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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) 2015, 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: Ryan Luna */</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_RRT_BITRRT_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_RRT_BITRRT_</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 <cmath></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include "ompl/geometric/planners/PlannerIncludes.h"</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include "ompl/datastructures/NearestNeighbors.h"</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include "ompl/base/OptimizationObjective.h"</span></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><a class="code" href="namespaceompl.html">ompl</a></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>  <span class="keyword">namespace </span>geometric</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  {</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keyword">class </span>BiTRRT : <span class="keyword">public</span> base::Planner</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  {</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a2f3d18a363976e7345cbc28577018766">BiTRRT</a>(<span class="keyword">const</span> base::SpaceInformationPtr &si);</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  ~<a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a2f3d18a363976e7345cbc28577018766">BiTRRT</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a2376b591508ad0543c531e7dac06a426">clear</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#abce500ace7b425fb85c99f6f216f12d6">setup</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#ac0fd912a3b9f9d1f82a22b3f22b18daf">getPlannerData</a>(base::PlannerData &data) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  base::PlannerStatus <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#ad8b78d234a6aaf01e0a76f57fb63f583">solve</a>(<span class="keyword">const</span> base::PlannerTerminationCondition &ptc) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</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_1BiTRRT.html#ad71f5b6833006f7e7fc008c51428d9bf">setRange</a>(<span class="keywordtype">double</span> distance)</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_1BiTRRT.html#aa97f7333e6dc521da0ec536ecefe5ce5">maxDistance_</a> = distance;</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="l00089"></a><span class="lineno"> 89</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#ae2aabb326b63edc54d73ae640a8a8515">getRange</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#aa97f7333e6dc521da0ec536ecefe5ce5">maxDistance_</a>;</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  }</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a7d06fd3929104c9dca2a743b1f4cbddc">setTempChangeFactor</a>(<span class="keywordtype">double</span> factor)</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  {</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a5f53f16b258bd2d48bd922dbeddd6e9c">tempChangeFactor_</a> = exp(factor);</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="l00106"></a><span class="lineno"> 106</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#afc2441e4deb2cf71c680db8838ab2ff8">getTempChangeFactor</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordflow">return</span> <a class="code" href="namespaceompl_1_1msg.html#affe7852f27c06f98af7eb2579f1e5350">log</a>(<a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a5f53f16b258bd2d48bd922dbeddd6e9c">tempChangeFactor_</a>);</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="l00114"></a><span class="lineno"> 114</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a8f7bbe64f7b08b9c986f189339ceb2d1">setCostThreshold</a>(<span class="keywordtype">double</span> maxCost)</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>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a4142a27411b041a5577371c69adfb09a">costThreshold_</a> = base::Cost(maxCost);</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  }</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  </div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a53f6a346df9177e79e91a6db06c7f328">getCostThreshold</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a4142a27411b041a5577371c69adfb09a">costThreshold_</a>.<a class="code" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>();</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  }</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  </div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#af01edc2564a947c534f77011027826c2">setInitTemperature</a>(<span class="keywordtype">double</span> initTemperature)</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>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a6e54c64a3634dce1e148b9e3417c89a3">initTemperature_</a> = initTemperature;</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  }</div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiTRRT.html"> 133</a></span>  </div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a28456d8d144a225f25db1426822432f1">getInitTemperature</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a6e54c64a3634dce1e148b9e3417c89a3">initTemperature_</a>;</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  }</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  </div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a21c3fa749ad83310b40988aa96357a8c">setFrontierThreshold</a>(<span class="keywordtype">double</span> frontierThreshold)</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>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a182dc6d9b1c5f3a98236176f47472c80">frontierThreshold_</a> = frontierThreshold;</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="l00149"></a><span class="lineno"> 149</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#aaa69d535612c856c194f0664eb0c08a2">getFrontierThreshold</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a182dc6d9b1c5f3a98236176f47472c80">frontierThreshold_</a>;</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>  </div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a161724203e2d0ef60e38fe4237835ac4">setFrontierNodeRatio</a>(<span class="keywordtype">double</span> frontierNodeRatio)</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  {</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#add073ea4b4ff65874b2159f3fdbfc02c">frontierNodeRatio_</a> = frontierNodeRatio;</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  }</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</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_1BiTRRT.html#a242985410fb727f691033a274f400c9c">getFrontierNodeRatio</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_1BiTRRT.html#add073ea4b4ff65874b2159f3fdbfc02c">frontierNodeRatio_</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="l00170"></a><span class="lineno"> 170</span>  <span class="keyword">template</span> <<span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keyword">class </span>NN></div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a0ad6a91ea3a9e354e9f22846148208ca">setNearestNeighbors</a>()</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>  <span class="keywordflow">if</span> ((<a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a1cbe24be39a8389d290940a5d97e4f9d">tStart_</a> && <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a1cbe24be39a8389d290940a5d97e4f9d">tStart_</a>->size() != 0) || (<a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a474b6411707fc5ad15e2306f83202ca8">tGoal_</a> && <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a474b6411707fc5ad15e2306f83202ca8">tGoal_</a>->size() != 0))</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <a class="code" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"Calling setNearestNeighbors will clear all states."</span>);</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a2376b591508ad0543c531e7dac06a426">clear</a>();</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a1cbe24be39a8389d290940a5d97e4f9d">tStart_</a> = std::make_shared<NN<Motion *>>();</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a474b6411707fc5ad15e2306f83202ca8">tGoal_</a> = std::make_shared<NN<Motion *>>();</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#abce500ace7b425fb85c99f6f216f12d6">setup</a>();</div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiTRRT.html#ad71f5b6833006f7e7fc008c51428d9bf"> 179</a></span>  }</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  </div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="keyword">class </span>Motion</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  {</div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiTRRT.html#ae2aabb326b63edc54d73ae640a8a8515"> 185</a></span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html#a545636f9b8c6b2bfc22a7dcc69d3853c">Motion</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  </div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html#a545636f9b8c6b2bfc22a7dcc69d3853c">Motion</a>(<span class="keyword">const</span> base::SpaceInformationPtr &si) : <a class="code" href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html#a159061928e5d93bef2bbad25a19c00fd">state</a>(si->allocState())</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>  </div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  ~<a class="code" href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html#a545636f9b8c6b2bfc22a7dcc69d3853c">Motion</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiTRRT.html#a7d06fd3929104c9dca2a743b1f4cbddc"> 195</a></span>  </div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *<a class="code" href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html#a159061928e5d93bef2bbad25a19c00fd">state</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="l00200"></a><span class="lineno"> 200</span>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html#a545636f9b8c6b2bfc22a7dcc69d3853c">Motion</a> *<a class="code" href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html#a7ddfbdd700ef6024063446c542b6e295">parent</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  </div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> <a class="code" href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html#a2efed905f837948a72bd801d784a04df">cost</a>;</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  </div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</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_1BiTRRT_1_1Motion.html#aa6405768e8f5ceee5bdfc73b8eed47aa">root</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  };</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  </div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#ac63536fa52ee81830fdaad13364c8c21">freeMemory</a>();</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  </div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a41e787e94232d65324262af83939b50e">TreeData</a> = std::shared_ptr<NearestNeighbors<Motion *>>;</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  </div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  Motion *<a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a6c900b2bbcfe22d0817928b1be743d5f">addMotion</a>(<span class="keyword">const</span> base::State *state, <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a41e787e94232d65324262af83939b50e">TreeData</a> &tree, Motion *parent = <span class="keyword">nullptr</span>);</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  </div>
<div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiTRRT.html#af01edc2564a947c534f77011027826c2"> 225</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a10a681d8fb04bc7250f2648b0206599e">transitionTest</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> &motionCost);</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  </div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a15fc70c8b2683c10f94ebd2217cac0c9">minExpansionControl</a>(<span class="keywordtype">double</span> dist);</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  </div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <span class="keyword">enum</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a24f5c91df65e5ad68c24c6d5071bbd1f">GrowResult</a></div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  {</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a24f5c91df65e5ad68c24c6d5071bbd1fa45b48c0a20c39a03b2356e97ca579dfe">FAILED</a>,</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a24f5c91df65e5ad68c24c6d5071bbd1fabad5f21d48b119fa4a9c0bfdbadf7590">ADVANCED</a>,</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a24f5c91df65e5ad68c24c6d5071bbd1fa1341d9ec78c1423dd5d6c92c9d3c2a9d">SUCCESS</a></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="l00244"></a><span class="lineno"> 244</span>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a24f5c91df65e5ad68c24c6d5071bbd1f">GrowResult</a> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#aaf58b35ea1e00273218ad323331e228f">extendTree</a>(Motion *toMotion, <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a41e787e94232d65324262af83939b50e">TreeData</a> &tree, Motion *&result);</div>
<div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiTRRT.html#aaa69d535612c856c194f0664eb0c08a2"> 245</a></span>  </div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a24f5c91df65e5ad68c24c6d5071bbd1f">GrowResult</a> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#aaf58b35ea1e00273218ad323331e228f">extendTree</a>(<a class="code" href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html">Motion</a> *nearest, <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a41e787e94232d65324262af83939b50e">TreeData</a> &tree, <a class="code" href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html">Motion</a> *toMotion, <a class="code" href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html">Motion</a> *&result);</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  </div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a7ac37e56b8f5363566c445330867efa2">connectTrees</a>(<a class="code" href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html">Motion</a> *nmotion, <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a41e787e94232d65324262af83939b50e">TreeData</a> &tree, <a class="code" href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html">Motion</a> *xmotion);</div>
<div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiTRRT.html#a161724203e2d0ef60e38fe4237835ac4"> 253</a></span>  </div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a68defb58c4a8ed82bf939f1921f45613">distanceFunction</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html">Motion</a> *a, <span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html">Motion</a> *b)<span class="keyword"> const</span></div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->distance(a->state, b->state);</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  }</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  </div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#aa97f7333e6dc521da0ec536ecefe5ce5">maxDistance_</a>{0.};</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  </div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a5f53f16b258bd2d48bd922dbeddd6e9c">tempChangeFactor_</a>;</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  </div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#ac2d56aaf7da11a6992eca575c051e1fc">bestCost_</a>;</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  </div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a3ab507005fa8061d36fdfd6a40c1bc26">worstCost_</a>;</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  </div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a4142a27411b041a5577371c69adfb09a">costThreshold_</a>{std::numeric_limits<double>::infinity()};</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  </div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a6e54c64a3634dce1e148b9e3417c89a3">initTemperature_</a>{100.};</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  </div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a182dc6d9b1c5f3a98236176f47472c80">frontierThreshold_</a>{0.};</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  </div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#add073ea4b4ff65874b2159f3fdbfc02c">frontierNodeRatio_</a>{.1};</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  </div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#ab9cc05f70b76afa3a8570f4e005e0e73">temp_</a>;</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  </div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#afb877441fed17d062ef66c830f3fce19">nonfrontierCount_</a>;</div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  </div>
<div class="line"><a name="l00293"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html#a159061928e5d93bef2bbad25a19c00fd"> 293</a></span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#ad0a402f0aa637fae1852bb7e492a88ee">frontierCount_</a>;</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  </div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a2955eba180dbbd712667d9c3dcb5c060">connectionRange_</a>;</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  </div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  std::pair<Motion *, Motion *> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#afd91f0daed098254b074a42f0c46f35f">connectionPoint_</a>{<span class="keyword">nullptr</span>, <span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  </div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a41e787e94232d65324262af83939b50e">TreeData</a> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a1cbe24be39a8389d290940a5d97e4f9d">tStart_</a>;</div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  </div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a41e787e94232d65324262af83939b50e">TreeData</a> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a474b6411707fc5ad15e2306f83202ca8">tGoal_</a>;</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  </div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  <a class="code" href="classompl_1_1base_1_1OptimizationObjectivePtr.html">ompl::base::OptimizationObjectivePtr</a> <a class="code" href="classompl_1_1geometric_1_1BiTRRT.html#a3370dfd793af786716a3ebc4e56ee195">opt_</a>;</div>
<div class="line"><a name="l00311"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiTRRT.html#a41e787e94232d65324262af83939b50e"> 311</a></span>  };</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  }</div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span> }</div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  </div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a2f3d18a363976e7345cbc28577018766"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a2f3d18a363976e7345cbc28577018766">ompl::geometric::BiTRRT::BiTRRT</a></div><div class="ttdeci">BiTRRT(const base::SpaceInformationPtr &si)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8cpp_source.html#l00045">BiTRRT.cpp:45</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a242985410fb727f691033a274f400c9c"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a242985410fb727f691033a274f400c9c">ompl::geometric::BiTRRT::getFrontierNodeRatio</a></div><div class="ttdeci">double getFrontierNodeRatio() const</div><div class="ttdoc">Get the ratio between adding non-frontier nodes to frontier nodes.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00260">BiTRRT.h:260</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_ad71f5b6833006f7e7fc008c51428d9bf"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#ad71f5b6833006f7e7fc008c51428d9bf">ompl::geometric::BiTRRT::setRange</a></div><div class="ttdeci">void setRange(double distance)</div><div class="ttdoc">Set the maximum possible length of any one motion in the search tree. Very short/long motions may inh...</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00179">BiTRRT.h:179</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_1_1Motion_html_a545636f9b8c6b2bfc22a7dcc69d3853c"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html#a545636f9b8c6b2bfc22a7dcc69d3853c">ompl::geometric::BiTRRT::Motion::Motion</a></div><div class="ttdeci">Motion()=default</div><div class="ttdoc">Default constructor.</div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a10a681d8fb04bc7250f2648b0206599e"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a10a681d8fb04bc7250f2648b0206599e">ompl::geometric::BiTRRT::transitionTest</a></div><div class="ttdeci">bool transitionTest(const base::Cost &motionCost)</div><div class="ttdoc">Transition test that filters transitions based on the motion cost. If the motion cost is near or belo...</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8cpp_source.html#l00185">BiTRRT.cpp:185</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a24f5c91df65e5ad68c24c6d5071bbd1fa1341d9ec78c1423dd5d6c92c9d3c2a9d"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a24f5c91df65e5ad68c24c6d5071bbd1fa1341d9ec78c1423dd5d6c92c9d3c2a9d">ompl::geometric::BiTRRT::SUCCESS</a></div><div class="ttdeci">@ SUCCESS</div><div class="ttdoc">The desired state was reached during extension.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00335">BiTRRT.h:335</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_af01edc2564a947c534f77011027826c2"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#af01edc2564a947c534f77011027826c2">ompl::geometric::BiTRRT::setInitTemperature</a></div><div class="ttdeci">void setInitTemperature(double initTemperature)</div><div class="ttdoc">Set the initial temperature at the start of planning. Should be high to allow for initial exploration...</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00225">BiTRRT.h:225</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a161724203e2d0ef60e38fe4237835ac4"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a161724203e2d0ef60e38fe4237835ac4">ompl::geometric::BiTRRT::setFrontierNodeRatio</a></div><div class="ttdeci">void setFrontierNodeRatio(double frontierNodeRatio)</div><div class="ttdoc">Set the ratio between adding non-frontier nodes to frontier nodes. For example: .1 is one non-frontie...</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00253">BiTRRT.h:253</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_1_1Motion_html_aa6405768e8f5ceee5bdfc73b8eed47aa"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html#aa6405768e8f5ceee5bdfc73b8eed47aa">ompl::geometric::BiTRRT::Motion::root</a></div><div class="ttdeci">const base::State * root</div><div class="ttdoc">Pointer to the root of the tree this motion is contained in.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00303">BiTRRT.h:303</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_ad0a402f0aa637fae1852bb7e492a88ee"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#ad0a402f0aa637fae1852bb7e492a88ee">ompl::geometric::BiTRRT::frontierCount_</a></div><div class="ttdeci">double frontierCount_</div><div class="ttdoc">A count of the number of frontier nodes in the trees.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00389">BiTRRT.h:389</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_1_1Motion_html_a7ddfbdd700ef6024063446c542b6e295"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html#a7ddfbdd700ef6024063446c542b6e295">ompl::geometric::BiTRRT::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="BiTRRT_8h_source.html#l00296">BiTRRT.h:296</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a182dc6d9b1c5f3a98236176f47472c80"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a182dc6d9b1c5f3a98236176f47472c80">ompl::geometric::BiTRRT::frontierThreshold_</a></div><div class="ttdeci">double frontierThreshold_</div><div class="ttdoc">The distance between an existing state and a new state that qualifies it as a frontier state.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00377">BiTRRT.h:377</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_aaa69d535612c856c194f0664eb0c08a2"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#aaa69d535612c856c194f0664eb0c08a2">ompl::geometric::BiTRRT::getFrontierThreshold</a></div><div class="ttdeci">double getFrontierThreshold() const</div><div class="ttdoc">Get the distance between a new state and the nearest neighbor that qualifies a state as being a front...</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00245">BiTRRT.h:245</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a5f53f16b258bd2d48bd922dbeddd6e9c"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a5f53f16b258bd2d48bd922dbeddd6e9c">ompl::geometric::BiTRRT::tempChangeFactor_</a></div><div class="ttdeci">double tempChangeFactor_</div><div class="ttdoc">The factor by which the temperature is increased after a failed transition test.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00361">BiTRRT.h:361</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_1BiTRRT_html_a1cbe24be39a8389d290940a5d97e4f9d"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a1cbe24be39a8389d290940a5d97e4f9d">ompl::geometric::BiTRRT::tStart_</a></div><div class="ttdeci">TreeData tStart_</div><div class="ttdoc">The start tree.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00400">BiTRRT.h:400</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_aaf58b35ea1e00273218ad323331e228f"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#aaf58b35ea1e00273218ad323331e228f">ompl::geometric::BiTRRT::extendTree</a></div><div class="ttdeci">GrowResult extendTree(Motion *toMotion, TreeData &tree, Motion *&result)</div><div class="ttdoc">Extend tree toward the state in rmotion. Store the result of the extension, if any,...</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8cpp_source.html#l00269">BiTRRT.cpp:269</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a15fc70c8b2683c10f94ebd2217cac0c9"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a15fc70c8b2683c10f94ebd2217cac0c9">ompl::geometric::BiTRRT::minExpansionControl</a></div><div class="ttdeci">bool minExpansionControl(double dist)</div><div class="ttdoc">Use frontier node ratio to filter nodes that do not add new information to the search tree.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8cpp_source.html#l00212">BiTRRT.cpp:212</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_1_1Motion_html_a2efed905f837948a72bd801d784a04df"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html#a2efed905f837948a72bd801d784a04df">ompl::geometric::BiTRRT::Motion::cost</a></div><div class="ttdeci">base::Cost cost</div><div class="ttdoc">Cost of the state.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00299">BiTRRT.h:299</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_1_1Motion_html_a159061928e5d93bef2bbad25a19c00fd"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html#a159061928e5d93bef2bbad25a19c00fd">ompl::geometric::BiTRRT::Motion::state</a></div><div class="ttdeci">base::State * state</div><div class="ttdoc">The state contained by the motion.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00293">BiTRRT.h:293</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a2955eba180dbbd712667d9c3dcb5c060"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a2955eba180dbbd712667d9c3dcb5c060">ompl::geometric::BiTRRT::connectionRange_</a></div><div class="ttdeci">double connectionRange_</div><div class="ttdoc">The range at which the algorithm will attempt to connect the two trees.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00393">BiTRRT.h:393</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Cost_html_a3cd5c47c10a591badea945b4fc84014c"><div class="ttname"><a href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">ompl::base::Cost::value</a></div><div class="ttdeci">double value() const</div><div class="ttdoc">The value of the cost.</div><div class="ttdef"><b>Definition:</b> <a href="Cost_8h_source.html#l00152">Cost.h:152</a></div></div>
<div class="ttc" id="anamespaceompl_1_1msg_html_affe7852f27c06f98af7eb2579f1e5350"><div class="ttname"><a href="namespaceompl_1_1msg.html#affe7852f27c06f98af7eb2579f1e5350">ompl::msg::log</a></div><div class="ttdeci">void log(const char *file, int line, LogLevel level, const char *m,...)</div><div class="ttdoc">Root level logging function. This should not be invoked directly, but rather used via a logging macro...</div><div class="ttdef"><b>Definition:</b> <a href="Console_8cpp_source.html#l00120">Console.cpp:120</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Cost_html"><div class="ttname"><a href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a></div><div class="ttdoc">Definition of a cost value. Can represent the cost of a motion or the cost of a state.</div><div class="ttdef"><b>Definition:</b> <a href="Cost_8h_source.html#l00111">Cost.h:111</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1OptimizationObjectivePtr_html"><div class="ttname"><a href="classompl_1_1base_1_1OptimizationObjectivePtr.html">OptimizationObjectivePtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::OptimizationObjective.</div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a6c900b2bbcfe22d0817928b1be743d5f"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a6c900b2bbcfe22d0817928b1be743d5f">ompl::geometric::BiTRRT::addMotion</a></div><div class="ttdeci">Motion * addMotion(const base::State *state, TreeData &tree, Motion *parent=nullptr)</div><div class="ttdoc">Add a state to the given tree. The motion created is returned.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8cpp_source.html#l00166">BiTRRT.cpp:166</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a28456d8d144a225f25db1426822432f1"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a28456d8d144a225f25db1426822432f1">ompl::geometric::BiTRRT::getInitTemperature</a></div><div class="ttdeci">double getInitTemperature() const</div><div class="ttdoc">Get the initial temperature at the start of planning.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00231">BiTRRT.h:231</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a7ac37e56b8f5363566c445330867efa2"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a7ac37e56b8f5363566c445330867efa2">ompl::geometric::BiTRRT::connectTrees</a></div><div class="ttdeci">bool connectTrees(Motion *nmotion, TreeData &tree, Motion *xmotion)</div><div class="ttdoc">Attempt to connect tree to nmotion, which is in the other tree. xmotion is scratch space and will be ...</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8cpp_source.html#l00277">BiTRRT.cpp:277</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_ad8b78d234a6aaf01e0a76f57fb63f583"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#ad8b78d234a6aaf01e0a76f57fb63f583">ompl::geometric::BiTRRT::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="BiTRRT_8cpp_source.html#l00339">BiTRRT.cpp:339</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_ac0fd912a3b9f9d1f82a22b3f22b18daf"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#ac0fd912a3b9f9d1f82a22b3f22b18daf">ompl::geometric::BiTRRT::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="BiTRRT_8cpp_source.html#l00472">BiTRRT.cpp:472</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a0ad6a91ea3a9e354e9f22846148208ca"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a0ad6a91ea3a9e354e9f22846148208ca">ompl::geometric::BiTRRT::setNearestNeighbors</a></div><div class="ttdeci">void setNearestNeighbors()</div><div class="ttdoc">Set a different nearest neighbors datastructure.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00267">BiTRRT.h:267</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a6e54c64a3634dce1e148b9e3417c89a3"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a6e54c64a3634dce1e148b9e3417c89a3">ompl::geometric::BiTRRT::initTemperature_</a></div><div class="ttdeci">double initTemperature_</div><div class="ttdoc">The temperature that planning begins at.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00373">BiTRRT.h:373</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_ac63536fa52ee81830fdaad13364c8c21"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#ac63536fa52ee81830fdaad13364c8c21">ompl::geometric::BiTRRT::freeMemory</a></div><div class="ttdeci">void freeMemory()</div><div class="ttdoc">Free all memory allocated during planning.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8cpp_source.html#l00070">BiTRRT.cpp:70</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a3ab507005fa8061d36fdfd6a40c1bc26"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a3ab507005fa8061d36fdfd6a40c1bc26">ompl::geometric::BiTRRT::worstCost_</a></div><div class="ttdeci">base::Cost worstCost_</div><div class="ttdoc">The least desirable (e.g., maximum) cost value in the search tree.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00367">BiTRRT.h:367</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_add073ea4b4ff65874b2159f3fdbfc02c"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#add073ea4b4ff65874b2159f3fdbfc02c">ompl::geometric::BiTRRT::frontierNodeRatio_</a></div><div class="ttdeci">double frontierNodeRatio_</div><div class="ttdoc">The target ratio of non-frontier nodes to frontier nodes.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00380">BiTRRT.h:380</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a24f5c91df65e5ad68c24c6d5071bbd1fabad5f21d48b119fa4a9c0bfdbadf7590"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a24f5c91df65e5ad68c24c6d5071bbd1fabad5f21d48b119fa4a9c0bfdbadf7590">ompl::geometric::BiTRRT::ADVANCED</a></div><div class="ttdeci">@ ADVANCED</div><div class="ttdoc">Progress was made toward extension.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00333">BiTRRT.h:333</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a7d06fd3929104c9dca2a743b1f4cbddc"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a7d06fd3929104c9dca2a743b1f4cbddc">ompl::geometric::BiTRRT::setTempChangeFactor</a></div><div class="ttdeci">void setTempChangeFactor(double factor)</div><div class="ttdoc">Set the factor by which the temperature is increased after a failed transition test....</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00195">BiTRRT.h:195</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a8f7bbe64f7b08b9c986f189339ceb2d1"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a8f7bbe64f7b08b9c986f189339ceb2d1">ompl::geometric::BiTRRT::setCostThreshold</a></div><div class="ttdeci">void setCostThreshold(double maxCost)</div><div class="ttdoc">Set the cost threshold (default is infinity). Any motion cost that is not better than this cost (acco...</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00210">BiTRRT.h:210</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a474b6411707fc5ad15e2306f83202ca8"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a474b6411707fc5ad15e2306f83202ca8">ompl::geometric::BiTRRT::tGoal_</a></div><div class="ttdeci">TreeData tGoal_</div><div class="ttdoc">The goal tree.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00403">BiTRRT.h:403</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a4142a27411b041a5577371c69adfb09a"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a4142a27411b041a5577371c69adfb09a">ompl::geometric::BiTRRT::costThreshold_</a></div><div class="ttdeci">base::Cost costThreshold_</div><div class="ttdoc">All motion costs must be better than this cost (default is infinity)</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00370">BiTRRT.h:370</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a3370dfd793af786716a3ebc4e56ee195"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a3370dfd793af786716a3ebc4e56ee195">ompl::geometric::BiTRRT::opt_</a></div><div class="ttdeci">ompl::base::OptimizationObjectivePtr opt_</div><div class="ttdoc">The objective (cost function) being optimized.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00406">BiTRRT.h:406</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a24f5c91df65e5ad68c24c6d5071bbd1f"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a24f5c91df65e5ad68c24c6d5071bbd1f">ompl::geometric::BiTRRT::GrowResult</a></div><div class="ttdeci">GrowResult</div><div class="ttdoc">The result of a call to extendTree.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00328">BiTRRT.h:328</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a2376b591508ad0543c531e7dac06a426"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a2376b591508ad0543c531e7dac06a426">ompl::geometric::BiTRRT::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="BiTRRT_8cpp_source.html#l00097">BiTRRT.cpp:97</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_ab9cc05f70b76afa3a8570f4e005e0e73"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#ab9cc05f70b76afa3a8570f4e005e0e73">ompl::geometric::BiTRRT::temp_</a></div><div class="ttdeci">double temp_</div><div class="ttdoc">The current temperature.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00383">BiTRRT.h:383</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_ac2d56aaf7da11a6992eca575c051e1fc"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#ac2d56aaf7da11a6992eca575c051e1fc">ompl::geometric::BiTRRT::bestCost_</a></div><div class="ttdeci">base::Cost bestCost_</div><div class="ttdoc">The most desirable (e.g., minimum) cost value in the search tree.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00364">BiTRRT.h:364</a></div></div>
<div class="ttc" id="agroup__logging_html_gab76357dced39cb468d2061d3358f80a6"><div class="ttname"><a href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a></div><div class="ttdeci">#define OMPL_WARN(fmt,...)</div><div class="ttdoc">Log a formatted warning string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00066">Console.h:66</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_aa97f7333e6dc521da0ec536ecefe5ce5"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#aa97f7333e6dc521da0ec536ecefe5ce5">ompl::geometric::BiTRRT::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="BiTRRT_8h_source.html#l00357">BiTRRT.h:357</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_afc2441e4deb2cf71c680db8838ab2ff8"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#afc2441e4deb2cf71c680db8838ab2ff8">ompl::geometric::BiTRRT::getTempChangeFactor</a></div><div class="ttdeci">double getTempChangeFactor() const</div><div class="ttdoc">Get the factor by which the temperature is increased after a failed transition.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00202">BiTRRT.h:202</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_1BiTRRT_html_ae2aabb326b63edc54d73ae640a8a8515"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#ae2aabb326b63edc54d73ae640a8a8515">ompl::geometric::BiTRRT::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="BiTRRT_8h_source.html#l00185">BiTRRT.h:185</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a24f5c91df65e5ad68c24c6d5071bbd1fa45b48c0a20c39a03b2356e97ca579dfe"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a24f5c91df65e5ad68c24c6d5071bbd1fa45b48c0a20c39a03b2356e97ca579dfe">ompl::geometric::BiTRRT::FAILED</a></div><div class="ttdeci">@ FAILED</div><div class="ttdoc">No extension was possible.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00331">BiTRRT.h:331</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_afb877441fed17d062ef66c830f3fce19"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#afb877441fed17d062ef66c830f3fce19">ompl::geometric::BiTRRT::nonfrontierCount_</a></div><div class="ttdeci">double nonfrontierCount_</div><div class="ttdoc">A count of the number of non-frontier nodes in the trees.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00386">BiTRRT.h:386</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a41e787e94232d65324262af83939b50e"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a41e787e94232d65324262af83939b50e">ompl::geometric::BiTRRT::TreeData</a></div><div class="ttdeci">std::shared_ptr< NearestNeighbors< Motion * > > TreeData</div><div class="ttdoc">The nearest-neighbors data structure that contains the entire the tree of motions generated during pl...</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00311">BiTRRT.h:311</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_abce500ace7b425fb85c99f6f216f12d6"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#abce500ace7b425fb85c99f6f216f12d6">ompl::geometric::BiTRRT::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="BiTRRT_8cpp_source.html#l00115">BiTRRT.cpp:115</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_afd91f0daed098254b074a42f0c46f35f"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#afd91f0daed098254b074a42f0c46f35f">ompl::geometric::BiTRRT::connectionPoint_</a></div><div class="ttdeci">std::pair< Motion *, Motion * > connectionPoint_</div><div class="ttdoc">The most recent connection point for the two trees. Used for PlannerData computation.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00397">BiTRRT.h:397</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a53f6a346df9177e79e91a6db06c7f328"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a53f6a346df9177e79e91a6db06c7f328">ompl::geometric::BiTRRT::getCostThreshold</a></div><div class="ttdeci">double getCostThreshold() const</div><div class="ttdoc">Get the cost threshold (default is infinity). Any motion cost that is not better than this cost (acco...</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00218">BiTRRT.h:218</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_1_1Motion_html"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT_1_1Motion.html">ompl::geometric::BiTRRT::Motion</a></div><div class="ttdoc">Representation of a motion in the search tree.</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00279">BiTRRT.h:279</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_1BiTRRT_html_a21c3fa749ad83310b40988aa96357a8c"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a21c3fa749ad83310b40988aa96357a8c">ompl::geometric::BiTRRT::setFrontierThreshold</a></div><div class="ttdeci">void setFrontierThreshold(double frontierThreshold)</div><div class="ttdoc">Set the distance between a new state and the nearest neighbor that qualifies a state as being a front...</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00238">BiTRRT.h:238</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiTRRT_html_a68defb58c4a8ed82bf939f1921f45613"><div class="ttname"><a href="classompl_1_1geometric_1_1BiTRRT.html#a68defb58c4a8ed82bf939f1921f45613">ompl::geometric::BiTRRT::distanceFunction</a></div><div class="ttdeci">double distanceFunction(const Motion *a, const Motion *b) const</div><div class="ttdoc">Compute distance between motions (actually distance between contained states)</div><div class="ttdef"><b>Definition:</b> <a href="BiTRRT_8h_source.html#l00351">BiTRRT.h:351</a></div></div>
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