_8h_source.html#l00152">GoalTypes.h:152</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28">ompl::base::PlannerStatus::EXACT_SOLUTION</a></div><div class="ttdeci">@ EXACT_SOLUTION</div><div class="ttdoc">The planner found an exact solution.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00194">PlannerStatus.h:194</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_html_a06f49930fd458b8ff60626a1f0b1b775"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#a06f49930fd458b8ff60626a1f0b1b775">ompl::geometric::BKPIECE1::setFailedExpansionCellScoreFactor</a></div><div class="ttdeci">void setFailedExpansionCellScoreFactor(double factor)</div><div class="ttdoc">When extending a motion from a cell, the extension can be successful or it can fail....</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00236">BKPIECE1.h:236</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_html_a6dd67ede6c67a142ff0270ec91b3a2d4"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#a6dd67ede6c67a142ff0270ec91b3a2d4">ompl::geometric::BKPIECE1::getBorderFraction</a></div><div class="ttdeci">double getBorderFraction() const</div><div class="ttdoc">Get the fraction of time to focus exploration on boundary.</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00227">BKPIECE1.h:227</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1SelfConfig_html_a6af441eace888354bcc5afe172561d62"><div class="ttname"><a href="classompl_1_1tools_1_1SelfConfig.html#a6af441eace888354bcc5afe172561d62">ompl::tools::SelfConfig::configureProjectionEvaluator</a></div><div class="ttdeci">void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj)</div><div class="ttdoc">If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...</div><div class="ttdef"><b>Definition:</b> <a href="SelfConfig_8cpp_source.html#l00231">SelfConfig.cpp:231</a></div></div>
<div class="ttc" id="agroup__logging_html_ga05ad3ae88188e7f248748785afd2b882"><div class="ttname"><a href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a></div><div class="ttdeci">#define OMPL_ERROR(fmt,...)</div><div class="ttdoc">Log a formatted error string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00064">Console.h:64</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_html_aa724226c3dec34b09cfa9a57e94b4679"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#aa724226c3dec34b09cfa9a57e94b4679">ompl::geometric::BKPIECE1::setup</a></div><div class="ttdeci">void setup() override</div><div class="ttdoc">Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8cpp_source.html#l00060">BKPIECE1.cpp:60</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1Discretization_html"><div class="ttname"><a href="classompl_1_1geometric_1_1Discretization.html">ompl::geometric::Discretization</a></div><div class="ttdoc">One-level discretization used for KPIECE.</div><div class="ttdef"><b>Definition:</b> <a href="Discretization_8h_source.html#l00122">Discretization.h:122</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_ac09c21494a8c7db500ef1a66bbbb1aa7"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#ac09c21494a8c7db500ef1a66bbbb1aa7">ompl::base::PlannerData::addEdge</a></div><div class="ttdeci">virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0))</div><div class="ttdoc">Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...</div><div class="ttdef"><b>Definition:</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00432">PlannerData.cpp:432</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1GoalSampleableRegion_html"><div class="ttname"><a href="classompl_1_1base_1_1GoalSampleableRegion.html">ompl::base::GoalSampleableRegion</a></div><div class="ttdoc">Abstract definition of a goal region that can be sampled.</div><div class="ttdef"><b>Definition:</b> <a href="GoalSampleableRegion_8h_source.html#l00111">GoalSampleableRegion.h:111</a></div></div>
<div class="ttc" id="aclassompl_1_1Exception_html"><div class="ttname"><a href="classompl_1_1Exception.html">ompl::Exception</a></div><div class="ttdoc">The exception type for ompl.</div><div class="ttdef"><b>Definition:</b> <a href="Exception_8h_source.html#l00078">Exception.h:78</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_html_a10e5170141827497ad20dc06cc167e43"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#a10e5170141827497ad20dc06cc167e43">ompl::geometric::BKPIECE1::getPlannerData</a></div><div class="ttdeci">void getPlannerData(base::PlannerData &data) const override</div><div class="ttdoc">Get information about the current run of the motion planner. Repeated calls to this function will upd...</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8cpp_source.html#l00252">BKPIECE1.cpp:252</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a1f20d012b563fc223902e24a8bcd7547"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a1f20d012b563fc223902e24a8bcd7547">ompl::base::PlannerStatus::INVALID_START</a></div><div class="ttdeci">@ INVALID_START</div><div class="ttdoc">Invalid start state or no start state specified.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00184">PlannerStatus.h:184</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_html_a57e4e557bbd43543c4fe5d5d3733b443"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#a57e4e557bbd43543c4fe5d5d3733b443">ompl::geometric::BKPIECE1::setBorderFraction</a></div><div class="ttdeci">void setBorderFraction(double bp)</div><div class="ttdoc">Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00219">BKPIECE1.h:219</a></div></div>
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