1 #ifndef PMPL_BASIC_RRT_STRATEGY_H_
2 #define PMPL_BASIC_RRT_STRATEGY_H_
72 virtual void Print(std::ostream& _os)
const;
82 virtual void Iterate()
override;
110 const VertexSet*
const _candidates =
nullptr);
118 const std::vector<Neighbor>& _neighbors);
133 LPOutput& _lp,
const bool _requireNew =
true);
137 const bool _requireNew =
true);
143 virtual std::pair<VID, bool>
AddNode(
const Cfg& _newCfg);
Definition: BasicRRTStrategy.h:48
Cfg SelectDispersedTarget(const VID _v)
Definition: BasicRRTStrategy.cpp:229
virtual std::pair< VID, bool > AddNode(const Cfg &_newCfg)
Definition: BasicRRTStrategy.cpp:419
virtual void AddEdge(const VID _source, const VID _target, const LPOutput &_lpOutput)
Definition: BasicRRTStrategy.cpp:440
void TryGoalExtension(const VID _newVID)
Definition: BasicRRTStrategy.cpp:484
double m_goalThreshold
Distance threshold for goal extension.
Definition: BasicRRTStrategy.h:211
std::string m_fallbackNfLabel
NF for searching the active set, used if the main one fails.
Definition: BasicRRTStrategy.h:203
std::string m_nfLabel
The neighborhood finder label.
Definition: BasicRRTStrategy.h:198
std::string m_samplerLabel
The sampler label.
Definition: BasicRRTStrategy.h:197
virtual VID FindNearestNeighbor(const Cfg &_cfg, const VertexSet *const _candidates=nullptr)
Definition: BasicRRTStrategy.cpp:286
size_t m_numDirections
Expansion directions per iteration.
Definition: BasicRRTStrategy.h:212
size_t VID
Definition: BasicRRTStrategy.h:55
VID ExpandTree(const Cfg &_target)
Definition: BasicRRTStrategy.cpp:585
virtual void Iterate() override
Execute one iteration of the strategy.
Definition: BasicRRTStrategy.cpp:152
void ConnectTrees(const VID _recentlyGrown)
Definition: BasicRRTStrategy.cpp:634
bool m_growGoals
Grow trees from goals.
Definition: BasicRRTStrategy.h:209
virtual Neighbor SelectNeighbor(const Cfg &_cfg, const std::vector< Neighbor > &_neighbors)
Definition: BasicRRTStrategy.cpp:348
std::string m_ncLabel
The connector label (for RRG).
Definition: BasicRRTStrategy.h:199
virtual Cfg SelectTarget()
Get a random configuration to grow towards.
Definition: BasicRRTStrategy.cpp:173
std::string m_exLabel
The extender label.
Definition: BasicRRTStrategy.h:200
size_t m_disperseTrials
Sample attempts for disperse search.
Definition: BasicRRTStrategy.h:213
std::string m_goalDmLabel
Dm for checking goal extensions.
Definition: BasicRRTStrategy.h:201
BasicRRTStrategy()
Definition: BasicRRTStrategy.cpp:15
virtual void Print(std::ostream &_os) const
Definition: BasicRRTStrategy.cpp:76
virtual VID Extend(const VID _nearVID, const Cfg &_target, LPOutput &_lp, const bool _requireNew=true)
Definition: BasicRRTStrategy.cpp:357
std::unordered_set< VID > VertexSet
Definition: BasicRRTStrategy.h:56
virtual ~BasicRRTStrategy()
Definition: BasicRRTStrategy.cpp:70
void ConnectNeighbors(const VID _newVID)
Definition: BasicRRTStrategy.cpp:469
virtual void Initialize() override
Definition: BasicRRTStrategy.cpp:94
std::vector< VertexSet > m_trees
The current tree set.
Definition: BasicRRTStrategy.h:219
double m_growthFocus
The fraction of goal-biased expansions.
Definition: BasicRRTStrategy.h:210
Definition: Boundary.h:30
Definition: MPStrategyMethod.h:33
Definition: LPOutput.h:24
Definition: Neighbors.h:13