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<li class="navelem"><b>ompl</b></li><li class="navelem"><b>geometric</b></li><li class="navelem"><b>planners</b></li><li class="navelem"><b>rrt</b></li><li class="navelem"><b>src</b></li> </ul>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*********************************************************************</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment"> *</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> * Copyright (c) 2025, Queen's University</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> * All rights reserved.</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> *</span></div>
<div class="line"><a id="l00007" 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 id="l00008" 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 id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * are met:</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> *</span></div>
<div class="line"><a id="l00011" 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 id="l00012" 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 id="l00013" 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 id="l00014" 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 id="l00015" 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 id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment"> * with the distribution.</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment"> * * Neither the name of the Queen's University nor the names of its</span></div>
<div class="line"><a id="l00018" 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 id="l00019" 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 id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment"> *</span></div>
<div class="line"><a id="l00021" 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 id="l00022" 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 id="l00023" 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 id="l00024" 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 id="l00025" 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 id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a id="l00027" 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 id="l00028" 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 id="l00029" 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 id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="comment"> *********************************************************************/</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="comment">/* Author: Tyler Wilson */</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include "ompl/geometric/planners/rrt/AORRTC.h"</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include <limits></span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include "ompl/base/goals/GoalSampleableRegion.h"</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include "ompl/tools/config/SelfConfig.h"</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
<div class="foldopen" id="foldopen00042" data-start="{" data-end="}">
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AORRTC.html#a658814c6d1e611d1fc8c94df8e6e8d5e"> 42</a></span><a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#a658814c6d1e611d1fc8c94df8e6e8d5e">ompl::geometric::AORRTC::AORRTC</a>(<span class="keyword">const</span> base::SpaceInformationPtr &si) : <a class="code hl_namespace" href="namespaceompl_1_1base.html">base</a>::Planner(si, <span class="stringliteral">"AORRTC"</span>)</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span>{</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365">specs_</a>.approximateSolutions = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365">specs_</a>.directed = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span>}</div>
</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span>ompl::geometric::AORRTC::~AORRTC()</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span>{</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> freeMemory();</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span>}</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> </div>
<div class="foldopen" id="foldopen00053" data-start="{" data-end="}">
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AORRTC.html#a3a9041b0bb6b5dd84e3257b372e8b8cb"> 53</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#a3a9041b0bb6b5dd84e3257b372e8b8cb">ompl::geometric::AORRTC::clear</a>()</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span>{</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#adba44a4ee27079c5b258a2ebed719eed">setup_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> Planner::clear();</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#aa45511171e54d05ee7522293d747f1b9">freeMemory</a>();</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span>}</div>
</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> </div>
<div class="foldopen" id="foldopen00060" data-start="{" data-end="}">
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AORRTC.html#a13db808ce5f84506e81469e498ffe214"> 60</a></span><a class="code hl_class" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> <a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#a13db808ce5f84506e81469e498ffe214">ompl::geometric::AORRTC::bestCost</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <span class="keywordflow">return</span> bestCost_;</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span>}</div>
</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> </div>
<div class="foldopen" id="foldopen00065" data-start="{" data-end="}">
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AORRTC.html#a9a2536a0ad9c7f802f17f86ce34a9438"> 65</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#a9a2536a0ad9c7f802f17f86ce34a9438">ompl::geometric::AORRTC::setup</a>()</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span>{</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> Planner::setup();</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> </div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> aox_planner = std::make_shared<ompl::geometric::AOXRRTConnect>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>);</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> aox_planner->setProblemDefinition(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>);</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> aox_planner->setName(<span class="stringliteral">"AOXRRTConnect"</span>);</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> aox_planner->setRange(<a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#ae9dc0673efd8f044ae76772537def3dc">getRange</a>());</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> </div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> aox_planner->setup();</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> </div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AORRTC.html#a325f4492b780ed20e81f9ac40e4d56c2">psk_</a> = std::make_shared<PathSimplifier>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>);</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> initCost_ = std::numeric_limits<double>::infinity();</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> solve_status = <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a620a03eebe49aa307140d6a4763278fd">base::PlannerStatus::TIMEOUT</a>;</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span>}</div>
</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> </div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span><span class="comment">/* Reset our planner to begin a new search */</span></div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span><span class="keywordtype">void</span> ompl::geometric::AORRTC::reset(<span class="keywordtype">bool</span> solvedProblem)</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span>{</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> aox_planner->clearQuery();</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> aox_planner->setFoundPath(<span class="keyword">nullptr</span>);</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> aox_planner->reset(solvedProblem);</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> solve_status = <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a620a03eebe49aa307140d6a4763278fd">base::PlannerStatus::TIMEOUT</a>;</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span>}</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> </div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span><span class="keywordtype">void</span> ompl::geometric::AORRTC::setProblemDefinition(<span class="keyword">const</span> base::ProblemDefinitionPtr &pdef)</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span>{</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> pdef_ = pdef;</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> </div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="keywordflow">if</span> (aox_planner != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> {</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> aox_planner->setProblemDefinition(pdef);</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> }</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span>}</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> </div>
<div class="foldopen" id="foldopen00100" data-start="{" data-end="}">
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AORRTC.html#aa45511171e54d05ee7522293d747f1b9"> 100</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#aa45511171e54d05ee7522293d747f1b9">ompl::geometric::AORRTC::freeMemory</a>()</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span>{</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> aox_planner->clear();</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span>}</div>
</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> </div>
<div class="foldopen" id="foldopen00105" data-start="{" data-end="}">
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AORRTC.html#ab8d40f7d83f21598cb45d460e36b5296"> 105</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#ab8d40f7d83f21598cb45d460e36b5296">ompl::geometric::AORRTC::simplifySolution</a>(<span class="keyword">const</span> base::PathPtr &p, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc)</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span>{</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>)</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> {</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordflow">if</span> (p)</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> {</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keyword">auto</span> &path = <span class="keyword">static_cast<</span><a class="code hl_class" href="classompl_1_1geometric_1_1PathGeometric.html">PathGeometric</a> &<span class="keyword">></span>(*p);</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AORRTC.html#a325f4492b780ed20e81f9ac40e4d56c2">psk_</a>->simplify(path, ptc);</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordflow">return</span>;</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> }</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> }</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"No solution to simplify"</span>);</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span>}</div>
</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> </div>
<div class="foldopen" id="foldopen00119" data-start="{" data-end="}">
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AORRTC.html#ad6c3f44618dc8deb5ec3ee11bac3bf8e"> 119</a></span><a class="code hl_struct" href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a> <a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#ad6c3f44618dc8deb5ec3ee11bac3bf8e">ompl::geometric::AORRTC::solve</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc)</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span>{</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="keywordflow">do</span></div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> {</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="comment">/* If we already have a solution (and therefore a reasonable cost range) */</span></div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->hasExactSolution())</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> {</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="comment">/* Inform the planner about our cost bound */</span></div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> aox_planner->setPathCost(bestCost_.value());</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> </div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="comment">/* Try to solve the planning problem */</span></div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> solve_status = aox_planner->solve(ptc);</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> </div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="keywordflow">if</span> (solve_status == <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28">base::PlannerStatus::EXACT_SOLUTION</a>)</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> {</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="comment">/* If we found a solution, extract it and update our path */</span></div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keyword">const</span> base::PathPtr path = aox_planner->getFoundPath();</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> </div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> <span class="comment">/* Update our best path if our new path is better */</span></div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> <span class="keywordflow">if</span> (path->length() < bestCost_.value())</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> {</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> bestPath_ = path;</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> bestCost_ = <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a>(path->length());</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> </div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->addSolutionPath(bestPath_, <span class="keyword">false</span>, 0.0, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>());</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> }</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> </div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="comment">/* Simplify our solution */</span></div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#ab8d40f7d83f21598cb45d460e36b5296">simplifySolution</a>(path, ptc);</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> </div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="comment">/* Again, update our best path if our new (simplified) path is better */</span></div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <span class="keywordflow">if</span> (path->length() < bestCost_.value())</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> {</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: AOX search simplified to cost %.5f"</span>, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str(), path->length());</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> </div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> bestPath_ = path;</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> bestCost_ = <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a>(path->length());</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> </div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->addSolutionPath(bestPath_, <span class="keyword">false</span>, 0.0, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>());</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> }</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> }</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> }</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> </div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="comment">/* Find an initial solution */</span></div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> {</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> solve_status = aox_planner->solve(ptc);</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> </div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="comment">/* If we found a solution, extract it and update our path */</span></div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordflow">if</span> (solve_status == <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28">base::PlannerStatus::EXACT_SOLUTION</a>)</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> {</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> initCost_ = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->getSolutionPath()->length();</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> bestPath_ = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->getSolutionPath();</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> </div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> bestCost_ = <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a>(bestPath_->length());</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->addSolutionPath(bestPath_, <span class="keyword">false</span>, 0.0, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>());</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> </div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#ab8d40f7d83f21598cb45d460e36b5296">simplifySolution</a>(bestPath_, ptc);</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: Initial search simplified to cost %.5f"</span>, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str(),</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->getSolutionPath()->length());</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> </div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> bestCost_ = <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a>(bestPath_->length());</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->addSolutionPath(bestPath_, <span class="keyword">false</span>, 0.0, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>());</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> }</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> }</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> </div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> <span class="comment">/* If we ran into errors, exit early */</span></div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="keywordflow">if</span> (solve_status == <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a47d769205044efa345184a640bd863ff">base::PlannerStatus::UNRECOGNIZED_GOAL_TYPE</a> ||</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> solve_status == <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a1f20d012b563fc223902e24a8bcd7547">base::PlannerStatus::INVALID_START</a> || solve_status == <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a2e2b2b7e02900c4417af0ecea272c637">base::PlannerStatus::INVALID_GOAL</a>)</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> {</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> <span class="keywordflow">return</span> solve_status;</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> }</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> </div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="comment">/* If we found a solution, we can reset our planner */</span></div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <span class="keywordflow">if</span> (solve_status == <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28">base::PlannerStatus::EXACT_SOLUTION</a>)</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> {</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> reset(<span class="keyword">true</span>);</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> }</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> </div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> <span class="comment">/* If we didn't find a solution on this iteration of solve, reset our planner.</span></div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span><span class="comment"> (PDT visualize calls solve for each iteration of the search,</span></div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span><span class="comment"> so we need to check if our planner actually needs to reset) */</span></div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (aox_planner->internalResetCondition())</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> {</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: Restarted before finding a solution"</span>, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> reset(<span class="keyword">false</span>);</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> }</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> </div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="comment">/* Something has surely gone wrong if you have found a zero-length path */</span></div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keywordflow">if</span> (bestCost_.value() == 0)</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> {</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: Zero-length path found. May have a common start/goal."</span>, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordflow">return</span> <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a2e2b2b7e02900c4417af0ecea272c637">base::PlannerStatus::INVALID_GOAL</a>;</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> }</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> } <span class="keywordflow">while</span> (!ptc);</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> </div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="comment">/* Now that we're done, return whether or not we timed out */</span></div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->hasExactSolution())</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> {</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> <span class="keywordflow">return</span> <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28">base::PlannerStatus::EXACT_SOLUTION</a>;</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> }</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> {</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <span class="keywordflow">return</span> <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a620a03eebe49aa307140d6a4763278fd">base::PlannerStatus::TIMEOUT</a>;</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> }</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span>}</div>
</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> </div>
<div class="foldopen" id="foldopen00226" data-start="{" data-end="}">
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AORRTC.html#ab2d7c73f71a1d7de651ebfd1756c9c79"> 226</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#ab2d7c73f71a1d7de651ebfd1756c9c79">ompl::geometric::AORRTC::getPlannerData</a>(<a class="code hl_class" href="classompl_1_1base_1_1PlannerData.html">base::PlannerData</a> &data)<span class="keyword"> const</span></div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> aox_planner->getPlannerData(data);</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span>}</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#l00047">Cost.h:48</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a></div><div class="ttdoc">Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...</div><div class="ttdef"><b>Definition</b> <a href="base_2PlannerData_8h_source.html#l00174">PlannerData.h:175</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerTerminationCondition_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a></div><div class="ttdoc">Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...</div><div class="ttdef"><b>Definition</b> <a href="PlannerTerminationCondition_8h_source.html#l00063">PlannerTerminationCondition.h:64</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_a4311ea7a0470f0e0f76cb1656d63e365"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365">ompl::base::Planner::specs_</a></div><div class="ttdeci">PlannerSpecs specs_</div><div class="ttdoc">The specifications of the planner (its capabilities).</div><div class="ttdef"><b>Definition</b> <a href="Planner_8h_source.html#l00413">Planner.h:413</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_a6bbb3dcc3d1604977e319d52c16ef7e5"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">ompl::base::Planner::pdef_</a></div><div class="ttdeci">ProblemDefinitionPtr pdef_</div><div class="ttdoc">The user set problem definition.</div><div class="ttdef"><b>Definition</b> <a href="Planner_8h_source.html#l00404">Planner.h:404</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_a9bdea814a817637bd8e6f959c65ceaf9"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">ompl::base::Planner::getName</a></div><div class="ttdeci">const std::string & getName() const</div><div class="ttdoc">Get the name of the planner.</div><div class="ttdef"><b>Definition</b> <a href="Planner_8cpp_source.html#l00056">Planner.cpp:56</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#l00401">Planner.h:401</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_adba44a4ee27079c5b258a2ebed719eed"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#adba44a4ee27079c5b258a2ebed719eed">ompl::base::Planner::setup_</a></div><div class="ttdeci">bool setup_</div><div class="ttdoc">Flag indicating whether setup() has been called.</div><div class="ttdef"><b>Definition</b> <a href="Planner_8h_source.html#l00424">Planner.h:424</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AORRTC_html_a13db808ce5f84506e81469e498ffe214"><div class="ttname"><a href="classompl_1_1geometric_1_1AORRTC.html#a13db808ce5f84506e81469e498ffe214">ompl::geometric::AORRTC::bestCost</a></div><div class="ttdeci">ompl::base::Cost bestCost() const</div><div class="ttdoc">Retrieve the best exact-solution cost found.</div><div class="ttdef"><b>Definition</b> <a href="#l00060">AORRTC.cpp:60</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AORRTC_html_a325f4492b780ed20e81f9ac40e4d56c2"><div class="ttname"><a href="classompl_1_1geometric_1_1AORRTC.html#a325f4492b780ed20e81f9ac40e4d56c2">ompl::geometric::AORRTC::psk_</a></div><div class="ttdeci">PathSimplifierPtr psk_</div><div class="ttdoc">The instance of the path simplifier.</div><div class="ttdef"><b>Definition</b> <a href="AORRTC_8h_source.html#l00139">AORRTC.h:139</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AORRTC_html_a3a9041b0bb6b5dd84e3257b372e8b8cb"><div class="ttname"><a href="classompl_1_1geometric_1_1AORRTC.html#a3a9041b0bb6b5dd84e3257b372e8b8cb">ompl::geometric::AORRTC::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="#l00053">AORRTC.cpp:53</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AORRTC_html_a658814c6d1e611d1fc8c94df8e6e8d5e"><div class="ttname"><a href="classompl_1_1geometric_1_1AORRTC.html#a658814c6d1e611d1fc8c94df8e6e8d5e">ompl::geometric::AORRTC::AORRTC</a></div><div class="ttdeci">AORRTC(const base::SpaceInformationPtr &si)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition</b> <a href="#l00042">AORRTC.cpp:42</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AORRTC_html_a9a2536a0ad9c7f802f17f86ce34a9438"><div class="ttname"><a href="classompl_1_1geometric_1_1AORRTC.html#a9a2536a0ad9c7f802f17f86ce34a9438">ompl::geometric::AORRTC::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="#l00065">AORRTC.cpp:65</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AORRTC_html_aa45511171e54d05ee7522293d747f1b9"><div class="ttname"><a href="classompl_1_1geometric_1_1AORRTC.html#aa45511171e54d05ee7522293d747f1b9">ompl::geometric::AORRTC::freeMemory</a></div><div class="ttdeci">void freeMemory()</div><div class="ttdoc">Free the memory allocated by this planner.</div><div class="ttdef"><b>Definition</b> <a href="#l00100">AORRTC.cpp:100</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AORRTC_html_ab2d7c73f71a1d7de651ebfd1756c9c79"><div class="ttname"><a href="classompl_1_1geometric_1_1AORRTC.html#ab2d7c73f71a1d7de651ebfd1756c9c79">ompl::geometric::AORRTC::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="#l00226">AORRTC.cpp:226</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AORRTC_html_ab8d40f7d83f21598cb45d460e36b5296"><div class="ttname"><a href="classompl_1_1geometric_1_1AORRTC.html#ab8d40f7d83f21598cb45d460e36b5296">ompl::geometric::AORRTC::simplifySolution</a></div><div class="ttdeci">void simplifySolution(const base::PathPtr &p, const base::PlannerTerminationCondition &ptc)</div><div class="ttdoc">Attempt to simplify the current solution path. Stop computation when ptc becomes true at the latest.</div><div class="ttdef"><b>Definition</b> <a href="#l00105">AORRTC.cpp:105</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AORRTC_html_ad6c3f44618dc8deb5ec3ee11bac3bf8e"><div class="ttname"><a href="classompl_1_1geometric_1_1AORRTC.html#ad6c3f44618dc8deb5ec3ee11bac3bf8e">ompl::geometric::AORRTC::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="#l00119">AORRTC.cpp:119</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AORRTC_html_ae9dc0673efd8f044ae76772537def3dc"><div class="ttname"><a href="classompl_1_1geometric_1_1AORRTC.html#ae9dc0673efd8f044ae76772537def3dc">ompl::geometric::AORRTC::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="AORRTC_8h_source.html#l00100">AORRTC.h:100</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1PathGeometric_html"><div class="ttname"><a href="classompl_1_1geometric_1_1PathGeometric.html">ompl::geometric::PathGeometric</a></div><div class="ttdoc">Definition of a geometric path.</div><div class="ttdef"><b>Definition</b> <a href="PathGeometric_8h_source.html#l00065">PathGeometric.h:66</a></div></div>
<div class="ttc" id="agroup__logging_html_ga04bc36d1b8c57ad7e13a8a48451a3a05"><div class="ttname"><a href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a></div><div class="ttdeci">#define OMPL_INFORM(fmt,...)</div><div class="ttdoc">Log a formatted information string.</div><div class="ttdef"><b>Definition</b> <a href="Console_8h_source.html#l00068">Console.h:68</a></div></div>
<div class="ttc" id="agroup__logging_html_ga05ad3ae88188e7f248748785afd2b882"><div class="ttname"><a href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a></div><div class="ttdeci">#define OMPL_ERROR(fmt,...)</div><div class="ttdoc">Log a formatted error string.</div><div class="ttdef"><b>Definition</b> <a href="Console_8h_source.html#l00064">Console.h:64</a></div></div>
<div class="ttc" id="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="anamespaceompl_1_1base_html"><div class="ttname"><a href="namespaceompl_1_1base.html">ompl::base</a></div><div class="ttdoc">This namespace contains sampling based planning routines shared by both planning under geometric cons...</div><div class="ttdef"><b>Definition</b> <a href="ConstrainedSpaceInformation_8h_source.html#l00054">ConstrainedSpaceInformation.h:55</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a></div><div class="ttdoc">A class to store the exit status of Planner::solve().</div><div class="ttdef"><b>Definition</b> <a href="PlannerStatus_8h_source.html#l00048">PlannerStatus.h:49</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a1f20d012b563fc223902e24a8bcd7547"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a1f20d012b563fc223902e24a8bcd7547">ompl::base::PlannerStatus::INVALID_START</a></div><div class="ttdeci">@ INVALID_START</div><div class="ttdoc">Invalid start state or no start state specified.</div><div class="ttdef"><b>Definition</b> <a href="PlannerStatus_8h_source.html#l00056">PlannerStatus.h:56</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28">ompl::base::PlannerStatus::EXACT_SOLUTION</a></div><div class="ttdeci">@ EXACT_SOLUTION</div><div class="ttdoc">The planner found an exact solution.</div><div class="ttdef"><b>Definition</b> <a href="PlannerStatus_8h_source.html#l00066">PlannerStatus.h:66</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a2e2b2b7e02900c4417af0ecea272c637"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a2e2b2b7e02900c4417af0ecea272c637">ompl::base::PlannerStatus::INVALID_GOAL</a></div><div class="ttdeci">@ INVALID_GOAL</div><div class="ttdoc">Invalid goal state.</div><div class="ttdef"><b>Definition</b> <a href="PlannerStatus_8h_source.html#l00058">PlannerStatus.h:58</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a47d769205044efa345184a640bd863ff"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a47d769205044efa345184a640bd863ff">ompl::base::PlannerStatus::UNRECOGNIZED_GOAL_TYPE</a></div><div class="ttdeci">@ UNRECOGNIZED_GOAL_TYPE</div><div class="ttdoc">The goal is of a type that a planner does not recognize.</div><div class="ttdef"><b>Definition</b> <a href="PlannerStatus_8h_source.html#l00060">PlannerStatus.h:60</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a620a03eebe49aa307140d6a4763278fd"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a620a03eebe49aa307140d6a4763278fd">ompl::base::PlannerStatus::TIMEOUT</a></div><div class="ttdeci">@ TIMEOUT</div><div class="ttdoc">The planner failed to find a solution.</div><div class="ttdef"><b>Definition</b> <a href="PlannerStatus_8h_source.html#l00062">PlannerStatus.h:62</a></div></div>
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