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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) 2008, 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">#ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_BKPIECE1_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_KPIECE_BKPIECE1_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include "ompl/geometric/planners/PlannerIncludes.h"</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include "ompl/geometric/planners/kpiece/Discretization.h"</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> {</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keyword">namespace </span>geometric</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  {</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keyword">class </span>BKPIECE1 : <span class="keyword">public</span> base::Planner</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>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a1e61534ba2f912016e00d94cfc5449e5">BKPIECE1</a>(<span class="keyword">const</span> base::SpaceInformationPtr &si);</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  ~<a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a1e61534ba2f912016e00d94cfc5449e5">BKPIECE1</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  </div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a0e505ace63ee03e5ccde6e9820aeabdb">setProjectionEvaluator</a>(<span class="keyword">const</span> base::ProjectionEvaluatorPtr &projectionEvaluator)</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  {</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#ac4b29de63c1a79e5ab2b819b182e230f">projectionEvaluator_</a> = projectionEvaluator;</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>  </div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a0e505ace63ee03e5ccde6e9820aeabdb">setProjectionEvaluator</a>(<span class="keyword">const</span> std::string &name)</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  {</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#ac4b29de63c1a79e5ab2b819b182e230f">projectionEvaluator_</a> = <a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->getStateSpace()->getProjection(name);</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  }</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  </div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keyword">const</span> base::ProjectionEvaluatorPtr &<a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#afc5552c48fac02e4e96de32bf2b5aa56">getProjectionEvaluator</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#ac4b29de63c1a79e5ab2b819b182e230f">projectionEvaluator_</a>;</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>  </div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#ab803b4859de12fd5788e87b99c672679">setRange</a>(<span class="keywordtype">double</span> distance)</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  {</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a15a290a36bac34264d12f0ca3c3dc46d">maxDistance_</a> = distance;</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>  </div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#ad01e749cab8b9096d01e8f9f3ca35f61">getRange</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a15a290a36bac34264d12f0ca3c3dc46d">maxDistance_</a>;</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>  </div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a57e4e557bbd43543c4fe5d5d3733b443">setBorderFraction</a>(<span class="keywordtype">double</span> bp)</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  {</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#aa70b018d82b7bf967b7ed5ade3c51a81">dStart_</a>.setBorderFraction(bp);</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a6083e1178d64a2064b8403a6e4d7f5be">dGoal_</a>.setBorderFraction(bp);</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>  </div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a6dd67ede6c67a142ff0270ec91b3a2d4">getBorderFraction</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#aa70b018d82b7bf967b7ed5ade3c51a81">dStart_</a>.getBorderFraction();</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  }</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  </div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a06f49930fd458b8ff60626a1f0b1b775">setFailedExpansionCellScoreFactor</a>(<span class="keywordtype">double</span> factor)</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="classompl_1_1geometric_1_1BKPIECE1.html#a921e950972763ff2a9fb7e3a32a710ab">failedExpansionScoreFactor_</a> = factor;</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  }</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  </div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#af93f42bd3ebf86547cfcb61ab1280e99">getFailedExpansionCellScoreFactor</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a921e950972763ff2a9fb7e3a32a710ab">failedExpansionScoreFactor_</a>;</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  }</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  </div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a1cc89cb07e13a333f6eed645a3dfcda3">setMinValidPathFraction</a>(<span class="keywordtype">double</span> fraction)</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>  <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#aa0962644ccc8c2cf71dd42ca0bac3ff3">minValidPathFraction_</a> = fraction;</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  }</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  </div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a1cec5e62c6aff0aea1ffef10337c0eb1">getMinValidPathFraction</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#aa0962644ccc8c2cf71dd42ca0bac3ff3">minValidPathFraction_</a>;</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  }</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>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#aa724226c3dec34b09cfa9a57e94b4679">setup</a>() <span class="keyword">override</span>;</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>  base::PlannerStatus <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a2cf588b5cd49be01cc43c576794c499c">solve</a>(<span class="keyword">const</span> base::PlannerTerminationCondition &ptc) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#abca5f831bdfe09ab62001a434bda47b8">clear</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  </div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a10e5170141827497ad20dc06cc167e43">getPlannerData</a>(base::PlannerData &data) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  </div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keyword">class </span>Motion</div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BKPIECE1.html#a0e505ace63ee03e5ccde6e9820aeabdb"> 179</a></span>  {</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html">Motion</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  </div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html">Motion</a>(<span class="keyword">const</span> base::SpaceInformationPtr &si) : <a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e">state</a>(si->allocState())</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  {</div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BKPIECE1.html#a0dbd0c85fa51f8ebce39a0ddc18517d8"> 186</a></span>  }</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  </div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  ~Motion() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  </div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *<a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#ab658fee6c2727e70f145252ec4df86c6">root</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BKPIECE1.html#afc5552c48fac02e4e96de32bf2b5aa56"> 192</a></span>  </div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *<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="l00195"></a><span class="lineno"> 195</span>  </div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  Motion *<a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a31d66a709c8a16e44787f019c9fc13b2">parent</a>{<span class="keyword">nullptr</span>};</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="l00201"></a><span class="lineno"> 201</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#ae81ac9338565790508efaebbef3d8459">freeMotion</a>(Motion *motion);</div>
<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BKPIECE1.html#ab803b4859de12fd5788e87b99c672679"> 202</a></span>  </div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  base::ValidStateSamplerPtr <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a88a3a9f2986351a001955070e7d22046">sampler_</a>;</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  </div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  base::ProjectionEvaluatorPtr <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#ac4b29de63c1a79e5ab2b819b182e230f">projectionEvaluator_</a>;</div>
<div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BKPIECE1.html#ad01e749cab8b9096d01e8f9f3ca35f61"> 208</a></span>  </div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <a class="code" href="classompl_1_1geometric_1_1Discretization.html">Discretization<Motion></a> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#aa70b018d82b7bf967b7ed5ade3c51a81">dStart_</a>;</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  </div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <a class="code" href="classompl_1_1geometric_1_1Discretization.html">Discretization<Motion></a> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a6083e1178d64a2064b8403a6e4d7f5be">dGoal_</a>;</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  </div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a921e950972763ff2a9fb7e3a32a710ab">failedExpansionScoreFactor_</a>{.5};</div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BKPIECE1.html#a57e4e557bbd43543c4fe5d5d3733b443"> 219</a></span>  </div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#aa0962644ccc8c2cf71dd42ca0bac3ff3">minValidPathFraction_</a>{.5};</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  </div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a15a290a36bac34264d12f0ca3c3dc46d">maxDistance_</a>{0.};</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  </div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <a class="code" href="classompl_1_1RNG.html">RNG</a> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a422ff4aa4fe25dd13e40e8c9962ccc12">rng_</a>;</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  </div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  std::pair<base::State *, base::State *> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a4af6c757ceaa289a24b62a9b7ba4f3d3">connectionPoint_</a>{<span class="keyword">nullptr</span>, <span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  };</div>
<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BKPIECE1.html#a06f49930fd458b8ff60626a1f0b1b775"> 236</a></span>  }</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span> }</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  </div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1RNG_html"><div class="ttname"><a href="classompl_1_1RNG.html">ompl::RNG</a></div><div class="ttdoc">Random number generation. An instance of this class cannot be used by multiple threads at once (membe...</div><div class="ttdef"><b>Definition:</b> <a href="RandomNumbers_8h_source.html#l00089">RandomNumbers.h:89</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_html_afc5552c48fac02e4e96de32bf2b5aa56"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#afc5552c48fac02e4e96de32bf2b5aa56">ompl::geometric::BKPIECE1::getProjectionEvaluator</a></div><div class="ttdeci">const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const</div><div class="ttdoc">Get the projection evaluator.</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00192">BKPIECE1.h:192</a></div></div>
<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="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_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_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_1BKPIECE1_html_aa70b018d82b7bf967b7ed5ade3c51a81"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#aa70b018d82b7bf967b7ed5ade3c51a81">ompl::geometric::BKPIECE1::dStart_</a></div><div class="ttdeci">Discretization< Motion > dStart_</div><div class="ttdoc">The start tree.</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00306">BKPIECE1.h:306</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_1geometric_1_1BKPIECE1_html_a0e505ace63ee03e5ccde6e9820aeabdb"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#a0e505ace63ee03e5ccde6e9820aeabdb">ompl::geometric::BKPIECE1::setProjectionEvaluator</a></div><div class="ttdeci">void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)</div><div class="ttdoc">Set the projection evaluator. This class is able to compute the projection of a given state.</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00179">BKPIECE1.h:179</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_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="aclassompl_1_1geometric_1_1BKPIECE1_html_aa0962644ccc8c2cf71dd42ca0bac3ff3"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#aa0962644ccc8c2cf71dd42ca0bac3ff3">ompl::geometric::BKPIECE1::minValidPathFraction_</a></div><div class="ttdeci">double minValidPathFraction_</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#l00321">BKPIECE1.h:321</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_1BKPIECE1_html_a6083e1178d64a2064b8403a6e4d7f5be"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#a6083e1178d64a2064b8403a6e4d7f5be">ompl::geometric::BKPIECE1::dGoal_</a></div><div class="ttdeci">Discretization< Motion > dGoal_</div><div class="ttdoc">The goal tree.</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00309">BKPIECE1.h:309</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_html_a15a290a36bac34264d12f0ca3c3dc46d"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#a15a290a36bac34264d12f0ca3c3dc46d">ompl::geometric::BKPIECE1::maxDistance_</a></div><div class="ttdeci">double maxDistance_</div><div class="ttdoc">The maximum length of a motion to be added to a tree.</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00324">BKPIECE1.h:324</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_1geometric_1_1BKPIECE1_html_a4af6c757ceaa289a24b62a9b7ba4f3d3"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#a4af6c757ceaa289a24b62a9b7ba4f3d3">ompl::geometric::BKPIECE1::connectionPoint_</a></div><div class="ttdeci">std::pair< base::State *, base::State * > connectionPoint_</div><div class="ttdoc">The pair of states in each tree connected during planning. Used for PlannerData computation.</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00330">BKPIECE1.h:330</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_aa3ceb9471163b6c96f6eeadbcfd3694e"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">ompl::base::Planner::si_</a></div><div class="ttdeci">SpaceInformationPtr si_</div><div class="ttdoc">The space information for which planning is done.</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00474">Planner.h:474</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_html_a921e950972763ff2a9fb7e3a32a710ab"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#a921e950972763ff2a9fb7e3a32a710ab">ompl::geometric::BKPIECE1::failedExpansionScoreFactor_</a></div><div class="ttdeci">double failedExpansionScoreFactor_</div><div class="ttdoc">When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00314">BKPIECE1.h:314</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_html_a88a3a9f2986351a001955070e7d22046"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#a88a3a9f2986351a001955070e7d22046">ompl::geometric::BKPIECE1::sampler_</a></div><div class="ttdeci">base::ValidStateSamplerPtr sampler_</div><div class="ttdoc">The employed state sampler.</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00300">BKPIECE1.h:300</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BKPIECE1_html_a422ff4aa4fe25dd13e40e8c9962ccc12"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#a422ff4aa4fe25dd13e40e8c9962ccc12">ompl::geometric::BKPIECE1::rng_</a></div><div class="ttdeci">RNG rng_</div><div class="ttdoc">The random number generator.</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00327">BKPIECE1.h:327</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_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="aclassompl_1_1geometric_1_1BKPIECE1_html_ac4b29de63c1a79e5ab2b819b182e230f"><div class="ttname"><a href="classompl_1_1geometric_1_1BKPIECE1.html#ac4b29de63c1a79e5ab2b819b182e230f">ompl::geometric::BKPIECE1::projectionEvaluator_</a></div><div class="ttdeci">base::ProjectionEvaluatorPtr projectionEvaluator_</div><div class="ttdoc">The employed projection evaluator.</div><div class="ttdef"><b>Definition:</b> <a href="BKPIECE1_8h_source.html#l00303">BKPIECE1.h:303</a></div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00021">AppBase.h:21</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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