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BundleSpaceSequence.h
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition PlannerData.h:175
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition PlannerTerminationCondition.h:64
A shared pointer wrapper for ompl::base::ProblemDefinition.
A shared pointer wrapper for ompl::base::SpaceInformation.
A planner for a sequence of BundleSpaces.
Definition BundleSpaceSequence.h:71
void setFindSectionStrategy(FindSectionType type)
Set strategy to use to solve the find section problem.
Definition BundleSpaceSequenceImpl.h:138
virtual void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition BundleSpaceSequenceImpl.h:151
unsigned int currentBundleSpaceLevel_
Current level on which we have not yet found a path.
Definition BundleSpaceSequence.h:127
virtual void setProblemDefinition(const ompl::base::ProblemDefinitionPtr &pdef) override
Set the problem definition for the planner. The problem needs to be set before calling solve()....
Definition BundleSpaceSequenceImpl.h:257
std::priority_queue< BundleSpace *, std::vector< BundleSpace * >, CmpBundleSpacePtrs > BundleSpacePriorityQueue
Priority queue of BundleSpaces which keeps track of how often every graph on each space has been expa...
Definition BundleSpaceSequence.h:147
ompl::base::PlannerStatus solve(const ompl::base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition BundleSpaceSequenceImpl.h:180
virtual void clear() override
Clear multilevel planner by clearing all levels.
Definition BundleSpaceSequenceImpl.h:162
bool foundKLevelSolution_
Indicator if a solution has been found on the current BundleSpaces.
Definition BundleSpaceSequence.h:124
virtual void getPlannerData(ompl::base::PlannerData &data) const override
Return annotated vertices (with information about BundleSpace level)
Definition BundleSpaceSequenceImpl.h:376
unsigned int stopAtLevel_
Sometimes we only want to plan until a certain BundleSpace level (for debugging for example)....
Definition BundleSpaceSequence.h:132
ompl::base::State * getTotalState(int baseLevel, const base::State *baseState) const
Starting from a baseState on baseLevel, we lift it iteratively upwards into the total space of the se...
Definition BundleSpaceSequenceImpl.h:347
BundleSpaceSequence(ompl::base::SpaceInformationPtr si, std::string type="BundleSpacePlannerNonMultilevel")
Non-multilevel Mode: Calling with a single ompl::base::SpaceInformationPtr will revert to standard pl...
Definition BundleSpaceSequenceImpl.h:48
virtual double getImportance() const =0
Compute importance of bundle space (to decide where to.
MultiLevel Planner Interface. Extends base::Planner by allowing sequences of base::SpaceInformationPt...
Definition PlannerMultiLevel.h:52
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66
A class to store the exit status of Planner::solve()
Definition PlannerStatus.h:49
Compare function for priority queue.
Definition BundleSpaceSequence.h:136