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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Copyright (c) 2019, University of Oxford</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a 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 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 name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> *</span></div>
<div class="line"><a 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 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 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 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 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 name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * * Neither the names of the copyright holders nor the names of its</span></div>
<div class="line"><a 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 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 name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> *</span></div>
<div class="line"><a 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 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 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 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 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 name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a 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 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 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 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 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 name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> *********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">// Authors: Marlin Strub</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <algorithm></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <memory></span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include "ompl/base/Planner.h"</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include "ompl/geometric/PathGeometric.h"</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include "ompl/geometric/planners/informedtrees/aitstar/Edge.h"</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#include "ompl/geometric/planners/informedtrees/aitstar/ImplicitGraph.h"</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="preprocessor">#include "ompl/geometric/planners/informedtrees/aitstar/Vertex.h"</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="preprocessor">#include "ompl/geometric/planners/informedtrees/aitstar/Queuetypes.h"</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> {</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keyword">namespace </span>geometric</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  {</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keyword">class </span>AITstar : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1Planner.html">ompl::base::Planner</a></div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  {</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keyword">explicit</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a8ca34113a338e6392e59143c7e8d2948">AITstar</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html">ompl::base::SpaceInformationPtr</a> &spaceInformation);</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a28d6afe9fa6bf65319bd1e0d4145d543">~AITstar</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  </div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#ac0e524e03c585a05b18a2531728d9f6c">setup</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  </div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4">ompl::base::PlannerStatus::StatusType</a> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#ac8eee478e7c2e8ffecd94915f00f61bf">ensureSetup</a>();</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4">ompl::base::PlannerStatus::StatusType</a></div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a62685b6e67ffd9fa813ba7be9a8efcdc">ensureStartAndGoalStates</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a> &terminationCondition);</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  </div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#ae643581d03d47232d4e62e97c5131818">clear</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  </div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <a class="code" href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a></div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <a class="code" href="classompl_1_1geometric_1_1AITstar.html#ac26877517bb669d691514312ea2cd276">solve</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a> &terminationCondition) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  </div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a6ad2d569af889b260c80b49718def2ca">bestCost</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  </div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#aa063eaa8232ae1e10c08d35f35399169">getPlannerData</a>(base::PlannerData &data) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  </div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a5a06e51a4463f03fb76193510b075b1e">setBatchSize</a>(std::size_t batchSize);</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  </div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  std::size_t <a class="code" href="classompl_1_1geometric_1_1AITstar.html#af92037c77c4fb206e985bcd2213c0b41">getBatchSize</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  </div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a54196b5b1aaa96ffb84e603627d6b906">setRewireFactor</a>(<span class="keywordtype">double</span> rewireFactor);</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  </div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a41ce1b84ebe1427a927c8b558a7026e0">getRewireFactor</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  </div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#ad94c30d8d6eb05822c5b9bda53beb105">trackApproximateSolutions</a>(<span class="keywordtype">bool</span> track);</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  </div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#aff79dbc4d9887857a902a317059a5f0c">areApproximateSolutionsTracked</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  </div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a1d0819970bc1e94e3a2cb85d7c230e85">enablePruning</a>(<span class="keywordtype">bool</span> prune);</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  </div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a47dc57bc1044ddfada50236b6e3851bf">isPruningEnabled</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  </div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#adcc75681a6aa1ef5e1e5ac6e8f172fd6">setUseKNearest</a>(<span class="keywordtype">bool</span> useKNearest);</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  </div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a97a8e248dab17309cd028bdcf2fe065d">getUseKNearest</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  </div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a32d4aff593a4f4e7f5f364700b218db1">setMaxNumberOfGoals</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numberOfGoals);</div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html"> 151</a></span>  </div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a84d104447bc332421b3050226877f25e">getMaxNumberOfGoals</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  </div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  std::vector<aitstar::Edge> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#aec409c0ca511804323a352242724115d">getEdgesInQueue</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  </div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  std::vector<std::shared_ptr<aitstar::Vertex>> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a8ad338a1eef68fb7697a24c5789665e8">getVerticesInQueue</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  </div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <a class="code" href="classompl_1_1geometric_1_1aitstar_1_1Edge.html">aitstar::Edge</a> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a9c7cbe5393f341034cc568ddd520569d">getNextEdgeInQueue</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  </div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  std::shared_ptr<aitstar::Vertex> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a1a09de2c4eda92ce52aabdd580371ac3">getNextVertexInQueue</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  </div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  std::vector<std::shared_ptr<aitstar::Vertex>> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#ad00faccadc59ac77c09a9ab77f6e89c4">getVerticesInReverseSearchTree</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  </div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keywordtype">void</span> iterate(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a> &terminationCondition);</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  </div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keywordtype">void</span> iterateForwardSearch();</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  </div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keywordtype">void</span> iterateReverseSearch();</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  </div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="keywordtype">void</span> updateReverseSearchVertex(<span class="keyword">const</span> std::shared_ptr<aitstar::Vertex> &vertex);</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  </div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordtype">void</span> updateReverseSearchNeighbors(<span class="keyword">const</span> std::shared_ptr<aitstar::Vertex> &vertex);</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  </div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="keywordtype">void</span> insertOrUpdateInForwardQueue(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1aitstar_1_1Edge.html">aitstar::Edge</a> &edge);</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  </div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordtype">void</span> insertOrUpdateInForwardQueue(<span class="keyword">const</span> std::vector<aitstar::Edge> &edges);</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  </div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <span class="keywordtype">void</span> insertOrUpdateInReverseQueue(<span class="keyword">const</span> std::shared_ptr<aitstar::Vertex> &vertex);</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  </div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="keywordtype">void</span> rebuildForwardQueue();</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  </div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <span class="keywordtype">void</span> rebuildReverseQueue();</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  </div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keywordtype">void</span> clearForwardQueue();</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  </div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keywordtype">void</span> clearReverseQueue();</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  </div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <span class="keywordtype">void</span> informAboutNewSolution() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  </div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <span class="keywordtype">void</span> informAboutPlannerStatus(<a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4">ompl::base::PlannerStatus::StatusType</a> status) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  </div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="keywordtype">void</span> insertGoalVerticesInReverseQueue();</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  </div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keywordtype">void</span> expandStartVerticesIntoForwardQueue();</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  </div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keywordtype">bool</span> continueReverseSearch() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  </div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="keywordtype">bool</span> continueForwardSearch();</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  </div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  std::shared_ptr<ompl::geometric::PathGeometric></div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  getPathToVertex(<span class="keyword">const</span> std::shared_ptr<aitstar::Vertex> &vertex) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  </div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  std::array<ompl::base::Cost, 3u> computeSortKey(<span class="keyword">const</span> std::shared_ptr<aitstar::Vertex> &parent,</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <span class="keyword">const</span> std::shared_ptr<aitstar::Vertex> &child) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  </div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  std::array<ompl::base::Cost, 2u> computeSortKey(<span class="keyword">const</span> std::shared_ptr<aitstar::Vertex> &vertex) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  </div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keywordtype">void</span> insertOutgoingEdges(<span class="keyword">const</span> std::shared_ptr<aitstar::Vertex> &vertex);</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  </div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  std::vector<aitstar::Edge> getOutgoingEdges(<span class="keyword">const</span> std::shared_ptr<aitstar::Vertex> &vertex) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  </div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keywordtype">void</span> updateExactSolution();</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  </div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="keywordtype">void</span> updateApproximateSolution(<span class="keyword">const</span> std::shared_ptr<aitstar::Vertex> &vertex);</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  </div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="keywordtype">void</span> updateApproximateSolution();</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  </div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4">ompl::base::PlannerStatus::StatusType</a> updateSolution();</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  </div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4">ompl::base::PlannerStatus::StatusType</a> updateSolution(<span class="keyword">const</span> std::shared_ptr<aitstar::Vertex> &vertex);</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  </div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> computeCostToGoToStartHeuristic(<span class="keyword">const</span> std::shared_ptr<aitstar::Vertex> &vertex) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  </div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> computeCostToGoToGoalHeuristic(<span class="keyword">const</span> std::shared_ptr<aitstar::Vertex> &vertex) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  </div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> computeCostToGoToGoal(<span class="keyword">const</span> std::shared_ptr<aitstar::Vertex> &vertex) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  </div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> computeBestCostToComeFromGoalOfAnyStart() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  </div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  std::size_t countNumVerticesInForwardTree() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  </div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  std::size_t countNumVerticesInReverseTree() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  </div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <span class="keywordtype">void</span> invalidateCostToComeFromGoalOfReverseBranch(<span class="keyword">const</span> std::shared_ptr<aitstar::Vertex> &vertex);</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  </div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> solutionCost_;</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  </div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> approximateSolutionCost_{};</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  </div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> approximateSolutionCostToGoal_{};</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  </div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  aitstar::ImplicitGraph graph_;</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  </div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  aitstar::EdgeQueue forwardQueue_;</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  </div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  aitstar::VertexQueue reverseQueue_;</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  </div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  <span class="keywordtype">bool</span> isEdgeBetter(<span class="keyword">const</span> aitstar::Edge &lhs, <span class="keyword">const</span> aitstar::Edge &rhs) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  </div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <span class="keywordtype">bool</span> isVertexBetter(<span class="keyword">const</span> aitstar::KeyVertexPair &lhs, <span class="keyword">const</span> aitstar::KeyVertexPair &rhs) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  </div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  std::size_t numInconsistentOrUnconnectedTargets_{0u};</div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  </div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  std::size_t numIterations_{0u};</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  </div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  std::size_t batchSize_{100u};</div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  </div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  <span class="keywordtype">bool</span> trackApproximateSolutions_{<span class="keyword">true</span>};</div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  </div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  <span class="keywordtype">bool</span> isPruningEnabled_{<span class="keyword">true</span>};</div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  </div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <a class="code" href="classompl_1_1base_1_1OptimizationObjectivePtr.html">ompl::base::OptimizationObjectivePtr</a> objective_;</div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  </div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  <a class="code" href="classompl_1_1base_1_1MotionValidatorPtr.html">ompl::base::MotionValidatorPtr</a> motionValidator_;</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  </div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  std::size_t numProcessedEdges_{0u};</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  </div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  std::size_t numEdgeCollisionChecks_{0u};</div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  };</div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  } <span class="comment">// namespace geometric</span></div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span> } <span class="comment">// namespace ompl</span></div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  </div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span> <span class="preprocessor">#endif // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_ae643581d03d47232d4e62e97c5131818"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#ae643581d03d47232d4e62e97c5131818">ompl::geometric::AITstar::clear</a></div><div class="ttdeci">void clear() override</div><div class="ttdoc">Clears the algorithm's internal state.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00201">AITstar.cpp:201</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#l00279">Planner.h:279</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_ac8eee478e7c2e8ffecd94915f00f61bf"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#ac8eee478e7c2e8ffecd94915f00f61bf">ompl::geometric::AITstar::ensureSetup</a></div><div class="ttdeci">ompl::base::PlannerStatus::StatusType ensureSetup()</div><div class="ttdoc">Checks whether the planner is successfully setup.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00145">AITstar.cpp:145</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1SpaceInformationPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1SpaceInformationPtr.html">SpaceInformationPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::SpaceInformation.</div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_aec409c0ca511804323a352242724115d"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#aec409c0ca511804323a352242724115d">ompl::geometric::AITstar::getEdgesInQueue</a></div><div class="ttdeci">std::vector< aitstar::Edge > getEdgesInQueue() const</div><div class="ttdoc">Get the edge queue.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00592">AITstar.cpp:592</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_a8ca34113a338e6392e59143c7e8d2948"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#a8ca34113a338e6392e59143c7e8d2948">ompl::geometric::AITstar::AITstar</a></div><div class="ttdeci">AITstar(const ompl::base::SpaceInformationPtr &spaceInformation)</div><div class="ttdoc">Constructs a AIT*.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00055">AITstar.cpp:55</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_a9c7cbe5393f341034cc568ddd520569d"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#a9c7cbe5393f341034cc568ddd520569d">ompl::geometric::AITstar::getNextEdgeInQueue</a></div><div class="ttdeci">aitstar::Edge getNextEdgeInQueue() const</div><div class="ttdoc">Get the next edge in the queue.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00614">AITstar.cpp:614</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_a5a06e51a4463f03fb76193510b075b1e"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#a5a06e51a4463f03fb76193510b075b1e">ompl::geometric::AITstar::setBatchSize</a></div><div class="ttdeci">void setBatchSize(std::size_t batchSize)</div><div class="ttdoc">Set the batch size.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00303">AITstar.cpp:303</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_a32d4aff593a4f4e7f5f364700b218db1"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#a32d4aff593a4f4e7f5f364700b218db1">ompl::geometric::AITstar::setMaxNumberOfGoals</a></div><div class="ttdeci">void setMaxNumberOfGoals(unsigned int numberOfGoals)</div><div class="ttdoc">Set the maximum number of goals AIT* will sample from sampleable goal regions.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00361">AITstar.cpp:361</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#l00111">Cost.h:111</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1OptimizationObjectivePtr_html"><div class="ttname"><a href="classompl_1_1base_1_1OptimizationObjectivePtr.html">OptimizationObjectivePtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::OptimizationObjective.</div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1aitstar_1_1Edge_html"><div class="ttname"><a href="classompl_1_1geometric_1_1aitstar_1_1Edge.html">ompl::geometric::aitstar::Edge</a></div><div class="ttdef"><b>Definition:</b> <a href="Edge_8h_source.html#l00151">Edge.h:151</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_a8ad338a1eef68fb7697a24c5789665e8"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#a8ad338a1eef68fb7697a24c5789665e8">ompl::geometric::AITstar::getVerticesInQueue</a></div><div class="ttdeci">std::vector< std::shared_ptr< aitstar::Vertex > > getVerticesInQueue() const</div><div class="ttdoc">Get the vertex queue.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00599">AITstar.cpp:599</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#l00127">PlannerTerminationCondition.h:127</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_a62685b6e67ffd9fa813ba7be9a8efcdc"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#a62685b6e67ffd9fa813ba7be9a8efcdc">ompl::geometric::AITstar::ensureStartAndGoalStates</a></div><div class="ttdeci">ompl::base::PlannerStatus::StatusType ensureStartAndGoalStates(const ompl::base::PlannerTerminationCondition &terminationCondition)</div><div class="ttdoc">Checks whether the problem is successfully setup.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00169">AITstar.cpp:169</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_a1a09de2c4eda92ce52aabdd580371ac3"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#a1a09de2c4eda92ce52aabdd580371ac3">ompl::geometric::AITstar::getNextVertexInQueue</a></div><div class="ttdeci">std::shared_ptr< aitstar::Vertex > getNextVertexInQueue() const</div><div class="ttdoc">Get the next vertex in the queue.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00624">AITstar.cpp:624</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#l00112">PlannerStatus.h:112</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_aff79dbc4d9887857a902a317059a5f0c"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#aff79dbc4d9887857a902a317059a5f0c">ompl::geometric::AITstar::areApproximateSolutionsTracked</a></div><div class="ttdeci">bool areApproximateSolutionsTracked() const</div><div class="ttdoc">Get whether approximate solutions are tracked.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00336">AITstar.cpp:336</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_a28d6afe9fa6bf65319bd1e0d4145d543"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#a28d6afe9fa6bf65319bd1e0d4145d543">ompl::geometric::AITstar::~AITstar</a></div><div class="ttdeci">~AITstar()=default</div><div class="ttdoc">Destructs a AIT*.</div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_a1d0819970bc1e94e3a2cb85d7c230e85"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#a1d0819970bc1e94e3a2cb85d7c230e85">ompl::geometric::AITstar::enablePruning</a></div><div class="ttdeci">void enablePruning(bool prune)</div><div class="ttdoc">Set whether pruning is enabled or not.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00341">AITstar.cpp:341</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_ad00faccadc59ac77c09a9ab77f6e89c4"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#ad00faccadc59ac77c09a9ab77f6e89c4">ompl::geometric::AITstar::getVerticesInReverseSearchTree</a></div><div class="ttdeci">std::vector< std::shared_ptr< aitstar::Vertex > > getVerticesInReverseSearchTree() const</div><div class="ttdoc">Get the vertices in the reverse search tree.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00634">AITstar.cpp:634</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_aa063eaa8232ae1e10c08d35f35399169"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#aa063eaa8232ae1e10c08d35f35399169">ompl::geometric::AITstar::getPlannerData</a></div><div class="ttdeci">void getPlannerData(base::PlannerData &data) const override</div><div class="ttdoc">Get the planner data.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00259">AITstar.cpp:259</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_a41ce1b84ebe1427a927c8b558a7026e0"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#a41ce1b84ebe1427a927c8b558a7026e0">ompl::geometric::AITstar::getRewireFactor</a></div><div class="ttdeci">double getRewireFactor() const</div><div class="ttdoc">Get the rewire factor of the RGG graph.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00318">AITstar.cpp:318</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1MotionValidatorPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1MotionValidatorPtr.html">MotionValidatorPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::MotionValidator.</div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_a47dc57bc1044ddfada50236b6e3851bf"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#a47dc57bc1044ddfada50236b6e3851bf">ompl::geometric::AITstar::isPruningEnabled</a></div><div class="ttdeci">bool isPruningEnabled() const</div><div class="ttdoc">Get whether pruning is enabled or not.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00346">AITstar.cpp:346</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4">ompl::base::PlannerStatus::StatusType</a></div><div class="ttdeci">StatusType</div><div class="ttdoc">The possible values of the status returned by a planner.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00147">PlannerStatus.h:147</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_af92037c77c4fb206e985bcd2213c0b41"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#af92037c77c4fb206e985bcd2213c0b41">ompl::geometric::AITstar::getBatchSize</a></div><div class="ttdeci">std::size_t getBatchSize() const</div><div class="ttdoc">Get the batch size.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00308">AITstar.cpp:308</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_a97a8e248dab17309cd028bdcf2fe065d"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#a97a8e248dab17309cd028bdcf2fe065d">ompl::geometric::AITstar::getUseKNearest</a></div><div class="ttdeci">bool getUseKNearest() const</div><div class="ttdoc">Get whether to use a k-nearest RGG connection model. If false, AIT* uses an r-disc model.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00356">AITstar.cpp:356</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_a6ad2d569af889b260c80b49718def2ca"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#a6ad2d569af889b260c80b49718def2ca">ompl::geometric::AITstar::bestCost</a></div><div class="ttdeci">ompl::base::Cost bestCost() const</div><div class="ttdoc">Get the cost of the incumbent solution.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00254">AITstar.cpp:254</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_ac0e524e03c585a05b18a2531728d9f6c"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#ac0e524e03c585a05b18a2531728d9f6c">ompl::geometric::AITstar::setup</a></div><div class="ttdeci">void setup() override</div><div class="ttdoc">Additional setup that can only be done once a problem definition is set.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00094">AITstar.cpp:94</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_ac26877517bb669d691514312ea2cd276"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#ac26877517bb669d691514312ea2cd276">ompl::geometric::AITstar::solve</a></div><div class="ttdeci">ompl::base::PlannerStatus solve(const ompl::base::PlannerTerminationCondition &terminationCondition) override</div><div class="ttdoc">Solves a motion planning problem.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00215">AITstar.cpp:215</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_adcc75681a6aa1ef5e1e5ac6e8f172fd6"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#adcc75681a6aa1ef5e1e5ac6e8f172fd6">ompl::geometric::AITstar::setUseKNearest</a></div><div class="ttdeci">void setUseKNearest(bool useKNearest)</div><div class="ttdoc">Set whether to use a k-nearest RGG connection model. If false, AIT* uses an r-disc model.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00351">AITstar.cpp:351</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_a54196b5b1aaa96ffb84e603627d6b906"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#a54196b5b1aaa96ffb84e603627d6b906">ompl::geometric::AITstar::setRewireFactor</a></div><div class="ttdeci">void setRewireFactor(double rewireFactor)</div><div class="ttdoc">Set the rewire factor of the RGG graph.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00313">AITstar.cpp:313</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_a84d104447bc332421b3050226877f25e"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#a84d104447bc332421b3050226877f25e">ompl::geometric::AITstar::getMaxNumberOfGoals</a></div><div class="ttdeci">unsigned int getMaxNumberOfGoals() const</div><div class="ttdoc">Get the maximum number of goals AIT* will sample from sampleable goal regions.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00366">AITstar.cpp:366</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="AppBase_8h_source.html#l00021">AppBase.h:21</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1AITstar_html_ad94c30d8d6eb05822c5b9bda53beb105"><div class="ttname"><a href="classompl_1_1geometric_1_1AITstar.html#ad94c30d8d6eb05822c5b9bda53beb105">ompl::geometric::AITstar::trackApproximateSolutions</a></div><div class="ttdeci">void trackApproximateSolutions(bool track)</div><div class="ttdoc">Set whether to track approximate solutions.</div><div class="ttdef"><b>Definition:</b> <a href="AITstar_8cpp_source.html#l00323">AITstar.cpp:323</a></div></div>
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