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<li class="navelem"><b>ompl</b></li><li class="navelem"><b>geometric</b></li><li class="navelem"><b>planners</b></li><li class="navelem"><b>rrt</b></li> </ul>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*********************************************************************</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment"> *</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> * Copyright (c) 2025, Queen's University</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> * All rights reserved.</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> *</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * are met:</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> *</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment"> * with the distribution.</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment"> * * Neither the name of the Queen's University nor the names of its</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment"> *</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span><span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="comment"> *********************************************************************/</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="comment">/* Author: Tyler Wilson */</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_AOX_RRT_CONNECT_</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_RRT_AOX_RRT_CONNECT_</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include "ompl/datastructures/NearestNeighbors.h"</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include "ompl/base/OptimizationObjective.h"</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="preprocessor">#include "ompl/geometric/planners/PlannerIncludes.h"</span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="preprocessor">#include <ompl/geometric/planners/rrt/RRTConnect.h></span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> </div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="preprocessor">#include "ompl/base/Path.h"</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> </div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceompl.html">ompl</a></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span>{</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> <span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceompl_1_1geometric.html">geometric</a></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> {</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span></div>
<div class="foldopen" id="foldopen00080" data-start="{" data-end="};">
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html"> 80</a></span> <span class="keyword">class </span><a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#af472ae54f31ae0704ca508a3ef86ea23">AOXRRTConnect</a> : <span class="keyword">public</span> <a class="code hl_class" href="classompl_1_1base_1_1Planner.html">base::Planner</a></div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> {</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="keyword">public</span>:</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#af472ae54f31ae0704ca508a3ef86ea23">AOXRRTConnect</a>(<span class="keyword">const</span> base::SpaceInformationPtr &si);</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> <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#af472ae54f31ae0704ca508a3ef86ea23">~AOXRRTConnect</a>() <span class="keyword">override</span>;</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> </div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <a class="code hl_struct" href="structompl_1_1base_1_1PlannerStatus.html">base::PlannerStatus</a> <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ab5615088366370014b799a83f7d4254c">solve</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> </div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="keywordtype">void</span> setFoundPath(<span class="keyword">const</span> base::PathPtr &p)</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> {</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac42e83b1f19de8d838cd8f1376b8b955">foundPath</a> = p;</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> }</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> </div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> base::PathPtr getFoundPath()<span class="keyword"> const</span></div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac42e83b1f19de8d838cd8f1376b8b955">foundPath</a>;</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> }</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span></div>
<div class="foldopen" id="foldopen00105" data-start="{" data-end="}">
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a1e455059125ea6165dcd79812463a882"> 105</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a1e455059125ea6165dcd79812463a882">setRange</a>(<span class="keywordtype">double</span> distance)</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> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#aec9f4cb55b9b52f88aa0c5b9fc372d64">maxDistance_</a> = distance;</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> }</div>
</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span></div>
<div class="foldopen" id="foldopen00111" data-start="{" data-end="}">
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a303ba795d38b665402ef90e582e16bce"> 111</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a303ba795d38b665402ef90e582e16bce">getRange</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#aec9f4cb55b9b52f88aa0c5b9fc372d64">maxDistance_</a>;</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> }</div>
</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span></div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <span class="keyword">template</span> <<span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keyword">class </span>NN></div>
<div class="foldopen" id="foldopen00118" data-start="{" data-end="}">
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a2c3553aea76ada78b690f001dff1a775"> 118</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a2c3553aea76ada78b690f001dff1a775">setNearestNeighbors</a>()</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> {</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keywordflow">if</span> ((<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#a0676ca39525a7badf489eded71f54345">tStart_</a>->size() != 0) || (<a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a> && <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a>->size() != 0))</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"Calling setNearestNeighbors will clear all states."</span>);</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a7929c12020a42b679601d22fb204919a">clear</a>();</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a0676ca39525a7badf489eded71f54345">tStart_</a> = std::make_shared<NN<Motion *>>();</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a> = std::make_shared<NN<Motion *>>();</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a168ddc2d4e9a58dd8d15ef4ff58b7e6b">setup</a>();</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> }</div>
</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span></div>
<div class="foldopen" id="foldopen00129" data-start="{" data-end="}">
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a8400222326efe8fe9ed6ac74ae16a230"> 129</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a8400222326efe8fe9ed6ac74ae16a230">internalResetCondition</a>()</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> {</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keywordtype">bool</span> shouldReset = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="keywordflow">if</span> (<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="l00133" name="l00133"></a><span class="lineno"> 133</span> {</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="comment">/* Reset if we have met our maximum internal vertices */</span></div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> shouldReset = shouldReset || (<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#a5dca04f77266246e182bc64952c614d3">maxInternalVertices</a>);</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> }</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> <span class="keywordflow">else</span></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> <span class="comment">/* If our trees don't exist, we're not in the middle of a search anyways */</span></div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> shouldReset = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> }</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="comment">/* Reset if we have attempted our maximum internal samples */</span></div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> shouldReset = shouldReset || (sampleAttempts >= <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a7ca43f4cf2982e63f84c6c2e8cc04f74">maxInternalSamples</a>);</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="keywordflow">return</span> shouldReset;</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> }</div>
</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> </div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a168ddc2d4e9a58dd8d15ef4ff58b7e6b">setup</a>() <span class="keyword">override</span>;</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> </div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keywordtype">void</span> reset(<span class="keywordtype">bool</span> solvedProblem);</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> </div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keywordtype">void</span> setPathCost(<span class="keywordtype">double</span> pc);</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> </div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keyword">protected</span>:</div>
<div class="foldopen" id="foldopen00155" data-start="{" data-end="};">
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html"> 155</a></span> <span class="keyword">class </span>Motion</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> {</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keyword">public</span>:</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> Motion() = <span class="keywordflow">default</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> Motion(<span class="keyword">const</span> base::SpaceInformationPtr &si) : state(si->allocState())</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> }</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> </div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> ~Motion() = <span class="keywordflow">default</span>;</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> </div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">base::State</a> *root{<span class="keyword">nullptr</span>};</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">base::State</a> *state{<span class="keyword">nullptr</span>};</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> Motion *parent{<span class="keyword">nullptr</span>};</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keywordtype">double</span> cost{0};</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">bool</span> connecting{<span class="keyword">false</span>};</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> };</div>
</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span></div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac6b7d2ac7ed233654041f57501227301"> 174</a></span> <span class="keyword">using </span><a class="code hl_typedef" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac6b7d2ac7ed233654041f57501227301">TreeData</a> = std::shared_ptr<NearestNeighbors<Motion *>>;</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span></div>
<div class="foldopen" id="foldopen00177" data-start="{" data-end="};">
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"><a class="line" href="structompl_1_1geometric_1_1AOXRRTConnect_1_1TreeGrowingInfo.html"> 177</a></span> <span class="keyword">struct </span><a class="code hl_struct" href="structompl_1_1geometric_1_1AOXRRTConnect_1_1TreeGrowingInfo.html">TreeGrowingInfo</a></div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> {</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">base::State</a> *xstate;</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a> *xmotion;</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">bool</span> start;</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> };</div>
</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span></div>
<div class="foldopen" id="foldopen00185" data-start="{" data-end="};">
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a54f1c54b31fccfb129baae1758e7964c"> 185</a></span> <span class="keyword">enum</span> <a class="code hl_enumeration" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a54f1c54b31fccfb129baae1758e7964c">GrowState</a></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> <span class="comment">/* no progress has been made */</span></div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> TRAPPED,</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> <span class="comment">/* progress has been made towards the randomly sampled state */</span></div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> ADVANCED,</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="comment">/* the randomly sampled state was reached */</span></div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> REACHED</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="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#accc1f4ff1869efc4d3a123f5f6908dee">freeMemory</a>();</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span></div>
<div class="foldopen" id="foldopen00199" data-start="{" data-end="}">
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#aba620ba58463996f8da498b0fcde346d"> 199</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#aba620ba58463996f8da498b0fcde346d">euclideanDistanceFunction</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a> *a, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a> *b)<span class="keyword"> const</span></div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->distance(a->state, b->state);</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> }</div>
</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span></div>
<div class="foldopen" id="foldopen00205" data-start="{" data-end="}">
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a4b351f966f27e968a17ddf3912ee70d0"> 205</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a4b351f966f27e968a17ddf3912ee70d0">aoxDistanceFunction</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a> *a, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1geometric_1_1AOXRRTConnect_1_1Motion.html">Motion</a> *b)<span class="keyword"> const</span></div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="keyword">auto</span> space_diff = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->distance(a->state, b->state);</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keyword">auto</span> cost_diff = a->cost - b->cost;</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> <span class="keyword">auto</span> dist = sqrt(pow(space_diff, 2) + pow(cost_diff, 2));</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> </div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keywordflow">return</span> dist;</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> }</div>
</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span></div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> Motion *<a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a4989e1f7f1dc705db34223502a477999">findNeighbour</a>(Motion *sampled_motion, <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="l00217" name="l00217"></a><span class="lineno"> 217</span></div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <a class="code hl_enumeration" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a54f1c54b31fccfb129baae1758e7964c">GrowState</a> <a class="code hl_function" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac6c41650355c3c99cdac8701258647bc">growTree</a>(<a class="code hl_typedef" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac6b7d2ac7ed233654041f57501227301">TreeData</a> &tree, TreeGrowingInfo &tgi, Motion *rmotion);</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span></div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac9c82608fcf4d9a5c3ecb0ddd25a245b"> 222</a></span> base::InformedSamplerPtr <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac9c82608fcf4d9a5c3ecb0ddd25a245b">sampler_</a>;</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> </div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> std::size_t sampleAttempts{0};</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> </div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="comment">/* Pad rootDist to account for floating point error</span></div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span><span class="comment"> Needed to make sure the root is included in nearest list</span></div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span><span class="comment"> TODO: Should use some relative epsilon for padding</span></div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span><span class="comment"> (FLT_EPSILON is good but does not scale with the magnitude of rootDist and may be too small) */</span></div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="keyword">const</span> <span class="keywordtype">float</span> rootDistPadding = 0.00001;</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span></div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a0676ca39525a7badf489eded71f54345"> 233</a></span> <a class="code hl_typedef" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac6b7d2ac7ed233654041f57501227301">TreeData</a> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a0676ca39525a7badf489eded71f54345">tStart_</a>;</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span></div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3"> 236</a></span> <a class="code hl_typedef" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac6b7d2ac7ed233654041f57501227301">TreeData</a> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a68ac6a8d1131b1b465705832aff6fbc3">tGoal_</a>;</div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span></div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a7e96348d20432685673a594e501a5194"> 239</a></span> <span class="keywordtype">bool</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a7e96348d20432685673a594e501a5194">startTree_</a>{<span class="keyword">true</span>};</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span></div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#aec9f4cb55b9b52f88aa0c5b9fc372d64"> 242</a></span> <span class="keywordtype">double</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#aec9f4cb55b9b52f88aa0c5b9fc372d64">maxDistance_</a>{0.};</div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span></div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a3129fb2ec303f13d818e60163bee5830"> 245</a></span> <span class="keywordtype">long</span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a3129fb2ec303f13d818e60163bee5830">maxResampleAttempts_</a>{100};</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span></div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a5dca04f77266246e182bc64952c614d3"> 248</a></span> std::size_t <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a5dca04f77266246e182bc64952c614d3">maxInternalVertices</a>{10000};</div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span></div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a798617ae0def242a96c48e4d3d71aca8"> 251</a></span> std::size_t <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a798617ae0def242a96c48e4d3d71aca8">maxInternalVerticesIncrement</a>{10000};</div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span></div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a7ca43f4cf2982e63f84c6c2e8cc04f74"> 254</a></span> std::size_t <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a7ca43f4cf2982e63f84c6c2e8cc04f74">maxInternalSamples</a>{10000000};</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span></div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a5458899a5405b3877fb35311a0fcaeb2"> 257</a></span> std::size_t <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a5458899a5405b3877fb35311a0fcaeb2">maxInternalSamplesIncrement</a>{10000000};</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> <a class="code hl_class" href="classompl_1_1base_1_1State.html">base::State</a> *startState{<span class="keyword">nullptr</span>};</div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">base::State</a> *goalState{<span class="keyword">nullptr</span>};</div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span></div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ad06da57b202aeed2cbaddb02d16eb8b6"> 263</a></span> <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">base::Cost</a> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ad06da57b202aeed2cbaddb02d16eb8b6">bestCost_</a>{std::numeric_limits<double>::infinity()};</div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span></div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac42e83b1f19de8d838cd8f1376b8b955"> 266</a></span> base::PathPtr <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac42e83b1f19de8d838cd8f1376b8b955">foundPath</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span></div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ae784a6ba0817be8e2f9a0cb0aa858702"> 269</a></span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ae784a6ba0817be8e2f9a0cb0aa858702">_ptc</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span></div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#abec5d72755dc3056dc92d18cbe2b7df0"> 272</a></span> base::OptimizationObjectivePtr <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#abec5d72755dc3056dc92d18cbe2b7df0">opt_</a>;</div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span></div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac29eb72d44c395dced28b28b18eca28a"> 275</a></span> <a class="code hl_class" href="classompl_1_1RNG.html">RNG</a> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#ac29eb72d44c395dced28b28b18eca28a">rng_</a>;</div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span></div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a63a694052494fa69a4c6081928b4fa9f"> 278</a></span> std::pair<base::State *, base::State *> <a class="code hl_variable" href="classompl_1_1geometric_1_1AOXRRTConnect.html#a63a694052494fa69a4c6081928b4fa9f">connectionPoint_</a>;</div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> };</div>
</div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> } <span class="comment">// namespace geometric</span></div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span>} <span class="comment">// namespace ompl</span></div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> </div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span><span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclassompl_1_1RNG_html"><div class="ttname"><a href="classompl_1_1RNG.html">ompl::RNG</a></div><div class="ttdoc">Random number generation. An instance of this class cannot be used by multiple threads at once (membe...</div><div class="ttdef"><b>Definition</b> <a href="RandomNumbers_8h_source.html#l00056">RandomNumbers.h:57</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Cost_html"><div class="ttname"><a href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a></div><div class="ttdoc">Definition of a cost value. Can represent the cost of a motion or the cost of a state.</div><div class="ttdef"><b>Definition</b> <a href="Cost_8h_source.html#l00047">Cost.h:48</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerTerminationCondition_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a></div><div class="ttdoc">Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...</div><div class="ttdef"><b>Definition</b> <a href="PlannerTerminationCondition_8h_source.html#l00063">PlannerTerminationCondition.h:64</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html">ompl::base::Planner</a></div><div class="ttdoc">Base class for a planner.</div><div class="ttdef"><b>Definition</b> <a href="Planner_8h_source.html#l00215">Planner.h:216</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_a7929c12020a42b679601d22fb204919a"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#a7929c12020a42b679601d22fb204919a">ompl::base::Planner::clear</a></div><div class="ttdeci">virtual void clear()</div><div class="ttdoc">Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...</div><div class="ttdef"><b>Definition</b> <a href="Planner_8cpp_source.html#l00118">Planner.cpp:118</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_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="#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="#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="AOXRRTConnect_8cpp_source.html#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="#l00105">AOXRRTConnect.h:105</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_a2c3553aea76ada78b690f001dff1a775"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#a2c3553aea76ada78b690f001dff1a775">ompl::geometric::AOXRRTConnect::setNearestNeighbors</a></div><div class="ttdeci">void setNearestNeighbors()</div><div class="ttdoc">Set a different nearest neighbors datastructure.</div><div class="ttdef"><b>Definition</b> <a href="#l00118">AOXRRTConnect.h:118</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="#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="#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="AOXRRTConnect_8cpp_source.html#l00166">AOXRRTConnect.cpp:166</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_a4b351f966f27e968a17ddf3912ee70d0"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#a4b351f966f27e968a17ddf3912ee70d0">ompl::geometric::AOXRRTConnect::aoxDistanceFunction</a></div><div class="ttdeci">double aoxDistanceFunction(const Motion *a, const Motion *b) const</div><div class="ttdoc">Compute AOX distance between motions.</div><div class="ttdef"><b>Definition</b> <a href="#l00205">AOXRRTConnect.h:205</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_a5458899a5405b3877fb35311a0fcaeb2"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#a5458899a5405b3877fb35311a0fcaeb2">ompl::geometric::AOXRRTConnect::maxInternalSamplesIncrement</a></div><div class="ttdeci">std::size_t maxInternalSamplesIncrement</div><div class="ttdoc">Increment by which maxSamples is increased.</div><div class="ttdef"><b>Definition</b> <a href="#l00257">AOXRRTConnect.h:257</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="#l00185">AOXRRTConnect.h:186</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_a5dca04f77266246e182bc64952c614d3"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#a5dca04f77266246e182bc64952c614d3">ompl::geometric::AOXRRTConnect::maxInternalVertices</a></div><div class="ttdeci">std::size_t maxInternalVertices</div><div class="ttdoc">Maximum allowed total vertices in trees before the search is restarted.</div><div class="ttdef"><b>Definition</b> <a href="#l00248">AOXRRTConnect.h:248</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="#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="#l00236">AOXRRTConnect.h:236</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_a798617ae0def242a96c48e4d3d71aca8"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#a798617ae0def242a96c48e4d3d71aca8">ompl::geometric::AOXRRTConnect::maxInternalVerticesIncrement</a></div><div class="ttdeci">std::size_t maxInternalVerticesIncrement</div><div class="ttdoc">Increment by which maxVertices is increased.</div><div class="ttdef"><b>Definition</b> <a href="#l00251">AOXRRTConnect.h:251</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_a7ca43f4cf2982e63f84c6c2e8cc04f74"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#a7ca43f4cf2982e63f84c6c2e8cc04f74">ompl::geometric::AOXRRTConnect::maxInternalSamples</a></div><div class="ttdeci">std::size_t maxInternalSamples</div><div class="ttdoc">Maximum samples tried before the search is restarted.</div><div class="ttdef"><b>Definition</b> <a href="#l00254">AOXRRTConnect.h:254</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="#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="#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="AOXRRTConnect_8cpp_source.html#l00302">AOXRRTConnect.cpp:302</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AOXRRTConnect_html_aba620ba58463996f8da498b0fcde346d"><div class="ttname"><a href="classompl_1_1geometric_1_1AOXRRTConnect.html#aba620ba58463996f8da498b0fcde346d">ompl::geometric::AOXRRTConnect::euclideanDistanceFunction</a></div><div class="ttdeci">double euclideanDistanceFunction(const Motion *a, const Motion *b) const</div><div class="ttdoc">Compute euclidian distance between motions.</div><div class="ttdef"><b>Definition</b> <a href="#l00199">AOXRRTConnect.h:199</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="#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="#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="#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="#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="AOXRRTConnect_8cpp_source.html#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="#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="AOXRRTConnect_8cpp_source.html#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="#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="#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="#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="AOXRRTConnect_8cpp_source.html#l00047">AOXRRTConnect.cpp:47</a></div></div>
<div class="ttc" id="agroup__logging_html_gab76357dced39cb468d2061d3358f80a6"><div class="ttname"><a href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a></div><div class="ttdeci">#define OMPL_WARN(fmt,...)</div><div class="ttdoc">Log a formatted warning string.</div><div class="ttdef"><b>Definition</b> <a href="Console_8h_source.html#l00066">Console.h:66</a></div></div>
<div class="ttc" id="anamespaceompl_1_1geometric_html"><div class="ttname"><a href="namespaceompl_1_1geometric.html">ompl::geometric</a></div><div class="ttdoc">This namespace contains code that is specific to planning under geometric constraints.</div><div class="ttdef"><b>Definition</b> <a href="GeneticSearch_8h_source.html#l00047">GeneticSearch.h:48</a></div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition</b> <a href="MultiLevelPlanarManipulatorDemo_8cpp_source.html#l00065">MultiLevelPlanarManipulatorDemo.cpp:66</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a></div><div class="ttdoc">A class to store the exit status of Planner::solve().</div><div class="ttdef"><b>Definition</b> <a href="PlannerStatus_8h_source.html#l00048">PlannerStatus.h:49</a></div></div>
<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="#l00177">AOXRRTConnect.h:178</a></div></div>
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