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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="headertitle"><div class="title">AOXRRTConnect.cpp</div></div>
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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>
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<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>
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<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>
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<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>
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<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/AOXRRTConnect.h"</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include "ompl/base/goals/GoalSampleableRegion.h"</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include "ompl/tools/config/SelfConfig.h"</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include "ompl/util/String.h"</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="preprocessor">#include "ompl/base/objectives/PathLengthOptimizationObjective.h"</span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="preprocessor">#include "ompl/base/samplers/InformedStateSampler.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 <stdexcept></span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> </div>
<div class="foldopen" id="foldopen00047" data-start="{" data-end="}">
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#af472ae54f31ae0704ca508a3ef86ea23"> 47</a></span><a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#af472ae54f31ae0704ca508a3ef86ea23">ompl::geometric::AOXRRTConnect::AOXRRTConnect</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">"AOXRRTConnect"</span>)</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> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365">specs_</a>.recognizedGoal = <a class="code hl_enumvalue" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a6fb685fa51055688c4e130094225b7f9">base::GOAL_SAMPLEABLE_REGION</a>;</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</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="l00051" name="l00051"></a><span class="lineno"> 51</span> </div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> Planner::declareParam<double>(<span class="stringliteral">"range"</span>, <span class="keyword">this</span>, &<a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a1e455059125ea6165dcd79812463a882">AOXRRTConnect::setRange</a>, &<a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a303ba795d38b665402ef90e582e16bce">AOXRRTConnect::getRange</a>, <span class="stringliteral">"0.:1.:10000."</span>);</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> </div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a63a694052494fa69a4c6081928b4fa9f">connectionPoint_</a> = std::make_pair<base::State *, base::State *>(<span class="keyword">nullptr</span>, <span class="keyword">nullptr</span>);</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span>}</div>
</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> </div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span>ompl::geometric::AOXRRTConnect::~AOXRRTConnect()</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span>{</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> freeMemory();</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span>}</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> </div>
<div class="foldopen" id="foldopen00062" data-start="{" data-end="}">
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a168ddc2d4e9a58dd8d15ef4ff58b7e6b"> 62</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a168ddc2d4e9a58dd8d15ef4ff58b7e6b">ompl::geometric::AOXRRTConnect::setup</a>()</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span>{</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> Planner::setup();</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <a class="code hl_class" href="classompl_1_1tools_1_1SelfConfig.html">tools::SelfConfig</a> sc(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>());</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> sc.<a class="code hl_function" href="classompl_1_1tools_1_1SelfConfig.html#a65bff53ea4bc6f158342a856175ab9a6">configurePlannerRange</a>(<a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#aec9f4cb55b9b52f88aa0c5b9fc372d64">maxDistance_</a>);</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> </div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</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="l00069" name="l00069"></a><span class="lineno"> 69</span> {</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->hasOptimizationObjective())</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#abec5d72755dc3056dc92d18cbe2b7df0">opt_</a> = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->getOptimizationObjective();</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="keywordflow">else</span></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> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#abec5d72755dc3056dc92d18cbe2b7df0">opt_</a> = std::make_shared<base::PathLengthOptimizationObjective>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</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="comment">/* Store the new objective in the problem def'n */</span></div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->setOptimizationObjective(<a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#abec5d72755dc3056dc92d18cbe2b7df0">opt_</a>);</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> }</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> <span class="keywordflow">else</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> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: problem definition is not set, deferring setup completion..."</span>, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</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="l00084" name="l00084"></a><span class="lineno"> 84</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="keywordflow">if</span> (!<a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a0676ca39525a7badf489eded71f54345">tStart_</a>)</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a0676ca39525a7badf489eded71f54345">tStart_</a>.reset(<a class="code hl_function" href="classompl_1_1tools_1_1SelfConfig.html#a23f1fef30af80542eeb4709465a06148">tools::SelfConfig::getDefaultNearestNeighbors<Motion *></a>(<span class="keyword">this</span>));</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a>)</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a>.reset(<a class="code hl_function" href="classompl_1_1tools_1_1SelfConfig.html#a23f1fef30af80542eeb4709465a06148">tools::SelfConfig::getDefaultNearestNeighbors<Motion *></a>(<span class="keyword">this</span>));</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> </div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> reset(<span class="keyword">true</span>);</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span>}</div>
</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> </div>
<div class="foldopen" id="foldopen00094" data-start="{" data-end="}">
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#accc1f4ff1869efc4d3a123f5f6908dee"> 94</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#accc1f4ff1869efc4d3a123f5f6908dee">ompl::geometric::AOXRRTConnect::freeMemory</a>()</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> std::vector<Motion *> motions;</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> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a0676ca39525a7badf489eded71f54345">tStart_</a>)</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> {</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a0676ca39525a7badf489eded71f54345">tStart_</a>->list(motions);</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &motion : motions)</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> {</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keywordflow">if</span> (motion->state != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->freeState(motion->state);</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keyword">delete</span> motion;</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> }</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> (<a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a>)</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> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a>->list(motions);</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &motion : motions)</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">if</span> (motion->state != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->freeState(motion->state);</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keyword">delete</span> motion;</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> }</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> }</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span>}</div>
</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="keywordtype">void</span> ompl::geometric::AOXRRTConnect::reset(<span class="keywordtype">bool</span> solvedProblem)</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> tStart_->clear();</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> tGoal_->clear();</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">/* If we have a reasonable cost bound, then use the AOX distance function */</span></div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keywordflow">if</span> (bestCost_.value() < std::numeric_limits<double>::infinity())</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> tStart_->setDistanceFunction([<span class="keyword">this</span>](<span class="keyword">const</span> Motion *a, <span class="keyword">const</span> Motion *b) { <span class="keywordflow">return</span> aoxDistanceFunction(a, b); });</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> tGoal_->setDistanceFunction([<span class="keyword">this</span>](<span class="keyword">const</span> Motion *a, <span class="keyword">const</span> Motion *b) { <span class="keywordflow">return</span> aoxDistanceFunction(a, b); });</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">else</span> <span class="comment">/* Use standard distance function if no cost bound is set */</span></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> tStart_->setDistanceFunction([<span class="keyword">this</span>](<span class="keyword">const</span> Motion *a, <span class="keyword">const</span> Motion *b)</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> { <span class="keywordflow">return</span> euclideanDistanceFunction(a, b); });</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> tGoal_->setDistanceFunction([<span class="keyword">this</span>](<span class="keyword">const</span> Motion *a, <span class="keyword">const</span> Motion *b)</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> { <span class="keywordflow">return</span> euclideanDistanceFunction(a, b); });</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> }</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> <span class="comment">/* Start from the start tree */</span></div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> startTree_ = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> sampleAttempts = 0;</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> </div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="comment">/* If we didn't solve the problem, loosen our internal reset conditions</span></div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span><span class="comment"> This is for probabilistic completeness, so that the planner can still</span></div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span><span class="comment"> eventually find a solution that may require more vertices/samples */</span></div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <span class="keywordflow">if</span> (!solvedProblem)</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> maxInternalSamples += maxInternalSamplesIncrement;</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> maxInternalVertices += maxInternalVerticesIncrement;</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> <span class="keywordflow">else</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="comment">/* If we solved the problem, reset our internal reset conditions as well */</span></div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> maxInternalSamples = maxInternalSamplesIncrement;</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> maxInternalVertices = maxInternalVerticesIncrement;</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> }</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><span class="keywordtype">void</span> ompl::geometric::AOXRRTConnect::setPathCost(<span class="keywordtype">double</span> pc)</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> bestCost_ = base::Cost(pc);</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> opt_->setCostThreshold(bestCost_);</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> </div>
<div class="foldopen" id="foldopen00166" data-start="{" data-end="}">
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a4989e1f7f1dc705db34223502a477999"> 166</a></span><a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">ompl::geometric::AOXRRTConnect::Motion</a> *<a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a4989e1f7f1dc705db34223502a477999">ompl::geometric::AOXRRTConnect::findNeighbour</a>(<a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a> *sampled_motion,</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">float</span> rootDist, <a class="code hl_typedef" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac6b7d2ac7ed233654041f57501227301">TreeData</a> &tree)</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span>{</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a> *nearest_motion;</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> std::vector<Motion *> nearest_vec;</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> </div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> rootDist += rootDistPadding;</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> </div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> tree->nearestR(sampled_motion, rootDist, nearest_vec);</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordflow">if</span> (nearest_vec.empty())</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> {</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: Failed to find any neighbours for a state"</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> <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</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> </div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">int</span> idx = 0;</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> nearest_motion = nearest_vec[idx];</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <span class="keyword">auto</span> nearest_distance = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->distance(sampled_motion->state, nearest_motion->state);</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="keywordflow">while</span> (nearest_motion->cost > 0 && sampled_motion->cost < nearest_motion->cost + nearest_distance)</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> {</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> idx++;</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> nearest_motion = nearest_vec[idx];</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> nearest_distance = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->distance(sampled_motion->state, nearest_motion->state);</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="keywordflow">return</span> nearest_motion;</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span>}</div>
</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> </div>
<div class="foldopen" id="foldopen00195" data-start="{" data-end="}">
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac6c41650355c3c99cdac8701258647bc"> 195</a></span><a class="code hl_enumeration" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a54f1c54b31fccfb129baae1758e7964c">ompl::geometric::AOXRRTConnect::GrowState</a> <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac6c41650355c3c99cdac8701258647bc">ompl::geometric::AOXRRTConnect::growTree</a>(<a class="code hl_typedef" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac6b7d2ac7ed233654041f57501227301">TreeData</a> &tree, <a class="code hl_struct" href="structompl_1_1geometric_1_1AOXRRTConnect_1_1TreeGrowingInfo.html">TreeGrowingInfo</a> &tgi,</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a> *rmotion)</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="keyword">auto</span> g_hat = tgi.start ? <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->distance(rmotion->state, startState) : <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->distance(rmotion->state, goalState);</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> </div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> <span class="keyword">auto</span> *root_motion = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>);</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->copyState(root_motion->state, tgi.start ? startState : goalState);</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> root_motion->cost = 0;</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> </div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keyword">auto</span> rootDist = tree->getDistanceFunction()(rmotion, root_motion);</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a> *nmotion = <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a4989e1f7f1dc705db34223502a477999">findNeighbour</a>(rmotion, rootDist, tree);</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">/* If there were no neighbours */</span></div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keywordflow">if</span> (nmotion == <span class="keyword">nullptr</span>)</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_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->freeState(root_motion->state);</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keyword">delete</span> root_motion;</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keywordflow">return</span> TRAPPED;</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> }</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">/* assume we can reach the state we go towards */</span></div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keywordtype">bool</span> reach = <span class="keyword">true</span>;</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="comment">/* find state to add */</span></div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">base::State</a> *dstate = rmotion->state;</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> <span class="keywordtype">double</span> d = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->distance(nmotion->state, rmotion->state);</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> <span class="keywordflow">if</span> (d > <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#aec9f4cb55b9b52f88aa0c5b9fc372d64">maxDistance_</a>)</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> {</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->getStateSpace()->interpolate(nmotion->state, rmotion->state, <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#aec9f4cb55b9b52f88aa0c5b9fc372d64">maxDistance_</a> / d, tgi.xstate);</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> </div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="comment">/* Check if we have moved at all. Due to some stranger state spaces (e.g., the constrained state spaces),</span></div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span><span class="comment"> * interpolate can fail and no progress is made. Without this check, the algorithm gets stuck in a loop as it</span></div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span><span class="comment"> * thinks it is making progress, when none is actually occurring. */</span></div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->equalStates(nmotion->state, tgi.xstate))</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> {</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->freeState(root_motion->state);</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> <span class="keyword">delete</span> root_motion;</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> <span class="keywordflow">return</span> TRAPPED;</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> }</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> </div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> dstate = tgi.xstate;</div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> reach = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> }</div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> </div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> <span class="keywordtype">bool</span> validMotion = tgi.start ? <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->checkMotion(nmotion->state, dstate) :</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->isValid(dstate) && <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->checkMotion(dstate, nmotion->state);</div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> </div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> <span class="keywordflow">if</span> (!validMotion)</div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> {</div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->freeState(root_motion->state);</div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> <span class="keyword">delete</span> root_motion;</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> <span class="keywordflow">return</span> TRAPPED;</div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> }</div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> </div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="comment">/* Cost resampling for new vertices */</span></div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> <span class="comment">/* Don't bother cost resampling if we don't have a meaningful cost range yet */</span></div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> <span class="keywordflow">if</span> (!rmotion->connecting && <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ad06da57b202aeed2cbaddb02d16eb8b6">bestCost_</a>.value() < std::numeric_limits<double>::infinity())</div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> {</div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->copyState(rmotion->state, dstate);</div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> g_hat = tgi.start ? <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->distance(dstate, startState) : <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->distance(dstate, goalState);</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> </div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> <span class="keywordtype">int</span> remaining_resample_attempts = <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a3129fb2ec303f13d818e60163bee5830">maxResampleAttempts_</a>;</div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> <span class="keywordflow">while</span> (validMotion && remaining_resample_attempts > 0)</div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> {</div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> remaining_resample_attempts--;</div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> </div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> <span class="keyword">auto</span> new_cost = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->distance(nmotion->state, dstate) + nmotion->cost;</div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <span class="keywordtype">double</span> c_range = new_cost - g_hat;</div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> <span class="keywordtype">double</span> cost_sample = <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac29eb72d44c395dced28b28b18eca28a">rng_</a>.uniformReal(0, 1);</div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> <span class="keywordtype">double</span> c_rand = (cost_sample * c_range) + g_hat;</div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> rmotion->cost = c_rand;</div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> </div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> <span class="keyword">auto</span> rootDist = tree->getDistanceFunction()(rmotion, root_motion);</div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a> *n_nmotion = <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a4989e1f7f1dc705db34223502a477999">findNeighbour</a>(rmotion, rootDist, tree);</div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> </div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> <span class="keywordflow">if</span> (new_cost <= si_->distance(n_nmotion->state, dstate) + n_nmotion->cost || c_range == 0)</div>
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> {</div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> validMotion = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> }</div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> {</div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> validMotion = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->checkMotion(n_nmotion->state, dstate);</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> </div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> <span class="keywordflow">if</span> (validMotion)</div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> {</div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> new_cost = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->distance(n_nmotion->state, dstate) + n_nmotion->cost;</div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> nmotion = n_nmotion;</div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> reach = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> }</div>
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> }</div>
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> }</div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> }</div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> </div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> <span class="keyword">auto</span> *motion = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>);</div>
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->copyState(motion->state, dstate);</div>
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> motion->parent = nmotion;</div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> motion->root = nmotion->root;</div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> motion->cost = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->distance(nmotion->state, motion->state) + nmotion->cost;</div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> tree->add(motion);</div>
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> </div>
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> tgi.xmotion = motion;</div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span> </div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->freeState(root_motion->state);</div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> <span class="keyword">delete</span> root_motion;</div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> <span class="keywordflow">return</span> reach ? REACHED : ADVANCED;</div>
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span>}</div>
</div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> </div>
<div class="foldopen" id="foldopen00302" data-start="{" data-end="}">
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ab5615088366370014b799a83f7d4254c"> 302</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_1AOXRRTConnect.html#ab5615088366370014b799a83f7d4254c">ompl::geometric::AOXRRTConnect::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="l00303" name="l00303"></a><span class="lineno"> 303</span>{</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#ab416900477cf4499139c01f35663dffb">checkValidity</a>();</div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <span class="keyword">auto</span> *goal = <span class="keyword">dynamic_cast<</span><a class="code hl_class" href="classompl_1_1base_1_1GoalSampleableRegion.html">base::GoalSampleableRegion</a> *<span class="keyword">></span>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->getGoal().get());</div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> </div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ae784a6ba0817be8e2f9a0cb0aa858702">_ptc</a> = ptc;</div>
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> </div>
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> <a class="code hl_struct" href="structompl_1_1geometric_1_1AOXRRTConnect_1_1TreeGrowingInfo.html">TreeGrowingInfo</a> tgi;</div>
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> tgi.xstate = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->allocState();</div>
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> </div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a> *approxsol = <span class="keyword">nullptr</span>;</div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> <span class="keywordtype">double</span> approxdif = std::numeric_limits<double>::infinity();</div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keyword">auto</span> *rmotion = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>);</div>
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> <span class="keyword">auto</span> *cmotion = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>);</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">base::State</a> *rstate = rmotion->state;</div>
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> <span class="keywordtype">bool</span> solved = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> <a class="code hl_enumeration" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a54f1c54b31fccfb129baae1758e7964c">GrowState</a> gs;</div>
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> </div>
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <span class="keywordflow">if</span> (goal == <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> {</div>
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: Unknown type of 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="l00323" name="l00323"></a><span class="lineno"> 323</span> <span class="keywordflow">return</span> <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="l00324" name="l00324"></a><span class="lineno"> 324</span> }</div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> </div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> <span class="keywordflow">while</span> (<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">base::State</a> *st = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>.nextStart())</div>
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> {</div>
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> <span class="keyword">auto</span> *motion = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>);</div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->copyState(motion->state, st);</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> motion->root = motion->state;</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> motion->cost = 0;</div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a0676ca39525a7badf489eded71f54345">tStart_</a>->add(motion);</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> startState = motion->state;</div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> </div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> <span class="comment">/* Straight line check for first search loop</span></div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span><span class="comment"> Nested here for PDT visualize, which calls solve for each iteration */</span></div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->copyState(rstate, startState);</div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> gs = REACHED;</div>
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> }</div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> </div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a0676ca39525a7badf489eded71f54345">tStart_</a>->size() == 0)</div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> {</div>
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: Motion planning start tree could not be initialized!"</span>, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> <span class="keywordflow">return</span> <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a1f20d012b563fc223902e24a8bcd7547">base::PlannerStatus::INVALID_START</a>;</div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> }</div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> </div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <span class="keywordflow">if</span> (!goal->couldSample())</div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> {</div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: Insufficient states in sampleable goal region"</span>, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</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="l00351" name="l00351"></a><span class="lineno"> 351</span> }</div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> </div>
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac9c82608fcf4d9a5c3ecb0ddd25a245b">sampler_</a>)</div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> {</div>
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="comment">/* We are using informed sampling, this can end-up reverting to rejection sampling in some cases */</span></div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: Using informed sampling."</span>, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac9c82608fcf4d9a5c3ecb0ddd25a245b">sampler_</a> = <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#abec5d72755dc3056dc92d18cbe2b7df0">opt_</a>->allocInformedStateSampler(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>, 100);</div>
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> }</div>
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> </div>
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: Started planning with %u states. Seeking a solution better than %.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="l00361" name="l00361"></a><span class="lineno"> 361</span> (<span class="keywordtype">int</span>)(<a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a0676ca39525a7badf489eded71f54345">tStart_</a>->size() + <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a>->size()), <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ad06da57b202aeed2cbaddb02d16eb8b6">bestCost_</a>);</div>
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> </div>
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> <span class="comment">/* Planner may restart early if it fails to find a solution and start the search anew */</span></div>
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span> <span class="keywordflow">while</span> (!ptc && !<a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a8400222326efe8fe9ed6ac74ae16a230">internalResetCondition</a>())</div>
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span> {</div>
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> <a class="code hl_typedef" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac6b7d2ac7ed233654041f57501227301">TreeData</a> &tree = <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a7e96348d20432685673a594e501a5194">startTree_</a> ? <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a0676ca39525a7badf489eded71f54345">tStart_</a> : <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a>;</div>
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span> <a class="code hl_typedef" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac6b7d2ac7ed233654041f57501227301">TreeData</a> &otherTree = !<a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a7e96348d20432685673a594e501a5194">startTree_</a> ? <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a0676ca39525a7badf489eded71f54345">tStart_</a> : <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a>;</div>
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span> tgi.start = <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a7e96348d20432685673a594e501a5194">startTree_</a>;</div>
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> </div>
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a>->size() == 0 || <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>.getSampledGoalsCount() < <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a>->size() / 2)</div>
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> {</div>
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">base::State</a> *st = <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a>->size() == 0 ? <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>.nextGoal(ptc) : <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>.nextGoal();</div>
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> <span class="keywordflow">if</span> (st != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> {</div>
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> <span class="keyword">auto</span> *motion = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>);</div>
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->copyState(motion->state, st);</div>
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> motion->root = motion->state;</div>
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> motion->cost = 0;</div>
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span> </div>
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span> <span class="comment">/* Straight line check for start of planning</span></div>
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span><span class="comment"> Nested here for PDT visualize, which calls solve for each iteration */</span></div>
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a>->size() == 0)</div>
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> {</div>
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> tgi.xmotion = motion;</div>
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> }</div>
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> </div>
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a>->add(motion);</div>
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> goalState = motion->state;</div>
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> }</div>
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> </div>
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a>->size() == 0)</div>
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> {</div>
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: Unable to sample any valid states for goal tree"</span>, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> }</div>
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> }</div>
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> </div>
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> <span class="keywordflow">if</span> (gs != TRAPPED)</div>
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> {</div>
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> <span class="comment">/* remember which motion was added in the last grow */</span></div>
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a> *addedMotion = tgi.xmotion;</div>
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> </div>
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> <span class="comment">/* if reached, it means we used rstate directly, no need to copy again */</span></div>
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span> <span class="keywordflow">if</span> (gs != REACHED)</div>
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->copyState(rstate, tgi.xstate);</div>
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span> </div>
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> <span class="comment">/* Switch tree to try and connect from other side */</span></div>
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> tgi.start = !tgi.start;</div>
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span> </div>
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->copyState(cmotion->state, rmotion->state);</div>
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> cmotion->cost = <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ad06da57b202aeed2cbaddb02d16eb8b6">bestCost_</a>.value() - tgi.xmotion->cost;</div>
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span> cmotion->connecting = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> </div>
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span> <span class="comment">/* if initial progress cannot be done from the otherTree, restore tgi.start */</span></div>
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> <a class="code hl_enumeration" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a54f1c54b31fccfb129baae1758e7964c">GrowState</a> gsc = <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac6c41650355c3c99cdac8701258647bc">growTree</a>(otherTree, tgi, cmotion);</div>
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span> <span class="keywordflow">if</span> (gsc == TRAPPED)</div>
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span> {</div>
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> <span class="comment">/* Switch tree back if connect from other side failed */</span></div>
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> tgi.start = !tgi.start;</div>
<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span> }</div>
<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span> </div>
<div class="line"><a id="l00422" name="l00422"></a><span class="lineno"> 422</span> <span class="comment">/* Keep trying to connect until we reach the other tree or fail to advance */</span></div>
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span> <span class="keywordflow">while</span> (gsc == ADVANCED)</div>
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> {</div>
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> gsc = <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac6c41650355c3c99cdac8701258647bc">growTree</a>(otherTree, tgi, cmotion);</div>
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> }</div>
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> </div>
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a> *startMotion = tgi.start ? tgi.xmotion : addedMotion;</div>
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a> *goalMotion = tgi.start ? addedMotion : tgi.xmotion;</div>
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> </div>
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> <span class="comment">/* if we connected the trees in a valid way (start and goal pair is valid)*/</span></div>
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</span> <span class="keywordflow">if</span> (gsc == REACHED && goal->isStartGoalPairValid(startMotion->root, goalMotion->root))</div>
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"> 433</span> {</div>
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> <span class="comment">/* it must be the case that either the start tree or the goal tree has made some progress</span></div>
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span><span class="comment"> so one of the parents is not nullptr. We go one step 'back' to avoid having a duplicate state</span></div>
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span><span class="comment"> on the solution path */</span></div>
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> <span class="keywordflow">if</span> (startMotion->parent != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> startMotion = startMotion->parent;</div>
<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span> goalMotion = goalMotion->parent;</div>
<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> </div>
<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a63a694052494fa69a4c6081928b4fa9f">connectionPoint_</a> = std::make_pair(startMotion->state, goalMotion->state);</div>
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> </div>
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> <span class="comment">/* construct the solution path */</span></div>
<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"> 445</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a> *solution = startMotion;</div>
<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"> 446</span> std::vector<Motion *> mpath1;</div>
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"> 447</span> <span class="keywordflow">while</span> (solution != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> {</div>
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span> mpath1.push_back(solution);</div>
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> solution = solution->parent;</div>
<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span> }</div>
<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"> 452</span> </div>
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> solution = goalMotion;</div>
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"> 454</span> std::vector<Motion *> mpath2;</div>
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> <span class="keywordflow">while</span> (solution != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span> {</div>
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> mpath2.push_back(solution);</div>
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> solution = solution->parent;</div>
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> }</div>
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> </div>
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> <span class="keyword">auto</span> path(std::make_shared<PathGeometric>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>));</div>
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> path->getStates().reserve(mpath1.size() + mpath2.size());</div>
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = mpath1.size() - 1; i >= 0; --i)</div>
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> path->append(mpath1[i]->state);</div>
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &i : mpath2)</div>
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> path->append(i->state);</div>
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span> </div>
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->addSolutionPath(path, <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="l00469" name="l00469"></a><span class="lineno"> 469</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac42e83b1f19de8d838cd8f1376b8b955">foundPath</a> = path;</div>
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span> </div>
<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"> 471</span> solved = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"> 472</span> </div>
<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: Found a solution of 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="l00474" name="l00474"></a><span class="lineno"> 474</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"> 475</span> }</div>
<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"> 476</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span> {</div>
<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"> 478</span> <span class="comment">/* We didn't reach the goal, but if we were extending the start</span></div>
<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"> 479</span><span class="comment"> tree, then we can mark/improve the approximate path so far. */</span></div>
<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span> <span class="keywordflow">if</span> (tgi.start)</div>
<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"> 481</span> {</div>
<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span> <span class="comment">/* We were working from the startTree. */</span></div>
<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span> <span class="keywordtype">double</span> dist = 0.0;</div>
<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span> goal->isSatisfied(tgi.xmotion->state, &dist);</div>
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"> 485</span> <span class="keywordflow">if</span> (dist < approxdif)</div>
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> {</div>
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"> 487</span> approxdif = dist;</div>
<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span> approxsol = tgi.xmotion;</div>
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> }</div>
<div class="line"><a id="l00490" name="l00490"></a><span class="lineno"> 490</span> }</div>
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> }</div>
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> }</div>
<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"> 493</span> </div>
<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span> <span class="keywordtype">float</span> asize = tree->size();</div>
<div class="line"><a id="l00495" name="l00495"></a><span class="lineno"> 495</span> <span class="keywordtype">float</span> bsize = otherTree->size();</div>
<div class="line"><a id="l00496" name="l00496"></a><span class="lineno"> 496</span> <span class="keywordtype">float</span> ratio = std::abs(asize - bsize) / asize;</div>
<div class="line"><a id="l00497" name="l00497"></a><span class="lineno"> 497</span> </div>
<div class="line"><a id="l00498" name="l00498"></a><span class="lineno"> 498</span> <span class="comment">/* Swap trees if our balanced RRTC condition is met */</span></div>
<div class="line"><a id="l00499" name="l00499"></a><span class="lineno"> 499</span> <span class="keywordflow">if</span> (ratio < 1.f)</div>
<div class="line"><a id="l00500" name="l00500"></a><span class="lineno"> 500</span> {</div>
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a7e96348d20432685673a594e501a5194">startTree_</a> = !<a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a7e96348d20432685673a594e501a5194">startTree_</a>;</div>
<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span> }</div>
<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"> 503</span> tgi.start = <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a7e96348d20432685673a594e501a5194">startTree_</a>;</div>
<div class="line"><a id="l00504" name="l00504"></a><span class="lineno"> 504</span> </div>
<div class="line"><a id="l00505" name="l00505"></a><span class="lineno"> 505</span> <span class="comment">/* Sample random states until we find a valid and useful sample */</span></div>
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span> <span class="keywordtype">bool</span> placed_sampled = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> <span class="keywordtype">double</span> c_rand;</div>
<div class="line"><a id="l00508" name="l00508"></a><span class="lineno"> 508</span> <span class="keywordtype">double</span> c_range;</div>
<div class="line"><a id="l00509" name="l00509"></a><span class="lineno"> 509</span> <span class="keywordflow">do</span></div>
<div class="line"><a id="l00510" name="l00510"></a><span class="lineno"> 510</span> {</div>
<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"> 511</span> placed_sampled = <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac9c82608fcf4d9a5c3ecb0ddd25a245b">sampler_</a>->sampleUniform(rstate, <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ad06da57b202aeed2cbaddb02d16eb8b6">bestCost_</a>);</div>
<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> sampleAttempts++;</div>
<div class="line"><a id="l00513" name="l00513"></a><span class="lineno"> 513</span> </div>
<div class="line"><a id="l00514" name="l00514"></a><span class="lineno"> 514</span> <span class="keywordtype">double</span> cost_sample = <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac29eb72d44c395dced28b28b18eca28a">rng_</a>.uniformReal(0, 1);</div>
<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"> 515</span> <span class="keyword">auto</span> g_hat =</div>
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span> tgi.start ? <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->distance(rmotion->state, startState) : <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->distance(rmotion->state, goalState);</div>
<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> <span class="keyword">auto</span> h_hat =</div>
<div class="line"><a id="l00518" name="l00518"></a><span class="lineno"> 518</span> !tgi.start ? <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->distance(rmotion->state, startState) : <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->distance(rmotion->state, goalState);</div>
<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"> 519</span> <span class="keyword">auto</span> f_hat = g_hat + h_hat;</div>
<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span> </div>
<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span> c_range = <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ad06da57b202aeed2cbaddb02d16eb8b6">bestCost_</a>.value() - f_hat;</div>
<div class="line"><a id="l00522" name="l00522"></a><span class="lineno"> 522</span> c_rand = (cost_sample * c_range) + g_hat;</div>
<div class="line"><a id="l00523" name="l00523"></a><span class="lineno"> 523</span> </div>
<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span> } <span class="keywordflow">while</span> (!ptc && (!placed_sampled || c_range < 0));</div>
<div class="line"><a id="l00525" name="l00525"></a><span class="lineno"> 525</span> rmotion->cost = c_rand;</div>
<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"> 526</span> </div>
<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"> 527</span> <span class="comment">/* Extend towards our new sample */</span></div>
<div class="line"><a id="l00528" name="l00528"></a><span class="lineno"> 528</span> <span class="comment">/* I can't change references when I swap the trees, so this will have to do */</span></div>
<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"> 529</span> <a class="code hl_typedef" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac6b7d2ac7ed233654041f57501227301">TreeData</a> &temp_tree = <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a7e96348d20432685673a594e501a5194">startTree_</a> ? <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a0676ca39525a7badf489eded71f54345">tStart_</a> : <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a>;</div>
<div class="line"><a id="l00530" name="l00530"></a><span class="lineno"> 530</span> gs = <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac6c41650355c3c99cdac8701258647bc">growTree</a>(temp_tree, tgi, rmotion);</div>
<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"> 531</span> }</div>
<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"> 532</span> </div>
<div class="line"><a id="l00533" name="l00533"></a><span class="lineno"> 533</span> <span class="comment">/* Cleanup our memory */</span></div>
<div class="line"><a id="l00534" name="l00534"></a><span class="lineno"> 534</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->freeState(tgi.xstate);</div>
<div class="line"><a id="l00535" name="l00535"></a><span class="lineno"> 535</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->freeState(rstate);</div>
<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"> 536</span> <span class="keyword">delete</span> rmotion;</div>
<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"> 537</span> <span class="keyword">delete</span> cmotion;</div>
<div class="line"><a id="l00538" name="l00538"></a><span class="lineno"> 538</span> </div>
<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: Created %u states (%u start + %u goal)"</span>, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str(), <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a0676ca39525a7badf489eded71f54345">tStart_</a>->size() + <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a>->size(),</div>
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a0676ca39525a7badf489eded71f54345">tStart_</a>->size(), <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a>->size());</div>
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> </div>
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> <span class="keywordflow">if</span> (approxsol && !solved)</div>
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> {</div>
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> <span class="comment">/* construct the solution path */</span></div>
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> std::vector<Motion *> mpath;</div>
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> <span class="keywordflow">while</span> (approxsol != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> {</div>
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span> mpath.push_back(approxsol);</div>
<div class="line"><a id="l00549" name="l00549"></a><span class="lineno"> 549</span> approxsol = approxsol->parent;</div>
<div class="line"><a id="l00550" name="l00550"></a><span class="lineno"> 550</span> }</div>
<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"> 551</span> </div>
<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> <span class="keyword">auto</span> path(std::make_shared<PathGeometric>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>));</div>
<div class="line"><a id="l00553" name="l00553"></a><span class="lineno"> 553</span> <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = mpath.size() - 1; i >= 0; --i)</div>
<div class="line"><a id="l00554" name="l00554"></a><span class="lineno"> 554</span> path->append(mpath[i]->state);</div>
<div class="line"><a id="l00555" name="l00555"></a><span class="lineno"> 555</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->addSolutionPath(path, <span class="keyword">true</span>, approxdif, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>());</div>
<div class="line"><a id="l00556" name="l00556"></a><span class="lineno"> 556</span> <span class="keywordflow">return</span> <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a5fade5f3ded9dd85ce1693c1912edaa8">base::PlannerStatus::APPROXIMATE_SOLUTION</a>;</div>
<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span> }</div>
<div class="line"><a id="l00558" name="l00558"></a><span class="lineno"> 558</span> </div>
<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span> <span class="keywordflow">return</span> solved ? <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28">base::PlannerStatus::EXACT_SOLUTION</a> : <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a620a03eebe49aa307140d6a4763278fd">base::PlannerStatus::TIMEOUT</a>;</div>
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span>}</div>
</div>
<div class="ttc" id="aclassompl_1_1base_1_1GoalSampleableRegion_html"><div class="ttname"><a href="classompl_1_1base_1_1GoalSampleableRegion.html">ompl::base::GoalSampleableRegion</a></div><div class="ttdoc">Abstract definition of a goal region that can be sampled.</div><div class="ttdef"><b>Definition</b> <a href="GoalSampleableRegion_8h_source.html#l00047">GoalSampleableRegion.h:48</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_a1c6ac45d44026aae6df87f3295d67436"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">ompl::base::Planner::pis_</a></div><div class="ttdeci">PlannerInputStates pis_</div><div class="ttdoc">Utility class to extract valid input states.</div><div class="ttdef"><b>Definition</b> <a href="Planner_8h_source.html#l00407">Planner.h:407</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_ab416900477cf4499139c01f35663dffb"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#ab416900477cf4499139c01f35663dffb">ompl::base::Planner::checkValidity</a></div><div class="ttdeci">virtual void checkValidity()</div><div class="ttdoc">Check to see if the planner is in a working state (setup has been called, a goal was set,...</div><div class="ttdef"><b>Definition</b> <a href="Planner_8cpp_source.html#l00106">Planner.cpp:106</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_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="base_2State_8h_source.html#l00049">State.h:50</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_1_1Motion_html"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">ompl::geometric::AOXRRTConnect::Motion</a></div><div class="ttdoc">Representation of a motion.</div><div class="ttdef"><b>Definition</b> <a href="AOXRRTConnect_8h_source.html#l00155">AOXRRTConnect.h:156</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_a0676ca39525a7badf489eded71f54345"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#a0676ca39525a7badf489eded71f54345">ompl::geometric::AOXRRTConnect::tStart_</a></div><div class="ttdeci">TreeData tStart_</div><div class="ttdoc">The start tree.</div><div class="ttdef"><b>Definition</b> <a href="AOXRRTConnect_8h_source.html#l00233">AOXRRTConnect.h:233</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_a168ddc2d4e9a58dd8d15ef4ff58b7e6b"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#a168ddc2d4e9a58dd8d15ef4ff58b7e6b">ompl::geometric::AOXRRTConnect::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="#l00062">AOXRRTConnect.cpp:62</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_a1e455059125ea6165dcd79812463a882"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#a1e455059125ea6165dcd79812463a882">ompl::geometric::AOXRRTConnect::setRange</a></div><div class="ttdeci">void setRange(double distance)</div><div class="ttdoc">Set the range the planner is supposed to use.</div><div class="ttdef"><b>Definition</b> <a href="AOXRRTConnect_8h_source.html#l00105">AOXRRTConnect.h:105</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_a303ba795d38b665402ef90e582e16bce"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#a303ba795d38b665402ef90e582e16bce">ompl::geometric::AOXRRTConnect::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="AOXRRTConnect_8h_source.html#l00111">AOXRRTConnect.h:111</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_a3129fb2ec303f13d818e60163bee5830"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#a3129fb2ec303f13d818e60163bee5830">ompl::geometric::AOXRRTConnect::maxResampleAttempts_</a></div><div class="ttdeci">long int maxResampleAttempts_</div><div class="ttdoc">Maximum allowed cost resampling iterations before moving on.</div><div class="ttdef"><b>Definition</b> <a href="AOXRRTConnect_8h_source.html#l00245">AOXRRTConnect.h:245</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_a4989e1f7f1dc705db34223502a477999"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#a4989e1f7f1dc705db34223502a477999">ompl::geometric::AOXRRTConnect::findNeighbour</a></div><div class="ttdeci">Motion * findNeighbour(Motion *sampled_motion, float rootDist, TreeData &tree)</div><div class="ttdoc">Find a valid neighbour with asymmetric distance funtion via iteration.</div><div class="ttdef"><b>Definition</b> <a href="#l00166">AOXRRTConnect.cpp:166</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_a54f1c54b31fccfb129baae1758e7964c"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#a54f1c54b31fccfb129baae1758e7964c">ompl::geometric::AOXRRTConnect::GrowState</a></div><div class="ttdeci">GrowState</div><div class="ttdoc">The state of the tree after an attempt to extend it.</div><div class="ttdef"><b>Definition</b> <a href="AOXRRTConnect_8h_source.html#l00185">AOXRRTConnect.h:186</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_a63a694052494fa69a4c6081928b4fa9f"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#a63a694052494fa69a4c6081928b4fa9f">ompl::geometric::AOXRRTConnect::connectionPoint_</a></div><div class="ttdeci">std::pair< base::State *, base::State * > connectionPoint_</div><div class="ttdoc">The pair of states in each tree connected during planning. Used for PlannerData computation.</div><div class="ttdef"><b>Definition</b> <a href="AOXRRTConnect_8h_source.html#l00278">AOXRRTConnect.h:278</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_a68ac6a8d1131b1b465705832aff6fbc3"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">ompl::geometric::AOXRRTConnect::tGoal_</a></div><div class="ttdeci">TreeData tGoal_</div><div class="ttdoc">The goal tree.</div><div class="ttdef"><b>Definition</b> <a href="AOXRRTConnect_8h_source.html#l00236">AOXRRTConnect.h:236</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_a7e96348d20432685673a594e501a5194"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#a7e96348d20432685673a594e501a5194">ompl::geometric::AOXRRTConnect::startTree_</a></div><div class="ttdeci">bool startTree_</div><div class="ttdoc">A flag that toggles between expanding the start tree (true) or goal tree (false).</div><div class="ttdef"><b>Definition</b> <a href="AOXRRTConnect_8h_source.html#l00239">AOXRRTConnect.h:239</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_a8400222326efe8fe9ed6ac74ae16a230"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#a8400222326efe8fe9ed6ac74ae16a230">ompl::geometric::AOXRRTConnect::internalResetCondition</a></div><div class="ttdeci">bool internalResetCondition()</div><div class="ttdoc">Check if the inner loop planner met its condition to terminate.</div><div class="ttdef"><b>Definition</b> <a href="AOXRRTConnect_8h_source.html#l00129">AOXRRTConnect.h:129</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_ab5615088366370014b799a83f7d4254c"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#ab5615088366370014b799a83f7d4254c">ompl::geometric::AOXRRTConnect::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="#l00302">AOXRRTConnect.cpp:302</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_abec5d72755dc3056dc92d18cbe2b7df0"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#abec5d72755dc3056dc92d18cbe2b7df0">ompl::geometric::AOXRRTConnect::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="AOXRRTConnect_8h_source.html#l00272">AOXRRTConnect.h:272</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_ac29eb72d44c395dced28b28b18eca28a"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac29eb72d44c395dced28b28b18eca28a">ompl::geometric::AOXRRTConnect::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="AOXRRTConnect_8h_source.html#l00275">AOXRRTConnect.h:275</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_ac42e83b1f19de8d838cd8f1376b8b955"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac42e83b1f19de8d838cd8f1376b8b955">ompl::geometric::AOXRRTConnect::foundPath</a></div><div class="ttdeci">base::PathPtr foundPath</div><div class="ttdoc">Path found by the algorithm.</div><div class="ttdef"><b>Definition</b> <a href="AOXRRTConnect_8h_source.html#l00266">AOXRRTConnect.h:266</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_ac6b7d2ac7ed233654041f57501227301"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac6b7d2ac7ed233654041f57501227301">ompl::geometric::AOXRRTConnect::TreeData</a></div><div class="ttdeci">std::shared_ptr< NearestNeighbors< Motion * > > TreeData</div><div class="ttdoc">A nearest-neighbor datastructure representing a tree of motions.</div><div class="ttdef"><b>Definition</b> <a href="AOXRRTConnect_8h_source.html#l00174">AOXRRTConnect.h:174</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_ac6c41650355c3c99cdac8701258647bc"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac6c41650355c3c99cdac8701258647bc">ompl::geometric::AOXRRTConnect::growTree</a></div><div class="ttdeci">GrowState growTree(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion)</div><div class="ttdoc">Grow a tree towards a random state.</div><div class="ttdef"><b>Definition</b> <a href="#l00195">AOXRRTConnect.cpp:195</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_ac9c82608fcf4d9a5c3ecb0ddd25a245b"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac9c82608fcf4d9a5c3ecb0ddd25a245b">ompl::geometric::AOXRRTConnect::sampler_</a></div><div class="ttdeci">base::InformedSamplerPtr sampler_</div><div class="ttdoc">State sampler.</div><div class="ttdef"><b>Definition</b> <a href="AOXRRTConnect_8h_source.html#l00222">AOXRRTConnect.h:222</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_accc1f4ff1869efc4d3a123f5f6908dee"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#accc1f4ff1869efc4d3a123f5f6908dee">ompl::geometric::AOXRRTConnect::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="#l00094">AOXRRTConnect.cpp:94</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_ad06da57b202aeed2cbaddb02d16eb8b6"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#ad06da57b202aeed2cbaddb02d16eb8b6">ompl::geometric::AOXRRTConnect::bestCost_</a></div><div class="ttdeci">base::Cost bestCost_</div><div class="ttdoc">Best cost found so far by algorithm.</div><div class="ttdef"><b>Definition</b> <a href="AOXRRTConnect_8h_source.html#l00263">AOXRRTConnect.h:263</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_ae784a6ba0817be8e2f9a0cb0aa858702"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#ae784a6ba0817be8e2f9a0cb0aa858702">ompl::geometric::AOXRRTConnect::_ptc</a></div><div class="ttdeci">base::PlannerTerminationCondition _ptc</div><div class="ttdoc">Outer loop termination condition for AORRTC.</div><div class="ttdef"><b>Definition</b> <a href="AOXRRTConnect_8h_source.html#l00269">AOXRRTConnect.h:269</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_aec9f4cb55b9b52f88aa0c5b9fc372d64"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#aec9f4cb55b9b52f88aa0c5b9fc372d64">ompl::geometric::AOXRRTConnect::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="AOXRRTConnect_8h_source.html#l00242">AOXRRTConnect.h:242</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_af472ae54f31ae0704ca508a3ef86ea23"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#af472ae54f31ae0704ca508a3ef86ea23">ompl::geometric::AOXRRTConnect::AOXRRTConnect</a></div><div class="ttdeci">AOXRRTConnect(const base::SpaceInformationPtr &si)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition</b> <a href="#l00047">AOXRRTConnect.cpp:47</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1SelfConfig_html"><div class="ttname"><a href="classompl_1_1tools_1_1SelfConfig.html">ompl::tools::SelfConfig</a></div><div class="ttdoc">This class contains methods that automatically configure various parameters for motion planning....</div><div class="ttdef"><b>Definition</b> <a href="SelfConfig_8h_source.html#l00058">SelfConfig.h:59</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1SelfConfig_html_a23f1fef30af80542eeb4709465a06148"><div class="ttname"><a href="classompl_1_1tools_1_1SelfConfig.html#a23f1fef30af80542eeb4709465a06148">ompl::tools::SelfConfig::getDefaultNearestNeighbors</a></div><div class="ttdeci">static NearestNeighbors< _T > * getDefaultNearestNeighbors(const base::Planner *planner)</div><div class="ttdoc">Select a default nearest neighbor datastructure for the given space.</div><div class="ttdef"><b>Definition</b> <a href="SelfConfig_8h_source.html#l00105">SelfConfig.h:105</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1SelfConfig_html_a65bff53ea4bc6f158342a856175ab9a6"><div class="ttname"><a href="classompl_1_1tools_1_1SelfConfig.html#a65bff53ea4bc6f158342a856175ab9a6">ompl::tools::SelfConfig::configurePlannerRange</a></div><div class="ttdeci">void configurePlannerRange(double &range)</div><div class="ttdoc">Compute what a good length for motion segments is.</div><div class="ttdef"><b>Definition</b> <a href="SelfConfig_8cpp_source.html#l00225">SelfConfig.cpp:225</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="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="anamespaceompl_1_1base_html_a1620a159019faf720c550eeca5723f55a6fb685fa51055688c4e130094225b7f9"><div class="ttname"><a href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a6fb685fa51055688c4e130094225b7f9">ompl::base::GOAL_SAMPLEABLE_REGION</a></div><div class="ttdeci">@ GOAL_SAMPLEABLE_REGION</div><div class="ttdoc">This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible.</div><div class="ttdef"><b>Definition</b> <a href="GoalTypes_8h_source.html#l00056">GoalTypes.h:56</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_a5fe3825813b066b664b3dd34dd1bc8c4a5fade5f3ded9dd85ce1693c1912edaa8"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a5fade5f3ded9dd85ce1693c1912edaa8">ompl::base::PlannerStatus::APPROXIMATE_SOLUTION</a></div><div class="ttdeci">@ APPROXIMATE_SOLUTION</div><div class="ttdoc">The planner found an approximate solution.</div><div class="ttdef"><b>Definition</b> <a href="PlannerStatus_8h_source.html#l00064">PlannerStatus.h:64</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>
<div class="ttc" id="astructompl_1_1geometric_1_1AOXRRTConnect_1_1TreeGrowingInfo_html"><div class="ttname"><a href="structompl_1_1geometric_1_1AOXRRTConnect_1_1TreeGrowingInfo.html">ompl::geometric::AOXRRTConnect::TreeGrowingInfo</a></div><div class="ttdoc">Information attached to growing a tree of motions (used internally).</div><div class="ttdef"><b>Definition</b> <a href="AOXRRTConnect_8h_source.html#l00177">AOXRRTConnect.h:178</a></div></div>
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