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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> </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 Willow Garage 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>
<div class="line"><a id="l00031" 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 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">#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_AORRTC_</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_RRT_AORRTC_</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include "ompl/datastructures/NearestNeighbors.h"</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include "ompl/geometric/planners/PlannerIncludes.h"</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="preprocessor">#include "ompl/base/OptimizationObjective.h"</span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="preprocessor">#include "ompl/geometric/PathSimplifier.h"</span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> </div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="preprocessor">#include "ompl/geometric/planners/rrt/AOXRRTConnect.h"</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> </div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceompl.html">ompl</a></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span>{</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> <span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceompl_1_1geometric.html">geometric</a></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> {</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span></div>
<div class="foldopen" id="foldopen00074" data-start="{" data-end="};">
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AORRTC.html"> 74</a></span> <span class="keyword">class </span><a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#a658814c6d1e611d1fc8c94df8e6e8d5e">AORRTC</a> : <span class="keyword">public</span> <a class="code hl_class" href="classompl_1_1base_1_1Planner.html">base::Planner</a></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> <span class="keyword">public</span>:</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#a658814c6d1e611d1fc8c94df8e6e8d5e">AORRTC</a>(<span class="keyword">const</span> base::SpaceInformationPtr &si);</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> </div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#a658814c6d1e611d1fc8c94df8e6e8d5e">~AORRTC</a>() <span class="keyword">override</span>;</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> </div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#ab2d7c73f71a1d7de651ebfd1756c9c79">getPlannerData</a>(<a class="code hl_class" href="classompl_1_1base_1_1PlannerData.html">base::PlannerData</a> &data) <span class="keyword">const override</span>;</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> <a class="code hl_struct" href="structompl_1_1base_1_1PlannerStatus.html">base::PlannerStatus</a> <a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#ad6c3f44618dc8deb5ec3ee11bac3bf8e">solve</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> </div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#a3a9041b0bb6b5dd84e3257b372e8b8cb">clear</a>() <span class="keyword">override</span>;</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> </div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#a9a2536a0ad9c7f802f17f86ce34a9438">setup</a>() <span class="keyword">override</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> reset(<span class="keywordtype">bool</span> solvedProblem);</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> <span class="keywordtype">void</span> setProblemDefinition(<span class="keyword">const</span> base::ProblemDefinitionPtr &pdef) <span class="keyword">override</span>;</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="keywordtype">void</span> setRange(<span class="keywordtype">double</span> distance)</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> <a class="code hl_variable" href="classompl_1_1geometric_1_1AORRTC.html#aff95c1857d03d70ba31727e2bb92276d">maxDistance_</a> = distance;</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="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#ae9dc0673efd8f044ae76772537def3dc"> 100</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#ae9dc0673efd8f044ae76772537def3dc">getRange</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AORRTC.html#aff95c1857d03d70ba31727e2bb92276d">maxDistance_</a>;</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="foldopen00106" data-start="{" data-end="}">
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AORRTC.html#a4f0b04b27844a98edaeaea961c9f9d44"> 106</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1geometric_1_1PathSimplifierPtr.html">PathSimplifierPtr</a> &<a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#a4f0b04b27844a98edaeaea961c9f9d44">getPathSimplifier</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AORRTC.html#a325f4492b780ed20e81f9ac40e4d56c2">psk_</a>;</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> }</div>
</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span></div>
<div class="foldopen" id="foldopen00112" data-start="{" data-end="}">
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AORRTC.html#a6bc0fd32ad6f4258440a47050c77fb4d"> 112</a></span> <a class="code hl_class" href="classompl_1_1geometric_1_1PathSimplifierPtr.html">PathSimplifierPtr</a> &<a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#a6bc0fd32ad6f4258440a47050c77fb4d">getPathSimplifier</a>()</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> {</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AORRTC.html#a325f4492b780ed20e81f9ac40e4d56c2">psk_</a>;</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> }</div>
</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span></div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#ab8d40f7d83f21598cb45d460e36b5296">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="l00120" name="l00120"></a><span class="lineno"> 120</span></div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</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">bestCost</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> </div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keyword">protected</span>:</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AORRTC.html#aae2f7d7f558c7177c0187e8b50db9a13"> 126</a></span> <a class="code hl_class" href="classompl_1_1RNG.html">RNG</a> <a class="code hl_variable" href="classompl_1_1geometric_1_1AORRTC.html#aae2f7d7f558c7177c0187e8b50db9a13">rng_</a>;</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> </div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> std::shared_ptr<ompl::geometric::AOXRRTConnect> aox_planner;</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span></div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AORRTC.html#aa45511171e54d05ee7522293d747f1b9">freeMemory</a>();</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span></div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AORRTC.html#aff95c1857d03d70ba31727e2bb92276d"> 134</a></span> <span class="keywordtype">double</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AORRTC.html#aff95c1857d03d70ba31727e2bb92276d">maxDistance_</a>{0.};</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> </div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> <span class="keywordtype">double</span> inflationFactor_{1.};</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span></div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AORRTC.html#a325f4492b780ed20e81f9ac40e4d56c2"> 139</a></span> <a class="code hl_class" href="classompl_1_1geometric_1_1PathSimplifierPtr.html">PathSimplifierPtr</a> <a class="code hl_variable" href="classompl_1_1geometric_1_1AORRTC.html#a325f4492b780ed20e81f9ac40e4d56c2">psk_</a>;</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> </div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> base::PathPtr bestPath_{<span class="keyword">nullptr</span>};</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_class" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> bestCost_{std::numeric_limits<double>::infinity()};</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span></div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AORRTC.html#a19eaeec7c362c1c145b259e13ea7410c"> 146</a></span> base::OptimizationObjectivePtr <a class="code hl_variable" href="classompl_1_1geometric_1_1AORRTC.html#a19eaeec7c362c1c145b259e13ea7410c">opt_</a>;</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> </div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <span class="keywordtype">double</span> initCost_;</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <a class="code hl_struct" href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a> solve_status;</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> };</div>
</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> } <span class="comment">// namespace geometric</span></div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span>} <span class="comment">// namespace ompl</span></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><span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclassompl_1_1RNG_html"><div class="ttname"><a href="classompl_1_1RNG.html">ompl::RNG</a></div><div class="ttdoc">Random number generation. An instance of this class cannot be used by multiple threads at once (membe...</div><div class="ttdef"><b>Definition</b> <a href="RandomNumbers_8h_source.html#l00056">RandomNumbers.h:57</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#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"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html">ompl::base::Planner</a></div><div class="ttdoc">Base class for a planner.</div><div class="ttdef"><b>Definition</b> <a href="Planner_8h_source.html#l00215">Planner.h:216</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="AORRTC_8cpp_source.html#l00060">AORRTC.cpp:60</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AORRTC_html_a19eaeec7c362c1c145b259e13ea7410c"><div class="ttname"><a href="classompl_1_1geometric_1_1AORRTC.html#a19eaeec7c362c1c145b259e13ea7410c">ompl::geometric::AORRTC::opt_</a></div><div class="ttdeci">base::OptimizationObjectivePtr opt_</div><div class="ttdoc">Objective we're optimizing.</div><div class="ttdef"><b>Definition</b> <a href="#l00146">AORRTC.h:146</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="#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="AORRTC_8cpp_source.html#l00053">AORRTC.cpp:53</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AORRTC_html_a4f0b04b27844a98edaeaea961c9f9d44"><div class="ttname"><a href="classompl_1_1geometric_1_1AORRTC.html#a4f0b04b27844a98edaeaea961c9f9d44">ompl::geometric::AORRTC::getPathSimplifier</a></div><div class="ttdeci">const PathSimplifierPtr & getPathSimplifier() const</div><div class="ttdoc">Get the path simplifier.</div><div class="ttdef"><b>Definition</b> <a href="#l00106">AORRTC.h:106</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="AORRTC_8cpp_source.html#l00042">AORRTC.cpp:42</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AORRTC_html_a6bc0fd32ad6f4258440a47050c77fb4d"><div class="ttname"><a href="classompl_1_1geometric_1_1AORRTC.html#a6bc0fd32ad6f4258440a47050c77fb4d">ompl::geometric::AORRTC::getPathSimplifier</a></div><div class="ttdeci">PathSimplifierPtr & getPathSimplifier()</div><div class="ttdoc">Get the path simplifier.</div><div class="ttdef"><b>Definition</b> <a href="#l00112">AORRTC.h:112</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="AORRTC_8cpp_source.html#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="AORRTC_8cpp_source.html#l00100">AORRTC.cpp:100</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AORRTC_html_aae2f7d7f558c7177c0187e8b50db9a13"><div class="ttname"><a href="classompl_1_1geometric_1_1AORRTC.html#aae2f7d7f558c7177c0187e8b50db9a13">ompl::geometric::AORRTC::rng_</a></div><div class="ttdeci">RNG rng_</div><div class="ttdoc">The random number generator.</div><div class="ttdef"><b>Definition</b> <a href="#l00126">AORRTC.h:126</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="AORRTC_8cpp_source.html#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="AORRTC_8cpp_source.html#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="AORRTC_8cpp_source.html#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="#l00100">AORRTC.h:100</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AORRTC_html_aff95c1857d03d70ba31727e2bb92276d"><div class="ttname"><a href="classompl_1_1geometric_1_1AORRTC.html#aff95c1857d03d70ba31727e2bb92276d">ompl::geometric::AORRTC::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="#l00134">AORRTC.h:134</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1PathSimplifierPtr_html"><div class="ttname"><a href="classompl_1_1geometric_1_1PathSimplifierPtr.html">PathSimplifierPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::geometric::PathSimplifier.</div></div>
<div class="ttc" id="anamespaceompl_1_1geometric_html"><div class="ttname"><a href="namespaceompl_1_1geometric.html">ompl::geometric</a></div><div class="ttdoc">This namespace contains code that is specific to planning under geometric constraints.</div><div class="ttdef"><b>Definition</b> <a href="GeneticSearch_8h_source.html#l00047">GeneticSearch.h:48</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="MultiLevelPlanarManipulatorDemo_8cpp_source.html#l00065">MultiLevelPlanarManipulatorDemo.cpp:66</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>
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