-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathBFMT_8h_source.html
752 lines (750 loc) · 146 KB
/
BFMT_8h_source.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
<meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. Kavraki">
<meta name="generator" content="Doxygen 1.8.17"/>
<title>ompl/geometric/planners/fmt/BFMT.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script src="jquery.js"></script>
<script src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function() { init_search(); });
/* @license-end */
</script>
<script type="text/x-mathjax-config">
MathJax.Hub.Config({
extensions: ["tex2jax.js", "TeX/AMSmath.js", "TeX/AMSsymbols.js"],
jax: ["input/TeX","output/HTML-CSS"],
});
</script>
<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/MathJax.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
<link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/css/bootstrap.min.css" integrity="sha384-ggOyR0iXCbMQv3Xipma34MD+dH/1fQ784/j6cY/iJTQUOhcWr7x9JvoRxT2MZw1T" crossorigin="anonymous">
<link href="ompl.css" rel="stylesheet">
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<nav class="navbar navbar-expand-md fixed-top navbar-dark">
<a class="navbar-brand" href="./index.html">OMPL</a>
<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbar">
<span class="navbar-toggler-icon"></span>
</button>
<div class="collapse navbar-collapse" id="navbar">
<ul class="navbar-nav mr-auto">
<li class="nav-item"><a class="nav-link" href="download.html">Download</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="docDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Documentation</a>
<div class="dropdown-menu" aria-labelledby="docDropdown">
<a class="dropdown-item" href="https://ompl.kavrakilab.org/OMPL_Primer.pdf">Primer</a>
<a class="dropdown-item" href="installation.html">Installation</a>
<a class="dropdown-item" href="tutorials.html">Tutorials</a>
<a class="dropdown-item" href="group__demos.html">Demos</a>
<a class="dropdown-item omplapp" href="gui.html">OMPL.app GUI</a>
<a class="dropdown-item omplapp" href="webapp.html">OMPL web app</a>
<a class="dropdown-item" href="python.html">Python Bindings</a>
<a class="dropdown-item" href="planners.html">Available Planners</a>
<a class="dropdown-item" href="plannerTerminationConditions.html">Planner Termination Conditions</a>
<a class="dropdown-item" href="benchmark.html">Benchmarking Planners</a>
<a class="dropdown-item" href="spaces.html">Available State Spaces</a>
<a class="dropdown-item" href="optimalPlanning.html">Optimal Planning</a>
<a class="dropdown-item" href="constrainedPlanning.html">Constrained Planning</a>
<a class="dropdown-item" href="multiLevelPlanning.html">Multilevel Planning</a>
<a class="dropdown-item" href="FAQ.html">FAQ</a>
<div class="dropdown-divider"></div>
<div class="dropdown-header">External links</div>
<a class="dropdown-item" href="http://moveit.ros.org">MoveIt</a>
<a class="dropdown-item" href="http://plannerarena.org">Planner Arena</a>
<a class="dropdown-item" href="https://moveit.ros.org//moveit!/ros/2013/05/07/icra-motion-planning-tutorial.html">ICRA 2013 Tutorial</a>
<a class="dropdown-item" href="http://kavrakilab.org/iros2011/">IROS 2011 Tutorial</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="gallery.html">Gallery</a></li>
<li class="nav-item"><a class="nav-link" href="integration.html">OMPL Integrations</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="codeDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Code</a>
<div class="dropdown-menu" aria-labelledby="codeDropdown">
<a class="dropdown-item" href="api_overview.html">API Overview</a>
<a class="dropdown-item" href="annotated.html">Classes</a>
<a class="dropdown-item" href="files.html">Files</a>
<a class="dropdown-item" href="styleGuide.html">Style Guide</a>
<div class="dropdown-divider"></div>
<div class="dropdown-header">Repositories</div>
<a class="dropdown-item" href="https://github.com/ompl/ompl">ompl on GitHub</a>
<a class="dropdown-item" href="https://github.com/ompl/omplapp">omplapp on GitHub</a>
<div class="dropdown-divider"></div>
<div class="dropdown-header">Continuous Integration</div>
<a class="dropdown-item" href="https://travis-ci.org/ompl/ompl">ompl on Travis CI (Linux/macOS)</a>
<a class="dropdown-item" href="https://travis-ci.org/ompl/omplapp">omplapp on Travis CI (Linux/macOS)</a>
<a class="dropdown-item" href="https://ci.appveyor.com/project/mamoll/ompl">ompl on AppVeyor CI (Windows)</a>
<a class="dropdown-item" href="https://ci.appveyor.com/project/mamoll/omplapp">omplapp on AppVeyor CI (Windows)</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="https://github.com/ompl/ompl/issues">Issues</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="communityDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Community</a>
<div class="dropdown-menu" aria-labelledby="communityDropdown">
<a class="dropdown-item" href="support.html">Get Support</a>
<a class="dropdown-item" href="developers.html">Developers/Contributors</a>
<a class="dropdown-item" href="contrib.html">Submit a Contribution</a>
<a class="dropdown-item" href="education.html">Education</a>
</div>
</li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="aboutDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">About</a>
<div class="dropdown-menu" aria-labelledby="aboutDropdown">
<a class="dropdown-item" href="license.html">License</a>
<a class="dropdown-item" href="citations.html">Citations</a>
<a class="dropdown-item" href="acknowledgements.html">Acknowledgments</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="https://ompl.kavrakilab.org/blog.html">Blog</a></li>
</ul>
<div id="MSearchBox" class="MSearchBoxInactive">
<span class="left">
<img id="MSearchSelect" src="search/mag_sel.png"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
alt=""/>
<input type="text" id="MSearchField" value="Search" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"
onkeyup="searchBox.OnSearchFieldChange(event)"/>
</span><span class="right">
<a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
</span>
</div>
</div>
</nav>
<div class="container" role="main">
<div>
<!-- Generated by Doxygen 1.8.17 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'Search');
/* @license-end */
</script>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0"
name="MSearchResults" id="MSearchResults">
</iframe>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="dir_efdc19d105c21b1223d5f8dc524071be.html">ompl</a></li><li class="navelem"><a class="el" href="dir_1f57d97647ebda1e28cc730ac7313960.html">geometric</a></li><li class="navelem"><a class="el" href="dir_955a6a93aceef09599971796437d173a.html">planners</a></li><li class="navelem"><a class="el" href="dir_8a71c49e79ed8a582fb23771190907f1.html">fmt</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle">
<div class="title">BFMT.h</div> </div>
</div><!--header-->
<div class="contents">
<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) 2013, Autonomous Systems Laboratory, Stanford University</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 name of Stanford University 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: Joseph Starek (Stanford) */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment">/* Co-developers: Javier V Gomez (UC3M)*/</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment">/* Algorithm design: Joseph Starek (Stanford), Ed Schmerling (Stanford), Lucas Janson (Stanford) and Marco Pavone</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> * (Stanford) */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment">/* Acknowledgements for insightful comments: Ashley Clark (Stanford) */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#ifndef OMPL_GEOMETRIC_PLANNERS_BIDIRECTIONALFMT_H</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_BIDIRECTIONALFMT_H</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <ompl/geometric/planners/PlannerIncludes.h></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include <ompl/base/goals/GoalSampleableRegion.h></span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#include <ompl/datastructures/NearestNeighbors.h></span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="preprocessor">#include <ompl/datastructures/BinaryHeap.h></span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="preprocessor">#include <ompl/base/OptimizationObjective.h></span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="preprocessor">#include <map></span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="preprocessor">#include <utility></span></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><a class="code" href="namespaceompl.html">ompl</a></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> {</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keyword">namespace </span>geometric</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  {</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keyword">class </span>BFMT : <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="l00083"></a><span class="lineno"> 83</span>  {</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keyword">enum</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ae4c3b14dbf4ab6dcf32d7c3bcf8a6dbf">TreeType</a></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  {</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  FWD = 0,</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  REV = 1</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  };</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  </div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keyword">enum</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#aa9128ab0ba686fa4e9902922ccbbd105">ExploreType</a></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  {</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  SWAP_EVERY_TIME = 0,</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  CHOOSE_SMALLEST_Z = 1</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</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>  <span class="keyword">enum</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a729ebe5c13f83a50f6f13a4e220180a5">TerminateType</a></div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  {</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  FEASIBILITY = 0,</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  OPTIMALITY = 1</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  };</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  </div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  BFMT(<span class="keyword">const</span> base::SpaceInformationPtr &si);</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  </div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  ~BFMT() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  </div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a15a9b1b50f8747a53f8ea2e3ebd717b5">setup</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  </div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  base::PlannerStatus <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ac1c8420833341090cfd0086dea1db890">solve</a>(<span class="keyword">const</span> base::PlannerTerminationCondition &ptc) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  </div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ae09fb8ea881f62673b33030ad50de93d">clear</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  </div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a351cc4241d51cd48eee029c3b15f89f0">getPlannerData</a>(base::PlannerData &data) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  </div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a2419910ad98bb4bda23c2d549bd78aba">setNumSamples</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numSamples)</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  {</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ac25b1403b690567107e6e6870ee7435e">numSamples_</a> = numSamples;</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  }</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">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ad8de03ea172cdc0377fae51d999edddc">getNumSamples</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ac25b1403b690567107e6e6870ee7435e">numSamples_</a>;</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  }</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">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#aee0ba4eabbfa73b3b74dbe001d8a1ce1">setNearestK</a>(<span class="keywordtype">bool</span> nearestK)</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  {</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT.html#af42d0e59d9e05e036b08e35d0a2516ab">nearestK_</a> = nearestK;</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  }</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_1BFMT.html#afba43fda18541222dcd1851a5a7e3fde">getNearestK</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#af42d0e59d9e05e036b08e35d0a2516ab">nearestK_</a>;</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  }</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  </div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#aea88fb1f6cd2dfb797557650c529fd65">setRadiusMultiplier</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> radiusMultiplier)</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  {</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keywordflow">if</span> (radiusMultiplier <= 0.0)</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keywordflow">throw</span> Exception(<span class="stringliteral">"Radius multiplier must be greater than zero"</span>);</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a0de0258ec1069c55644eec3a0dea42ee">radiusMultiplier_</a> = radiusMultiplier;</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  }</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  </div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ae733d11654b2798ff4c1c89b7606f328">getRadiusMultiplier</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a0de0258ec1069c55644eec3a0dea42ee">radiusMultiplier_</a>;</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  }</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  </div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#addf51219f122bbed63ee4a8191dc9624">setFreeSpaceVolume</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> freeSpaceVolume)</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  {</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordflow">if</span> (freeSpaceVolume < 0.0)</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keywordflow">throw</span> Exception(<span class="stringliteral">"Free space volume should be greater than zero"</span>);</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT.html#acd190f9f795e606b77d722503bc86728">freeSpaceVolume_</a> = freeSpaceVolume;</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  }</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  </div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a25ae2968bb946be0c6d524a540dc41e1">getFreeSpaceVolume</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#ae4c3b14dbf4ab6dcf32d7c3bcf8a6dbf"> 182</a></span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#acd190f9f795e606b77d722503bc86728">freeSpaceVolume_</a>;</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  }</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  </div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a6d8c5ac49f2df6cbd0f8b276fdf0f138">setCacheCC</a>(<span class="keywordtype">bool</span> ccc)</div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#aa9128ab0ba686fa4e9902922ccbbd105"> 189</a></span>  {</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT.html#aec9e4c41ad2ed46632f6ab7c41b2af14">cacheCC_</a> = ccc;</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  }</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  </div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a3a83596fb9d53fb86e81301966665683">getCacheCC</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#a729ebe5c13f83a50f6f13a4e220180a5"> 196</a></span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#aec9e4c41ad2ed46632f6ab7c41b2af14">cacheCC_</a>;</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  }</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  </div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ae16d84f26ee1266de3f0689f0a0b7b64">setHeuristics</a>(<span class="keywordtype">bool</span> h)</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  {</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a79677f70203ef35875bfe58e54ad53f9">heuristics_</a> = h;</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  }</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  </div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a5f24c8ceddbbc32fe8fd35d72cc79ba5">getHeuristics</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a79677f70203ef35875bfe58e54ad53f9">heuristics_</a>;</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  }</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  </div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ad3de0122ec209405dc4e973f85227273">setExtendedFMT</a>(<span class="keywordtype">bool</span> e)</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  {</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT.html#af54d73530433a9ef7b8517efb97ff0e6">extendedFMT_</a> = e;</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  }</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  </div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#a2419910ad98bb4bda23c2d549bd78aba"> 219</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ab2a06aae4282f6f3d3db6b71414bb9a5">getExtendedFMT</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#af54d73530433a9ef7b8517efb97ff0e6">extendedFMT_</a>;</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  }</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  </div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a22c72868883fd9068a775473cc0793fd">setExploration</a>(<span class="keywordtype">bool</span> balanced)</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  {</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a61bb6e43d342cd4002302a6903bec65d">exploration_</a> = SWAP_EVERY_TIME;</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keywordflow">if</span> (balanced)</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  {</div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#aee0ba4eabbfa73b3b74dbe001d8a1ce1"> 231</a></span>  <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a61bb6e43d342cd4002302a6903bec65d">exploration_</a> = CHOOSE_SMALLEST_Z;</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  }</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  }</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  </div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a817c266d5b1e8608301fcfe292b980ea">getExploration</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#afba43fda18541222dcd1851a5a7e3fde"> 237</a></span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  <span class="keywordflow">return</span> (<a class="code" href="classompl_1_1geometric_1_1BFMT.html#a61bb6e43d342cd4002302a6903bec65d">exploration_</a> == CHOOSE_SMALLEST_Z);</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  }</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  </div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a43a9b9542991c51567493f9a0767bc6a">setTermination</a>(<span class="keywordtype">bool</span> optimality)</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  {</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a067b643ed36e9a38f8bc3132833659ae">termination_</a> = FEASIBILITY;</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="keywordflow">if</span> (optimality)</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  {</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a067b643ed36e9a38f8bc3132833659ae">termination_</a> = OPTIMALITY;</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  }</div>
<div class="line"><a name="l00251"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#aea88fb1f6cd2dfb797557650c529fd65"> 251</a></span>  }</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>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#abc03f1fc6372a7918ce8c0ac417b3f49">getTermination</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="keywordflow">return</span> (<a class="code" href="classompl_1_1geometric_1_1BFMT.html#a067b643ed36e9a38f8bc3132833659ae">termination_</a> == OPTIMALITY);</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  }</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  </div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#afbb154f41a21c09324e66c9a9d914767">setPrecomputeNN</a>(<span class="keywordtype">bool</span> p)</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  {</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT.html#adb4970d51d647def2798811418c3f127">precomputeNN_</a> = p;</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  }</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  </div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#afbb154f41a21c09324e66c9a9d914767">setPrecomputeNN</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#addf51219f122bbed63ee4a8191dc9624"> 268</a></span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#adb4970d51d647def2798811418c3f127">precomputeNN_</a>;</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  }</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  </div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <span class="keyword">class </span>BiDirMotion</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  {</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="keyword">enum</span> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4b79e375f9520c7507036d3c948cedd3">SetType</a></div>
<div class="line"><a name="l00284"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#a6d8c5ac49f2df6cbd0f8b276fdf0f138"> 284</a></span>  {</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  SET_CLOSED,</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  SET_OPEN,</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  SET_UNVISITED</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  };</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  </div>
<div class="line"><a name="l00290"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#a3a83596fb9d53fb86e81301966665683"> 290</a></span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a>(<a class="code" href="classompl_1_1geometric_1_1BFMT.html#ae4c3b14dbf4ab6dcf32d7c3bcf8a6dbf">TreeType</a> *tree) : <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a78a1560c309f9fd07be8fcc01dbffb88">state_</a>(nullptr), <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4568fa681d357a679b1cfe137a925d7d">tree_</a>(tree)</div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  {</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a6054dbe606f63ad3161f9d438deac205">parent_</a>[FWD] = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a6054dbe606f63ad3161f9d438deac205">parent_</a>[REV] = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a7192d0242567b1ba8093445e2598d9b4">cost_</a>[FWD] = <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a>(0.0);</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a7192d0242567b1ba8093445e2598d9b4">cost_</a>[REV] = <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a>(0.0);</div>
<div class="line"><a name="l00296"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#ae16d84f26ee1266de3f0689f0a0b7b64"> 296</a></span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#adbd9c9a270e55274efa49b8aec36d25c">hcost_</a>[FWD] = <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a>(0.0);</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#adbd9c9a270e55274efa49b8aec36d25c">hcost_</a>[REV] = <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a>(0.0);</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ad05948bc009ecf7aa580a0e880a35951">currentSet_</a>[FWD] = SET_UNVISITED;</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ad05948bc009ecf7aa580a0e880a35951">currentSet_</a>[REV] = SET_UNVISITED;</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</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"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#a5f24c8ceddbbc32fe8fd35d72cc79ba5"> 303</a></span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a>(<span class="keyword">const</span> base::SpaceInformationPtr &si, <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ae4c3b14dbf4ab6dcf32d7c3bcf8a6dbf">TreeType</a> *tree) : <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a78a1560c309f9fd07be8fcc01dbffb88">state_</a>(si->allocState()), <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4568fa681d357a679b1cfe137a925d7d">tree_</a>(tree)</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  {</div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a6054dbe606f63ad3161f9d438deac205">parent_</a>[FWD] = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a6054dbe606f63ad3161f9d438deac205">parent_</a>[REV] = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a7192d0242567b1ba8093445e2598d9b4">cost_</a>[FWD] = <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a>(0.0);</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a7192d0242567b1ba8093445e2598d9b4">cost_</a>[REV] = <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a>(0.0);</div>
<div class="line"><a name="l00309"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#ad3de0122ec209405dc4e973f85227273"> 309</a></span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#adbd9c9a270e55274efa49b8aec36d25c">hcost_</a>[FWD] = <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a>(0.0);</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#adbd9c9a270e55274efa49b8aec36d25c">hcost_</a>[REV] = <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a>(0.0);</div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ad05948bc009ecf7aa580a0e880a35951">currentSet_</a>[FWD] = SET_UNVISITED;</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ad05948bc009ecf7aa580a0e880a35951">currentSet_</a>[REV] = SET_UNVISITED;</div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  }</div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  </div>
<div class="line"><a name="l00315"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#ab2a06aae4282f6f3d3db6b71414bb9a5"> 315</a></span>  <span class="keyword">using</span> BiDirMotionPtrs = std::vector<BiDirMotion *>;</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>  <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a78a1560c309f9fd07be8fcc01dbffb88">state_</a>;</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_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a6054dbe606f63ad3161f9d438deac205">parent_</a>[2];</div>
<div class="line"><a name="l00322"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#a22c72868883fd9068a775473cc0793fd"> 322</a></span>  </div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  BiDirMotionPtrs <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a8e2a43e9e8b89ce6bc79e6fd695b1993">children_</a>[2];</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>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4b79e375f9520c7507036d3c948cedd3">SetType</a> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ad05948bc009ecf7aa580a0e880a35951">currentSet_</a>[2];</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>  <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ae4c3b14dbf4ab6dcf32d7c3bcf8a6dbf">TreeType</a> *<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4568fa681d357a679b1cfe137a925d7d">tree_</a>;</div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  </div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a7192d0242567b1ba8093445e2598d9b4">cost_</a>[2];</div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  </div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#adbd9c9a270e55274efa49b8aec36d25c">hcost_</a>[2];</div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  </div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  std::set<BiDirMotion *> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#af74a4b71b033c5e300772c6849097cf8">collChecksDone_</a>;</div>
<div class="line"><a name="l00340"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#a43a9b9542991c51567493f9a0767bc6a"> 340</a></span>  </div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  <span class="keyword">inline</span> <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aea2f60e9b2e74bc178a0c821f49498c9">getCost</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  <span class="keywordflow">return</span> this->cost_[*<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4568fa681d357a679b1cfe137a925d7d">tree_</a>];</div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  }</div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  </div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  <span class="keyword">inline</span> <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#acff919ffdcfa74546cd1fb4c3acf8270">getOtherCost</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00350"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#abc03f1fc6372a7918ce8c0ac417b3f49"> 350</a></span>  <span class="keywordflow">return</span> this->cost_[(*<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4568fa681d357a679b1cfe137a925d7d">tree_</a> + 1) % 2];</div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  }</div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  </div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a55bfe2c89a2a5f948810c283ec2e06c3">setCost</a>(<a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> cost)</div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  {</div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  this->cost_[*<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4568fa681d357a679b1cfe137a925d7d">tree_</a>] = cost;</div>
<div class="line"><a name="l00357"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#acc9fe1b7b5606ef1edea0168f83afdc0"> 357</a></span>  }</div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  </div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ad35eb963e631cda60704959d0a3bf289">setParent</a>(BiDirMotion *parent)</div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  {</div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  this->parent_[*<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4568fa681d357a679b1cfe137a925d7d">tree_</a>] = parent;</div>
<div class="line"><a name="l00363"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#afbb154f41a21c09324e66c9a9d914767"> 363</a></span>  }</div>
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  </div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  <span class="keyword">inline</span> BiDirMotion *<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aebad985f06405e213256745474a6d510">getParent</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  <span class="keywordflow">return</span> this->parent_[*<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4568fa681d357a679b1cfe137a925d7d">tree_</a>];</div>
<div class="line"><a name="l00369"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html"> 369</a></span>  }</div>
<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  </div>
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a62877fb8d6f0f7441d45899908843b84">setChildren</a>(BiDirMotionPtrs children)</div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  {</div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  this->children_[*<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4568fa681d357a679b1cfe137a925d7d">tree_</a>] = std::move(children);</div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  }</div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  </div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  <span class="keyword">inline</span> BiDirMotionPtrs <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ab3300f91916c19b2cf7a60e6a9e92a94">getChildren</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00379"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4b79e375f9520c7507036d3c948cedd3"> 379</a></span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  <span class="keywordflow">return</span> this->children_[*<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4568fa681d357a679b1cfe137a925d7d">tree_</a>];</div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  }</div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  </div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ad9d60c80413cde10004e924f2210a68a">setCurrentSet</a>(<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4b79e375f9520c7507036d3c948cedd3">SetType</a> set)</div>
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  {</div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  this->currentSet_[*<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4568fa681d357a679b1cfe137a925d7d">tree_</a>] = set;</div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  }</div>
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  </div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  <span class="keyword">inline</span> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4b79e375f9520c7507036d3c948cedd3">SetType</a> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a0e68ac1a0b8897a2f783f4fe6019248a">getCurrentSet</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00391"></a><span class="lineno"> 391</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  <span class="keywordflow">return</span> this->currentSet_[*<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4568fa681d357a679b1cfe137a925d7d">tree_</a>];</div>
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  }</div>
<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  </div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <span class="keyword">inline</span> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4b79e375f9520c7507036d3c948cedd3">SetType</a> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aa3bd634a6ef37e1c8a29d484420a6ccb">getOtherSet</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00397"></a><span class="lineno"> 397</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  <span class="keywordflow">return</span> this->currentSet_[(*<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4568fa681d357a679b1cfe137a925d7d">tree_</a> + 1) % 2];</div>
<div class="line"><a name="l00399"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a8f2dee8cae047443418c01b30c88a775"> 399</a></span>  }</div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  </div>
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#af84ae47907df5cea1e46f36a72503de2">setTreeType</a>(<a class="code" href="classompl_1_1geometric_1_1BFMT.html#ae4c3b14dbf4ab6dcf32d7c3bcf8a6dbf">TreeType</a> *treePtr)</div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  {</div>
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  this->tree_ = treePtr;</div>
<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  }</div>
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  </div>
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  <span class="keyword">inline</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ae4c3b14dbf4ab6dcf32d7c3bcf8a6dbf">TreeType</a> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#afc4b00fb7624e5b9d635935b990c6dca">getTreeType</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  <span class="keywordflow">return</span> *<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4568fa681d357a679b1cfe137a925d7d">tree_</a>;</div>
<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  }</div>
<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  </div>
<div class="line"><a name="l00414"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a78a1560c309f9fd07be8fcc01dbffb88"> 414</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ac67e11672316769546e2d504fa63b37c">setState</a>(<a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *state)</div>
<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  {</div>
<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a78a1560c309f9fd07be8fcc01dbffb88">state_</a> = state;</div>
<div class="line"><a name="l00417"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a6054dbe606f63ad3161f9d438deac205"> 417</a></span>  }</div>
<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  </div>
<div class="line"><a name="l00420"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a8e2a43e9e8b89ce6bc79e6fd695b1993"> 420</a></span>  <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a496d5366758c9b5808b273d4cbd370fa">getState</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00421"></a><span class="lineno"> 421</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a78a1560c309f9fd07be8fcc01dbffb88">state_</a>;</div>
<div class="line"><a name="l00423"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ad05948bc009ecf7aa580a0e880a35951"> 423</a></span>  }</div>
<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  </div>
<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a321da3cf04df15cc6f76bd21fd2cb9f7">alreadyCC</a>(<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *m)</div>
<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  {</div>
<div class="line"><a name="l00429"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a7192d0242567b1ba8093445e2598d9b4"> 429</a></span>  <span class="keywordflow">return</span> !(<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#af74a4b71b033c5e300772c6849097cf8">collChecksDone_</a>.find(m) == <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#af74a4b71b033c5e300772c6849097cf8">collChecksDone_</a>.end());</div>
<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  }</div>
<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  </div>
<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#acb3c3e761fe74aa4ab2645216046cdd2">addCC</a>(<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *m)</div>
<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  {</div>
<div class="line"><a name="l00435"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#af74a4b71b033c5e300772c6849097cf8"> 435</a></span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#af74a4b71b033c5e300772c6849097cf8">collChecksDone_</a>.insert(m);</div>
<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  }</div>
<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  </div>
<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a49778c1492842c921a8bd61dc291557a">setHeuristicCost</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> h)</div>
<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  {</div>
<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#adbd9c9a270e55274efa49b8aec36d25c">hcost_</a>[*<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4568fa681d357a679b1cfe137a925d7d">tree_</a>] = h;</div>
<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  }</div>
<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  </div>
<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a305e8f4af906d6a3b6b8f1a92cbfa276">getHeuristicCost</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00446"></a><span class="lineno"> 446</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#adbd9c9a270e55274efa49b8aec36d25c">hcost_</a>[*<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4568fa681d357a679b1cfe137a925d7d">tree_</a>];</div>
<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  }</div>
<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  };</div>
<div class="line"><a name="l00450"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a55bfe2c89a2a5f948810c283ec2e06c3"> 450</a></span>  </div>
<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  <span class="keyword">using</span> BiDirMotionPtrs = std::vector<BiDirMotion *>;</div>
<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  </div>
<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  <span class="keyword">struct </span><a class="code" href="structompl_1_1geometric_1_1BFMT_1_1BiDirMotionCompare.html">BiDirMotionCompare</a></div>
<div class="line"><a name="l00456"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ad35eb963e631cda60704959d0a3bf289"> 456</a></span>  {</div>
<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  <span class="keywordtype">bool</span> operator()(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *p1, <span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *p2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00458"></a><span class="lineno"> 458</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  <span class="keywordflow">if</span> (heuristics_)</div>
<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  <span class="keywordflow">return</span> (opt_-><a class="code" href="classompl_1_1base_1_1OptimizationObjective.html#a61f4766a65c6e69a437bafa31a646d39">combineCosts</a>(p1->getCost(), p1->getHeuristicCost()).<a class="code" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>() <</div>
<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  opt_-><a class="code" href="classompl_1_1base_1_1OptimizationObjective.html#a61f4766a65c6e69a437bafa31a646d39">combineCosts</a>(p2->getCost(), p2->getHeuristicCost()).<a class="code" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>());</div>
<div class="line"><a name="l00462"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aebad985f06405e213256745474a6d510"> 462</a></span>  <span class="keywordflow">return</span> (p1->getCost().value() < p2->getCost().value());</div>
<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  }</div>
<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  </div>
<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  <a class="code" href="classompl_1_1base_1_1OptimizationObjective.html">base::OptimizationObjective</a> *opt_;</div>
<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  <span class="keywordtype">bool</span> heuristics_;</div>
<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  };</div>
<div class="line"><a name="l00468"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a62877fb8d6f0f7441d45899908843b84"> 468</a></span>  </div>
<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1BinaryHeap.html">BiDirMotionBinHeap</a> = <a class="code" href="classompl_1_1BinaryHeap.html">ompl::BinaryHeap<BiDirMotion *, BiDirMotionCompare></a>;</div>
<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  </div>
<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ad16dfb44a33d551bbdf66e0d86d80a06">swapTrees</a>();</div>
<div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  </div>
<div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ab9252c665756f6c776b196430dca2a6a">useFwdTree</a>()</div>
<div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  {</div>
<div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a> = FWD;</div>
<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  }</div>
<div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  </div>
<div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ac55fc93e01a2b26a37ae969551d729cb">useRevTree</a>()</div>
<div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  {</div>
<div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a> = REV;</div>
<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  }</div>
<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  </div>
<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a5974cee2ec7da46265b6d204a10055fb">distanceFunction</a>(<span class="keyword">const</span> BiDirMotion *a, <span class="keyword">const</span> BiDirMotion *b)<span class="keyword"> const</span></div>
<div class="line"><a name="l00491"></a><span class="lineno"> 491</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00492"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aa3bd634a6ef37e1c8a29d484420a6ccb"> 492</a></span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">opt_</a>->motionCost(a->getState(), b->getState()).value();</div>
<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  }</div>
<div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  </div>
<div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a830e4b62830ebd25708953de52b5abc0">calculateUnitBallVolume</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dimension) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00497"></a><span class="lineno"> 497</span>  </div>
<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a503a4265e428841344e620cf976b3b1f">calculateRadius</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dimension, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00506"></a><span class="lineno"> 506</span>  </div>
<div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a3eb3a0b7a44d10d0396b156fb7701f36">freeMemory</a>();</div>
<div class="line"><a name="l00509"></a><span class="lineno"> 509</span>  </div>
<div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#aa6d8c07d7dff93f8905490f606400b5d">saveNeighborhood</a>(<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *m);</div>
<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  </div>
<div class="line"><a name="l00516"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a496d5366758c9b5808b273d4cbd370fa"> 516</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a7714fef9dc34c186c51360711b3eb11e">sampleFree</a>(<span class="keyword">const</span> std::shared_ptr<<a class="code" href="classompl_1_1NearestNeighbors.html">NearestNeighbors<BiDirMotion *></a>> &nn,</div>
<div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc);</div>
<div class="line"><a name="l00518"></a><span class="lineno"> 518</span>  </div>
<div class="line"><a name="l00520"></a><span class="lineno"> 520</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a6c4398da349abf2fb41a5bd884e0e1ce">initializeProblem</a>(<a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html">base::GoalSampleableRegion</a> *&goal_s);</div>
<div class="line"><a name="l00521"></a><span class="lineno"> 521</span>  </div>
<div class="line"><a name="l00528"></a><span class="lineno"> 528</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a59a090351c3271964c2b2cc37b14ea56">expandTreeFromNode</a>(<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *&z, <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *&connection_point);</div>
<div class="line"><a name="l00529"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#acb3c3e761fe74aa4ab2645216046cdd2"> 529</a></span>  </div>
<div class="line"><a name="l00531"></a><span class="lineno"> 531</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a1f040102281e7a67bb2e322e79d8212f">plan</a>(<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *x_init, <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *x_goal, <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *&connection_point,</div>
<div class="line"><a name="l00532"></a><span class="lineno"> 532</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc);</div>
<div class="line"><a name="l00533"></a><span class="lineno"> 533</span>  </div>
<div class="line"><a name="l00535"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a49778c1492842c921a8bd61dc291557a"> 535</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a308deda6599cfbca27cd273f8cc90dbb">termination</a>(<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *&z, <a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *&connection_point,</div>
<div class="line"><a name="l00536"></a><span class="lineno"> 536</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc);</div>
<div class="line"><a name="l00537"></a><span class="lineno"> 537</span>  </div>
<div class="line"><a name="l00539"></a><span class="lineno"> 539</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#aa6b17f4cbf54e75d8c7592f66a9d4b24">chooseTreeAndExpansionNode</a>(<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *&z);</div>
<div class="line"><a name="l00540"></a><span class="lineno"> 540</span>  </div>
<div class="line"><a name="l00542"></a><span class="lineno"> 542</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a2510965e21e83dc60adfbec5bd0775ec">tracePath</a>(<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *z, BiDirMotionPtrs &path);</div>
<div class="line"><a name="l00543"></a><span class="lineno"> 543</span>  </div>
<div class="line"><a name="l00546"></a><span class="lineno"> 546</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ab8604f3f006cfc9db14fb83b8c549aba">updateNeighborhood</a>(<a class="code" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *m, std::vector<BiDirMotion *> nbh);</div>
<div class="line"><a name="l00547"></a><span class="lineno"> 547</span>  </div>
<div class="line"><a name="l00549"></a><span class="lineno"> 549</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a1b3c080a4a25462e8ff1684b614b5fd9">insertNewSampleInOpen</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc);</div>
<div class="line"><a name="l00550"></a><span class="lineno"> 550</span>  </div>
<div class="line"><a name="l00552"></a><span class="lineno"> 552</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ac25b1403b690567107e6e6870ee7435e">numSamples_</a>{1000u};</div>
<div class="line"><a name="l00553"></a><span class="lineno"> 553</span>  </div>
<div class="line"><a name="l00563"></a><span class="lineno"> 563</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a0de0258ec1069c55644eec3a0dea42ee">radiusMultiplier_</a>{1.};</div>
<div class="line"><a name="l00564"></a><span class="lineno"> 564</span>  </div>
<div class="line"><a name="l00567"></a><span class="lineno"> 567</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#acd190f9f795e606b77d722503bc86728">freeSpaceVolume_</a>;</div>
<div class="line"><a name="l00568"></a><span class="lineno"> 568</span>  </div>
<div class="line"><a name="l00570"></a><span class="lineno"> 570</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a32227abebf3610b2d3fb87ce56375ed5">collisionChecks_</a>{0u};</div>
<div class="line"><a name="l00571"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#ab9252c665756f6c776b196430dca2a6a"> 571</a></span>  </div>
<div class="line"><a name="l00573"></a><span class="lineno"> 573</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#af42d0e59d9e05e036b08e35d0a2516ab">nearestK_</a>{<span class="keyword">true</span>};</div>
<div class="line"><a name="l00574"></a><span class="lineno"> 574</span>  </div>
<div class="line"><a name="l00576"></a><span class="lineno"> 576</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a0bc79090281d3796e323f09ff6acacd6">NNr_</a>{0.};</div>
<div class="line"><a name="l00577"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#ac55fc93e01a2b26a37ae969551d729cb"> 577</a></span>  </div>
<div class="line"><a name="l00579"></a><span class="lineno"> 579</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ab3905c36f37e31dd4b460b46c912ed9c">NNk_</a>{0};</div>
<div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  </div>
<div class="line"><a name="l00582"></a><span class="lineno"> 582</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT.html#ae4c3b14dbf4ab6dcf32d7c3bcf8a6dbf">TreeType</a> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>{FWD};</div>
<div class="line"><a name="l00583"></a><span class="lineno"> 583</span>  </div>
<div class="line"><a name="l00585"></a><span class="lineno"> 585</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT.html#aa9128ab0ba686fa4e9902922ccbbd105">ExploreType</a> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a61bb6e43d342cd4002302a6903bec65d">exploration_</a>{SWAP_EVERY_TIME};</div>
<div class="line"><a name="l00586"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#a5974cee2ec7da46265b6d204a10055fb"> 586</a></span>  </div>
<div class="line"><a name="l00588"></a><span class="lineno"> 588</span>  <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a729ebe5c13f83a50f6f13a4e220180a5">TerminateType</a> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a067b643ed36e9a38f8bc3132833659ae">termination_</a>{OPTIMALITY};</div>
<div class="line"><a name="l00589"></a><span class="lineno"> 589</span>  </div>
<div class="line"><a name="l00591"></a><span class="lineno"> 591</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#adb4970d51d647def2798811418c3f127">precomputeNN_</a>{<span class="keyword">false</span>};</div>
<div class="line"><a name="l00592"></a><span class="lineno"> 592</span>  </div>
<div class="line"><a name="l00594"></a><span class="lineno"> 594</span>  std::shared_ptr<NearestNeighbors<BiDirMotion *>> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>;</div>
<div class="line"><a name="l00595"></a><span class="lineno"> 595</span>  </div>
<div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  std::map<BiDirMotion *, BiDirMotionPtrs> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a927c7ae87a4bef7dc0a8cf1e03314508">neighborhoods_</a>;</div>
<div class="line"><a name="l00599"></a><span class="lineno"> 599</span>  </div>
<div class="line"><a name="l00604"></a><span class="lineno"> 604</span>  BiDirMotionBinHeap <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[2];</div>
<div class="line"><a name="l00605"></a><span class="lineno"> 605</span>  </div>
<div class="line"><a name="l00607"></a><span class="lineno"> 607</span>  std::map<BiDirMotion *, BiDirMotionBinHeap::Element *> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a136b1b327b0bf5ab8fc3e542ff497745">Open_elements</a>[2];</div>
<div class="line"><a name="l00608"></a><span class="lineno"> 608</span>  </div>
<div class="line"><a name="l00610"></a><span class="lineno"> 610</span>  base::StateSamplerPtr <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a8f97f2f2f3974cbe46c38d422065ebc7">sampler_</a>;</div>
<div class="line"><a name="l00611"></a><span class="lineno"> 611</span>  </div>
<div class="line"><a name="l00613"></a><span class="lineno"> 613</span>  base::OptimizationObjectivePtr <a class="code" href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">opt_</a>;</div>
<div class="line"><a name="l00614"></a><span class="lineno"> 614</span>  </div>
<div class="line"><a name="l00616"></a><span class="lineno"> 616</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#a79677f70203ef35875bfe58e54ad53f9">heuristics_</a>{<span class="keyword">true</span>};</div>
<div class="line"><a name="l00617"></a><span class="lineno"> 617</span>  </div>
<div class="line"><a name="l00619"></a><span class="lineno"> 619</span>  base::State *<a class="code" href="classompl_1_1geometric_1_1BFMT.html#a231e5c8671498fd67f02689efade0700">heurGoalState_</a>[2];</div>
<div class="line"><a name="l00620"></a><span class="lineno"> 620</span>  </div>
<div class="line"><a name="l00622"></a><span class="lineno"> 622</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#aec9e4c41ad2ed46632f6ab7c41b2af14">cacheCC_</a>{<span class="keyword">true</span>};</div>
<div class="line"><a name="l00623"></a><span class="lineno"> 623</span>  </div>
<div class="line"><a name="l00625"></a><span class="lineno"> 625</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BFMT.html#af54d73530433a9ef7b8517efb97ff0e6">extendedFMT_</a>{<span class="keyword">true</span>};</div>
<div class="line"><a name="l00626"></a><span class="lineno"> 626</span>  </div>
<div class="line"><a name="l00627"></a><span class="lineno"> 627</span>  <span class="comment">// For sorting a list of costs and getting only their sorted indices</span></div>
<div class="line"><a name="l00628"></a><span class="lineno"> 628</span>  <span class="keyword">struct </span>CostIndexCompare</div>
<div class="line"><a name="l00629"></a><span class="lineno"> 629</span>  {</div>
<div class="line"><a name="l00630"></a><span class="lineno"> 630</span>  CostIndexCompare(<span class="keyword">const</span> std::vector<base::Cost> &costs, <span class="keyword">const</span> base::OptimizationObjective &opt)</div>
<div class="line"><a name="l00631"></a><span class="lineno"> 631</span>  : costs_(costs), opt_(opt)</div>
<div class="line"><a name="l00632"></a><span class="lineno"> 632</span>  {</div>
<div class="line"><a name="l00633"></a><span class="lineno"> 633</span>  }</div>
<div class="line"><a name="l00634"></a><span class="lineno"> 634</span>  <span class="keywordtype">bool</span> operator()(<span class="keywordtype">unsigned</span> i, <span class="keywordtype">unsigned</span> j)</div>
<div class="line"><a name="l00635"></a><span class="lineno"> 635</span>  {</div>
<div class="line"><a name="l00636"></a><span class="lineno"> 636</span>  <span class="keywordflow">return</span> (costs_[i].value() < costs_[j].value());</div>
<div class="line"><a name="l00637"></a><span class="lineno"> 637</span>  }</div>
<div class="line"><a name="l00638"></a><span class="lineno"> 638</span>  <span class="keyword">const</span> std::vector<base::Cost> &costs_;</div>
<div class="line"><a name="l00639"></a><span class="lineno"> 639</span>  <span class="keyword">const</span> base::OptimizationObjective &opt_;</div>
<div class="line"><a name="l00640"></a><span class="lineno"> 640</span>  };</div>
<div class="line"><a name="l00641"></a><span class="lineno"> 641</span>  };</div>
<div class="line"><a name="l00642"></a><span class="lineno"> 642</span>  </div>
<div class="line"><a name="l00643"></a><span class="lineno"> 643</span>  } <span class="comment">// End "geometric" namespace</span></div>
<div class="line"><a name="l00644"></a><span class="lineno"> 644</span> } <span class="comment">// End "ompl" namespace</span></div>
<div class="line"><a name="l00645"></a><span class="lineno"> 645</span>  </div>
<div class="line"><a name="l00646"></a><span class="lineno"> 646</span> <span class="preprocessor">#endif </span><span class="comment">/* OMPL_GEOMETRIC_PLANNERS_BIDIRECTIONALFMT_H */</span><span class="preprocessor"></span></div>
</div><!-- fragment --></div><!-- contents -->
<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_1BFMT_html_aa6d8c07d7dff93f8905490f606400b5d"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#aa6d8c07d7dff93f8905490f606400b5d">ompl::geometric::BFMT::saveNeighborhood</a></div><div class="ttdeci">void saveNeighborhood(BiDirMotion *m)</div><div class="ttdoc">Save the neighbors within a neighborhood of a given state. The strategy used (nearestK or nearestR de...</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8cpp_source.html#l00190">BFMT.cpp:190</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a79677f70203ef35875bfe58e54ad53f9"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a79677f70203ef35875bfe58e54ad53f9">ompl::geometric::BFMT::heuristics_</a></div><div class="ttdeci">bool heuristics_</div><div class="ttdoc">Flag to activate the cost to go heuristics.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00712">BFMT.h:712</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_ab2a06aae4282f6f3d3db6b71414bb9a5"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#ab2a06aae4282f6f3d3db6b71414bb9a5">ompl::geometric::BFMT::getExtendedFMT</a></div><div class="ttdeci">bool getExtendedFMT() const</div><div class="ttdoc">Returns true if the extended FMT* is activated.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00315">BFMT.h:315</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_a305e8f4af906d6a3b6b8f1a92cbfa276"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a305e8f4af906d6a3b6b8f1a92cbfa276">ompl::geometric::BFMT::BiDirMotion::getHeuristicCost</a></div><div class="ttdeci">base::Cost getHeuristicCost() const</div><div class="ttdoc">Get the cost to go heuristic cost.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00541">BFMT.h:541</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_a7192d0242567b1ba8093445e2598d9b4"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a7192d0242567b1ba8093445e2598d9b4">ompl::geometric::BFMT::BiDirMotion::cost_</a></div><div class="ttdeci">base::Cost cost_[2]</div><div class="ttdoc">The cost of this motion</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00429">BFMT.h:429</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a729ebe5c13f83a50f6f13a4e220180a5"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a729ebe5c13f83a50f6f13a4e220180a5">ompl::geometric::BFMT::TerminateType</a></div><div class="ttdeci">TerminateType</div><div class="ttdoc">Termination strategy identifier.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00196">BFMT.h:196</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_a4b79e375f9520c7507036d3c948cedd3"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4b79e375f9520c7507036d3c948cedd3">ompl::geometric::BFMT::BiDirMotion::SetType</a></div><div class="ttdeci">SetType</div><div class="ttdoc">The FMT* planner begins with all nodes included in set Unvisited "Waiting for optimal connection"....</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00379">BFMT.h:379</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_ab3300f91916c19b2cf7a60e6a9e92a94"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ab3300f91916c19b2cf7a60e6a9e92a94">ompl::geometric::BFMT::BiDirMotion::getChildren</a></div><div class="ttdeci">BiDirMotionPtrs getChildren() const</div><div class="ttdoc">Get the children of the motion.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00474">BFMT.h:474</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1OptimizationObjective_html_a61f4766a65c6e69a437bafa31a646d39"><div class="ttname"><a href="classompl_1_1base_1_1OptimizationObjective.html#a61f4766a65c6e69a437bafa31a646d39">ompl::base::OptimizationObjective::combineCosts</a></div><div class="ttdeci">virtual Cost combineCosts(Cost c1, Cost c2) const</div><div class="ttdoc">Get the cost that corresponds to combining the costs c1 and c2. Default implementation defines this c...</div><div class="ttdef"><b>Definition:</b> <a href="OptimizationObjective_8cpp_source.html#l00096">OptimizationObjective.cpp:96</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a231e5c8671498fd67f02689efade0700"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a231e5c8671498fd67f02689efade0700">ompl::geometric::BFMT::heurGoalState_</a></div><div class="ttdeci">base::State * heurGoalState_[2]</div><div class="ttdoc">Goal state caching to accelerate cost to go heuristic computation.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00715">BFMT.h:715</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_ae733d11654b2798ff4c1c89b7606f328"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#ae733d11654b2798ff4c1c89b7606f328">ompl::geometric::BFMT::getRadiusMultiplier</a></div><div class="ttdeci">double getRadiusMultiplier() const</div><div class="ttdoc">Get the multiplier used for the nearest neighbors search radius.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00260">BFMT.h:260</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="State_8h_source.html#l00113">State.h:113</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_a49778c1492842c921a8bd61dc291557a"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a49778c1492842c921a8bd61dc291557a">ompl::geometric::BFMT::BiDirMotion::setHeuristicCost</a></div><div class="ttdeci">void setHeuristicCost(const base::Cost h)</div><div class="ttdoc">Set the cost to go heuristic cost.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00535">BFMT.h:535</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_a78a1560c309f9fd07be8fcc01dbffb88"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a78a1560c309f9fd07be8fcc01dbffb88">ompl::geometric::BFMT::BiDirMotion::state_</a></div><div class="ttdeci">base::State * state_</div><div class="ttdoc">The state contained by the motion.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00414">BFMT.h:414</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_afba43fda18541222dcd1851a5a7e3fde"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#afba43fda18541222dcd1851a5a7e3fde">ompl::geometric::BFMT::getNearestK</a></div><div class="ttdeci">bool getNearestK() const</div><div class="ttdoc">Get the state of the nearestK strategy.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00237">BFMT.h:237</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_ad3de0122ec209405dc4e973f85227273"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#ad3de0122ec209405dc4e973f85227273">ompl::geometric::BFMT::setExtendedFMT</a></div><div class="ttdeci">void setExtendedFMT(bool e)</div><div class="ttdoc">Activates the extended FMT*: adding new samples if planner does not finish successfully.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00309">BFMT.h:309</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a0bc79090281d3796e323f09ff6acacd6"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a0bc79090281d3796e323f09ff6acacd6">ompl::geometric::BFMT::NNr_</a></div><div class="ttdeci">double NNr_</div><div class="ttdoc">Radius employed in the nearestR strategy.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00672">BFMT.h:672</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_ab3905c36f37e31dd4b460b46c912ed9c"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#ab3905c36f37e31dd4b460b46c912ed9c">ompl::geometric::BFMT::NNk_</a></div><div class="ttdeci">unsigned int NNk_</div><div class="ttdoc">K used in the nearestK strategy.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00675">BFMT.h:675</a></div></div>
<div class="ttc" id="astructompl_1_1geometric_1_1BFMT_1_1BiDirMotionCompare_html"><div class="ttname"><a href="structompl_1_1geometric_1_1BFMT_1_1BiDirMotionCompare.html">ompl::geometric::BFMT::BiDirMotionCompare</a></div><div class="ttdoc">Comparator used to order motions in a binary heap.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00551">BFMT.h:551</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_aa59cb574b0b461cc87ccf2b280a76527"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">ompl::geometric::BFMT::opt_</a></div><div class="ttdeci">base::OptimizationObjectivePtr opt_</div><div class="ttdoc">The cost objective function.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00709">BFMT.h:709</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Cost_html_a3cd5c47c10a591badea945b4fc84014c"><div class="ttname"><a href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">ompl::base::Cost::value</a></div><div class="ttdeci">double value() const</div><div class="ttdoc">The value of the cost.</div><div class="ttdef"><b>Definition:</b> <a href="Cost_8h_source.html#l00152">Cost.h:152</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_af74a4b71b033c5e300772c6849097cf8"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#af74a4b71b033c5e300772c6849097cf8">ompl::geometric::BFMT::BiDirMotion::collChecksDone_</a></div><div class="ttdeci">std::set< BiDirMotion * > collChecksDone_</div><div class="ttdoc">Contains the connections attempted FROM this node.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00435">BFMT.h:435</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_aec9e4c41ad2ed46632f6ab7c41b2af14"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#aec9e4c41ad2ed46632f6ab7c41b2af14">ompl::geometric::BFMT::cacheCC_</a></div><div class="ttdeci">bool cacheCC_</div><div class="ttdoc">Flag to activate the collision check caching.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00718">BFMT.h:718</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a5f24c8ceddbbc32fe8fd35d72cc79ba5"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a5f24c8ceddbbc32fe8fd35d72cc79ba5">ompl::geometric::BFMT::getHeuristics</a></div><div class="ttdeci">bool getHeuristics() const</div><div class="ttdoc">Returns true if the heap is ordered taking into account cost to go heuristics.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00303">BFMT.h:303</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_1geometric_1_1BFMT_1_1BiDirMotion_html_acb3c3e761fe74aa4ab2645216046cdd2"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#acb3c3e761fe74aa4ab2645216046cdd2">ompl::geometric::BFMT::BiDirMotion::addCC</a></div><div class="ttdeci">void addCC(BiDirMotion *m)</div><div class="ttdoc">Caches a failed collision check to m.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00529">BFMT.h:529</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a32227abebf3610b2d3fb87ce56375ed5"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a32227abebf3610b2d3fb87ce56375ed5">ompl::geometric::BFMT::collisionChecks_</a></div><div class="ttdeci">unsigned int collisionChecks_</div><div class="ttdoc">Number of collision checks performed by the algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00666">BFMT.h:666</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a1b3c080a4a25462e8ff1684b614b5fd9"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a1b3c080a4a25462e8ff1684b614b5fd9">ompl::geometric::BFMT::insertNewSampleInOpen</a></div><div class="ttdeci">void insertNewSampleInOpen(const base::PlannerTerminationCondition &ptc)</div><div class="ttdoc">Extended FMT strategy: inserts a new motion in open if the heap is empty.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8cpp_source.html#l00655">BFMT.cpp:655</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a53baa3015adf75a1cac8a85a47d45ee7"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">ompl::geometric::BFMT::nn_</a></div><div class="ttdeci">std::shared_ptr< NearestNeighbors< BiDirMotion * > > nn_</div><div class="ttdoc">A nearest-neighbor datastructure containing the set of all motions.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00690">BFMT.h:690</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_afbb154f41a21c09324e66c9a9d914767"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#afbb154f41a21c09324e66c9a9d914767">ompl::geometric::BFMT::setPrecomputeNN</a></div><div class="ttdeci">bool setPrecomputeNN() const</div><div class="ttdoc">Returns true if Nearest Neighbor precomputation is done.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00363">BFMT.h:363</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a0de0258ec1069c55644eec3a0dea42ee"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a0de0258ec1069c55644eec3a0dea42ee">ompl::geometric::BFMT::radiusMultiplier_</a></div><div class="ttdeci">double radiusMultiplier_</div><div class="ttdoc">This planner uses a nearest neighbor search radius proportional to the lower bound for optimality der...</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00659">BFMT.h:659</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_ad8de03ea172cdc0377fae51d999edddc"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#ad8de03ea172cdc0377fae51d999edddc">ompl::geometric::BFMT::getNumSamples</a></div><div class="ttdeci">unsigned int getNumSamples() const</div><div class="ttdoc">Get the number of states that the planner will sample.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00225">BFMT.h:225</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1OptimizationObjective_html"><div class="ttname"><a href="classompl_1_1base_1_1OptimizationObjective.html">ompl::base::OptimizationObjective</a></div><div class="ttdoc">Abstract definition of optimization objectives.</div><div class="ttdef"><b>Definition:</b> <a href="OptimizationObjective_8h_source.html#l00138">OptimizationObjective.h:138</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a8f97f2f2f3974cbe46c38d422065ebc7"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a8f97f2f2f3974cbe46c38d422065ebc7">ompl::geometric::BFMT::sampler_</a></div><div class="ttdeci">base::StateSamplerPtr sampler_</div><div class="ttdoc">State sampler.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00706">BFMT.h:706</a></div></div>
<div class="ttc" id="aclassompl_1_1BinaryHeap_html"><div class="ttname"><a href="classompl_1_1BinaryHeap.html">ompl::BinaryHeap< BiDirMotion *, BiDirMotionCompare ></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_1BFMT_html_aea88fb1f6cd2dfb797557650c529fd65"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#aea88fb1f6cd2dfb797557650c529fd65">ompl::geometric::BFMT::setRadiusMultiplier</a></div><div class="ttdeci">void setRadiusMultiplier(const double radiusMultiplier)</div><div class="ttdoc">The planner searches for neighbors of a node within a cost r, where r is the value described for BFMT...</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00251">BFMT.h:251</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a3a83596fb9d53fb86e81301966665683"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a3a83596fb9d53fb86e81301966665683">ompl::geometric::BFMT::getCacheCC</a></div><div class="ttdeci">bool getCacheCC() const</div><div class="ttdoc">Get the state of the collision check caching.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00290">BFMT.h:290</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_acd190f9f795e606b77d722503bc86728"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#acd190f9f795e606b77d722503bc86728">ompl::geometric::BFMT::freeSpaceVolume_</a></div><div class="ttdeci">double freeSpaceVolume_</div><div class="ttdoc">The volume of numSathe free configuration space, computed as an upper bound with 95% confidence.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00663">BFMT.h:663</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_a8e2a43e9e8b89ce6bc79e6fd695b1993"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a8e2a43e9e8b89ce6bc79e6fd695b1993">ompl::geometric::BFMT::BiDirMotion::children_</a></div><div class="ttdeci">BiDirMotionPtrs children_[2]</div><div class="ttdoc">The set of motions descending from the current motion</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00420">BFMT.h:420</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a136b1b327b0bf5ab8fc3e542ff497745"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a136b1b327b0bf5ab8fc3e542ff497745">ompl::geometric::BFMT::Open_elements</a></div><div class="ttdeci">std::map< BiDirMotion *, BiDirMotionBinHeap::Element * > Open_elements[2]</div><div class="ttdoc">Map to know the corresponding heap element from the given motion.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00703">BFMT.h:703</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a067b643ed36e9a38f8bc3132833659ae"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a067b643ed36e9a38f8bc3132833659ae">ompl::geometric::BFMT::termination_</a></div><div class="ttdeci">TerminateType termination_</div><div class="ttdoc">Termination strategy used.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00684">BFMT.h:684</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a5974cee2ec7da46265b6d204a10055fb"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a5974cee2ec7da46265b6d204a10055fb">ompl::geometric::BFMT::distanceFunction</a></div><div class="ttdeci">double distanceFunction(const BiDirMotion *a, const BiDirMotion *b) const</div><div class="ttdoc">Compute the distance between two motions as the cost between their contained states....</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00586">BFMT.h:586</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_adb4970d51d647def2798811418c3f127"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#adb4970d51d647def2798811418c3f127">ompl::geometric::BFMT::precomputeNN_</a></div><div class="ttdeci">bool precomputeNN_</div><div class="ttdoc">If true all the nearest neighbors maps are precomputed before solving.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00687">BFMT.h:687</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_ae4c3b14dbf4ab6dcf32d7c3bcf8a6dbf"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#ae4c3b14dbf4ab6dcf32d7c3bcf8a6dbf">ompl::geometric::BFMT::TreeType</a></div><div class="ttdeci">TreeType</div><div class="ttdoc">Tree identifier.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00182">BFMT.h:182</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_aa9128ab0ba686fa4e9902922ccbbd105"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#aa9128ab0ba686fa4e9902922ccbbd105">ompl::geometric::BFMT::ExploreType</a></div><div class="ttdeci">ExploreType</div><div class="ttdoc">Exploration strategy identifier.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00189">BFMT.h:189</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_aee0ba4eabbfa73b3b74dbe001d8a1ce1"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#aee0ba4eabbfa73b3b74dbe001d8a1ce1">ompl::geometric::BFMT::setNearestK</a></div><div class="ttdeci">void setNearestK(bool nearestK)</div><div class="ttdoc">If nearestK is true, FMT will be run using the Knearest strategy.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00231">BFMT.h:231</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_ae16d84f26ee1266de3f0689f0a0b7b64"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#ae16d84f26ee1266de3f0689f0a0b7b64">ompl::geometric::BFMT::setHeuristics</a></div><div class="ttdeci">void setHeuristics(bool h)</div><div class="ttdoc">Activates the cost to go heuristics when ordering the heap.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00296">BFMT.h:296</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_aea2f60e9b2e74bc178a0c821f49498c9"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aea2f60e9b2e74bc178a0c821f49498c9">ompl::geometric::BFMT::BiDirMotion::getCost</a></div><div class="ttdeci">base::Cost getCost() const</div><div class="ttdoc">Set the state associated with the motion.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00438">BFMT.h:438</a></div></div>
<div class="ttc" id="aclassompl_1_1NearestNeighbors_html"><div class="ttname"><a href="classompl_1_1NearestNeighbors.html">ompl::NearestNeighbors</a></div><div class="ttdoc">Abstract representation of a container that can perform nearest neighbors queries.</div><div class="ttdef"><b>Definition:</b> <a href="NearestNeighbors_8h_source.html#l00079">NearestNeighbors.h:79</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_af42d0e59d9e05e036b08e35d0a2516ab"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#af42d0e59d9e05e036b08e35d0a2516ab">ompl::geometric::BFMT::nearestK_</a></div><div class="ttdeci">bool nearestK_</div><div class="ttdoc">Flag to activate the K nearest neighbors strategy.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00669">BFMT.h:669</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_ac25b1403b690567107e6e6870ee7435e"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#ac25b1403b690567107e6e6870ee7435e">ompl::geometric::BFMT::numSamples_</a></div><div class="ttdeci">unsigned int numSamples_</div><div class="ttdoc">The number of samples to use when planning.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00648">BFMT.h:648</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a43a9b9542991c51567493f9a0767bc6a"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a43a9b9542991c51567493f9a0767bc6a">ompl::geometric::BFMT::setTermination</a></div><div class="ttdeci">void setTermination(bool optimality)</div><div class="ttdoc">Sets the termination strategy: optimality true finishes when the best possible path is found....</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00340">BFMT.h:340</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_addf51219f122bbed63ee4a8191dc9624"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#addf51219f122bbed63ee4a8191dc9624">ompl::geometric::BFMT::setFreeSpaceVolume</a></div><div class="ttdeci">void setFreeSpaceVolume(const double freeSpaceVolume)</div><div class="ttdoc">Store the volume of the obstacle-free configuration space. If no value is specified,...</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00268">BFMT.h:268</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_a55bfe2c89a2a5f948810c283ec2e06c3"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a55bfe2c89a2a5f948810c283ec2e06c3">ompl::geometric::BFMT::BiDirMotion::setCost</a></div><div class="ttdeci">void setCost(base::Cost cost)</div><div class="ttdoc">Set the cost of the motion.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00450">BFMT.h:450</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a817c266d5b1e8608301fcfe292b980ea"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a817c266d5b1e8608301fcfe292b980ea">ompl::geometric::BFMT::getExploration</a></div><div class="ttdeci">bool getExploration() const</div><div class="ttdoc">Returns the exploration strategy.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00332">BFMT.h:332</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a830e4b62830ebd25708953de52b5abc0"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a830e4b62830ebd25708953de52b5abc0">ompl::geometric::BFMT::calculateUnitBallVolume</a></div><div class="ttdeci">double calculateUnitBallVolume(unsigned int dimension) const</div><div class="ttdoc">Compute the volume of the unit ball in a given dimension.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8cpp_source.html#l00243">BFMT.cpp:243</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_ac67e11672316769546e2d504fa63b37c"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ac67e11672316769546e2d504fa63b37c">ompl::geometric::BFMT::BiDirMotion::setState</a></div><div class="ttdeci">void setState(base::State *state)</div><div class="ttdoc">Set the state associated with the motion.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00510">BFMT.h:510</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_ab8604f3f006cfc9db14fb83b8c549aba"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#ab8604f3f006cfc9db14fb83b8c549aba">ompl::geometric::BFMT::updateNeighborhood</a></div><div class="ttdeci">void updateNeighborhood(BiDirMotion *m, std::vector< BiDirMotion * > nbh)</div><div class="ttdoc">For a motion m, updates the stored neighborhoods of all its neighbors by by inserting m (maintaining ...</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8cpp_source.html#l00846">BFMT.cpp:846</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_abc03f1fc6372a7918ce8c0ac417b3f49"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#abc03f1fc6372a7918ce8c0ac417b3f49">ompl::geometric::BFMT::getTermination</a></div><div class="ttdeci">bool getTermination() const</div><div class="ttdoc">Returns the termination strategy.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00350">BFMT.h:350</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a351cc4241d51cd48eee029c3b15f89f0"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a351cc4241d51cd48eee029c3b15f89f0">ompl::geometric::BFMT::getPlannerData</a></div><div class="ttdeci">void getPlannerData(base::PlannerData &data) const override</div><div class="ttdoc">Get information about the current run of the motion planner. Repeated calls to this function will upd...</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8cpp_source.html#l00121">BFMT.cpp:121</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a61bb6e43d342cd4002302a6903bec65d"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a61bb6e43d342cd4002302a6903bec65d">ompl::geometric::BFMT::exploration_</a></div><div class="ttdeci">ExploreType exploration_</div><div class="ttdoc">Exploration strategy used.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00681">BFMT.h:681</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_ad9d60c80413cde10004e924f2210a68a"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ad9d60c80413cde10004e924f2210a68a">ompl::geometric::BFMT::BiDirMotion::setCurrentSet</a></div><div class="ttdeci">void setCurrentSet(SetType set)</div><div class="ttdoc">Set the current set of the motion.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00480">BFMT.h:480</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a6c4398da349abf2fb41a5bd884e0e1ce"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a6c4398da349abf2fb41a5bd884e0e1ce">ompl::geometric::BFMT::initializeProblem</a></div><div class="ttdeci">void initializeProblem(base::GoalSampleableRegion *&goal_s)</div><div class="ttdoc">Carries out some planner checks.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8cpp_source.html#l00261">BFMT.cpp:261</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_ad35eb963e631cda60704959d0a3bf289"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ad35eb963e631cda60704959d0a3bf289">ompl::geometric::BFMT::BiDirMotion::setParent</a></div><div class="ttdeci">void setParent(BiDirMotion *parent)</div><div class="ttdoc">Set the parent of the motion.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00456">BFMT.h:456</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_aebad985f06405e213256745474a6d510"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aebad985f06405e213256745474a6d510">ompl::geometric::BFMT::BiDirMotion::getParent</a></div><div class="ttdeci">BiDirMotion * getParent() const</div><div class="ttdoc">Get the parent of the motion.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00462">BFMT.h:462</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_ad16dfb44a33d551bbdf66e0d86d80a06"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#ad16dfb44a33d551bbdf66e0d86d80a06">ompl::geometric::BFMT::swapTrees</a></div><div class="ttdeci">void swapTrees()</div><div class="ttdoc">Change the active tree.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8cpp_source.html#l00841">BFMT.cpp:841</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a59a090351c3271964c2b2cc37b14ea56"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a59a090351c3271964c2b2cc37b14ea56">ompl::geometric::BFMT::expandTreeFromNode</a></div><div class="ttdeci">void expandTreeFromNode(BiDirMotion *&z, BiDirMotion *&connection_point)</div><div class="ttdoc">Complete one iteration of the main loop of the BFMT* algorithm: Find K nearest nodes in set Unvisited...</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8cpp_source.html#l00447">BFMT.cpp:447</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a503a4265e428841344e620cf976b3b1f"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a503a4265e428841344e620cf976b3b1f">ompl::geometric::BFMT::calculateRadius</a></div><div class="ttdeci">double calculateRadius(unsigned int dimension, unsigned int n) const</div><div class="ttdoc">Calculate the radius to use for nearest neighbor searches, using the bound given in [L....</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8cpp_source.html#l00252">BFMT.cpp:252</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_a4568fa681d357a679b1cfe137a925d7d"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a4568fa681d357a679b1cfe137a925d7d">ompl::geometric::BFMT::BiDirMotion::tree_</a></div><div class="ttdeci">TreeType * tree_</div><div class="ttdoc">Tree identifier</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00426">BFMT.h:426</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_af54d73530433a9ef7b8517efb97ff0e6"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#af54d73530433a9ef7b8517efb97ff0e6">ompl::geometric::BFMT::extendedFMT_</a></div><div class="ttdeci">bool extendedFMT_</div><div class="ttdoc">Add new samples if the tree was not able to find a solution.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00721">BFMT.h:721</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_ac1c8420833341090cfd0086dea1db890"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#ac1c8420833341090cfd0086dea1db890">ompl::geometric::BFMT::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="BFMT_8cpp_source.html#l00271">BFMT.cpp:271</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_ad05948bc009ecf7aa580a0e880a35951"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ad05948bc009ecf7aa580a0e880a35951">ompl::geometric::BFMT::BiDirMotion::currentSet_</a></div><div class="ttdeci">SetType currentSet_[2]</div><div class="ttdoc">Current set in which the motion is included.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00423">BFMT.h:423</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a2876a95dee7cffdf325afc150e5c86b7"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">ompl::geometric::BFMT::tree_</a></div><div class="ttdeci">TreeType tree_</div><div class="ttdoc">Active tree.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00678">BFMT.h:678</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a7714fef9dc34c186c51360711b3eb11e"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a7714fef9dc34c186c51360711b3eb11e">ompl::geometric::BFMT::sampleFree</a></div><div class="ttdeci">void sampleFree(const std::shared_ptr< NearestNeighbors< BiDirMotion * >> &nn, const base::PlannerTerminationCondition &ptc)</div><div class="ttdoc">Sample a state from the free configuration space and save it into the nearest neighbors data structur...</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8cpp_source.html#l00215">BFMT.cpp:215</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_a321da3cf04df15cc6f76bd21fd2cb9f7"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a321da3cf04df15cc6f76bd21fd2cb9f7">ompl::geometric::BFMT::BiDirMotion::alreadyCC</a></div><div class="ttdeci">bool alreadyCC(BiDirMotion *m)</div><div class="ttdoc">Returns true if the connection to m has been already tested and failed because of a collision.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00523">BFMT.h:523</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_ae09fb8ea881f62673b33030ad50de93d"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#ae09fb8ea881f62673b33030ad50de93d">ompl::geometric::BFMT::clear</a></div><div class="ttdeci">void clear() override</div><div class="ttdoc">Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8cpp_source.html#l00106">BFMT.cpp:106</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a41ed5647c104481adcdff58a9ca64c53"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">ompl::geometric::BFMT::Open_</a></div><div class="ttdeci">BiDirMotionBinHeap Open_[2]</div><div class="ttdoc">A binary heap for storing explored motions in cost-to-come sorted order. The motions in Open have bee...</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00700">BFMT.h:700</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a308deda6599cfbca27cd273f8cc90dbb"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a308deda6599cfbca27cd273f8cc90dbb">ompl::geometric::BFMT::termination</a></div><div class="ttdeci">bool termination(BiDirMotion *&z, BiDirMotion *&connection_point, const base::PlannerTerminationCondition &ptc)</div><div class="ttdoc">Checks if the termination condition is met.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8cpp_source.html#l00763">BFMT.cpp:763</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_ab9252c665756f6c776b196430dca2a6a"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#ab9252c665756f6c776b196430dca2a6a">ompl::geometric::BFMT::useFwdTree</a></div><div class="ttdeci">void useFwdTree()</div><div class="ttdoc">Sets forward tree active.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00571">BFMT.h:571</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a1f040102281e7a67bb2e322e79d8212f"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a1f040102281e7a67bb2e322e79d8212f">ompl::geometric::BFMT::plan</a></div><div class="ttdeci">bool plan(BiDirMotion *x_init, BiDirMotion *x_goal, BiDirMotion *&connection_point, const base::PlannerTerminationCondition &ptc)</div><div class="ttdoc">Executes the actual planning algorithm, swapping and expanding the trees.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8cpp_source.html#l00571">BFMT.cpp:571</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_af84ae47907df5cea1e46f36a72503de2"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#af84ae47907df5cea1e46f36a72503de2">ompl::geometric::BFMT::BiDirMotion::setTreeType</a></div><div class="ttdeci">void setTreeType(TreeType *treePtr)</div><div class="ttdoc">Set tree identifier for this motion.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00498">BFMT.h:498</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_a62877fb8d6f0f7441d45899908843b84"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a62877fb8d6f0f7441d45899908843b84">ompl::geometric::BFMT::BiDirMotion::setChildren</a></div><div class="ttdeci">void setChildren(BiDirMotionPtrs children)</div><div class="ttdoc">Set the children of the motion.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00468">BFMT.h:468</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_a496d5366758c9b5808b273d4cbd370fa"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a496d5366758c9b5808b273d4cbd370fa">ompl::geometric::BFMT::BiDirMotion::getState</a></div><div class="ttdeci">base::State * getState() const</div><div class="ttdoc">Get the state associated with the motion.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00516">BFMT.h:516</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_a0e68ac1a0b8897a2f783f4fe6019248a"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a0e68ac1a0b8897a2f783f4fe6019248a">ompl::geometric::BFMT::BiDirMotion::getCurrentSet</a></div><div class="ttdeci">SetType getCurrentSet() const</div><div class="ttdoc">Fet the current set of the motion.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00486">BFMT.h:486</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_aa6b17f4cbf54e75d8c7592f66a9d4b24"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#aa6b17f4cbf54e75d8c7592f66a9d4b24">ompl::geometric::BFMT::chooseTreeAndExpansionNode</a></div><div class="ttdeci">void chooseTreeAndExpansionNode(BiDirMotion *&z)</div><div class="ttdoc">Chooses and expand a tree according to the exploration strategy.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8cpp_source.html#l00787">BFMT.cpp:787</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a3eb3a0b7a44d10d0396b156fb7701f36"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a3eb3a0b7a44d10d0396b156fb7701f36">ompl::geometric::BFMT::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="BFMT_8cpp_source.html#l00092">BFMT.cpp:92</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_a6054dbe606f63ad3161f9d438deac205"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a6054dbe606f63ad3161f9d438deac205">ompl::geometric::BFMT::BiDirMotion::parent_</a></div><div class="ttdeci">BiDirMotion * parent_[2]</div><div class="ttdoc">The parent motion in the exploration tree</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00417">BFMT.h:417</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a15a9b1b50f8747a53f8ea2e3ebd717b5"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a15a9b1b50f8747a53f8ea2e3ebd717b5">ompl::geometric::BFMT::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="BFMT_8cpp_source.html#l00048">BFMT.cpp:48</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a2419910ad98bb4bda23c2d549bd78aba"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a2419910ad98bb4bda23c2d549bd78aba">ompl::geometric::BFMT::setNumSamples</a></div><div class="ttdeci">void setNumSamples(const unsigned int numSamples)</div><div class="ttdoc">Set the number of states that the planner should sample. The planner will sample this number of state...</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00219">BFMT.h:219</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1GoalSampleableRegion_html"><div class="ttname"><a href="classompl_1_1base_1_1GoalSampleableRegion.html">ompl::base::GoalSampleableRegion</a></div><div class="ttdoc">Abstract definition of a goal region that can be sampled.</div><div class="ttdef"><b>Definition:</b> <a href="GoalSampleableRegion_8h_source.html#l00111">GoalSampleableRegion.h:111</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a6d8c5ac49f2df6cbd0f8b276fdf0f138"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a6d8c5ac49f2df6cbd0f8b276fdf0f138">ompl::geometric::BFMT::setCacheCC</a></div><div class="ttdeci">void setCacheCC(bool ccc)</div><div class="ttdoc">Sets the collision check caching to save calls to the collision checker with slightly memory usage as...</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00284">BFMT.h:284</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a2510965e21e83dc60adfbec5bd0775ec"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a2510965e21e83dc60adfbec5bd0775ec">ompl::geometric::BFMT::tracePath</a></div><div class="ttdeci">void tracePath(BiDirMotion *z, BiDirMotionPtrs &path)</div><div class="ttdoc">Trace the path along a tree towards the root (forward or reverse)</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8cpp_source.html#l00830">BFMT.cpp:830</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_adbd9c9a270e55274efa49b8aec36d25c"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#adbd9c9a270e55274efa49b8aec36d25c">ompl::geometric::BFMT::BiDirMotion::hcost_</a></div><div class="ttdeci">base::Cost hcost_[2]</div><div class="ttdoc">The minimum cost to go of this motion (heuristically computed)</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00432">BFMT.h:432</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_ac55fc93e01a2b26a37ae969551d729cb"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#ac55fc93e01a2b26a37ae969551d729cb">ompl::geometric::BFMT::useRevTree</a></div><div class="ttdeci">void useRevTree()</div><div class="ttdoc">Sets reverse tree active.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00577">BFMT.h:577</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_aa3bd634a6ef37e1c8a29d484420a6ccb"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aa3bd634a6ef37e1c8a29d484420a6ccb">ompl::geometric::BFMT::BiDirMotion::getOtherSet</a></div><div class="ttdeci">SetType getOtherSet() const</div><div class="ttdoc">Get set of this motion in the inactive tree.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00492">BFMT.h:492</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_afc4b00fb7624e5b9d635935b990c6dca"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#afc4b00fb7624e5b9d635935b990c6dca">ompl::geometric::BFMT::BiDirMotion::getTreeType</a></div><div class="ttdeci">TreeType getTreeType() const</div><div class="ttdoc">Get tree identifier for this motion.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00504">BFMT.h:504</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_1_1BiDirMotion_html_acff919ffdcfa74546cd1fb4c3acf8270"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#acff919ffdcfa74546cd1fb4c3acf8270">ompl::geometric::BFMT::BiDirMotion::getOtherCost</a></div><div class="ttdeci">base::Cost getOtherCost() const</div><div class="ttdoc">Get cost of this motion in the inactive tree.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00444">BFMT.h:444</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a25ae2968bb946be0c6d524a540dc41e1"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a25ae2968bb946be0c6d524a540dc41e1">ompl::geometric::BFMT::getFreeSpaceVolume</a></div><div class="ttdeci">double getFreeSpaceVolume() const</div><div class="ttdoc">Get the volume of the free configuration space that is being used by the planner.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00277">BFMT.h:277</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a22c72868883fd9068a775473cc0793fd"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a22c72868883fd9068a775473cc0793fd">ompl::geometric::BFMT::setExploration</a></div><div class="ttdeci">void setExploration(bool balanced)</div><div class="ttdoc">Sets exploration strategy: balanced true expands one tree every iteration. False will select the tree...</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00322">BFMT.h:322</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_1BFMT_1_1BiDirMotion_html"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">ompl::geometric::BFMT::BiDirMotion</a></div><div class="ttdoc">Representation of a bidirectional motion.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00369">BFMT.h:369</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BFMT_html_a927c7ae87a4bef7dc0a8cf1e03314508"><div class="ttname"><a href="classompl_1_1geometric_1_1BFMT.html#a927c7ae87a4bef7dc0a8cf1e03314508">ompl::geometric::BFMT::neighborhoods_</a></div><div class="ttdeci">std::map< BiDirMotion *, BiDirMotionPtrs > neighborhoods_</div><div class="ttdoc">A map linking a motion to all of the motions within a distance r of that motion.</div><div class="ttdef"><b>Definition:</b> <a href="BFMT_8h_source.html#l00694">BFMT.h:694</a></div></div>
</div>
<footer class="footer">
<div class="container">
<a href="http://www.kavrakilab.org">Kavraki Lab</a> •
<a href="https://www.cs.rice.edu">Department of Computer Science</a> •
<a href="https://www.rice.edu">Rice University</a><br/>
Funded in part by the <a href="https://www.nsf.gov">National Science Foundation</a><br/>
Documentation generated by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.8.17
</div>
</footer>
<script>
(function(i,s,o,g,r,a,m){i['GoogleAnalyticsObject']=r;i[r]=i[r]||function(){
(i[r].q=i[r].q||[]).push(arguments)},i[r].l=1*new Date();a=s.createElement(o),
m=s.getElementsByTagName(o)[0];a.async=1;a.src=g;m.parentNode.insertBefore(a,m)
})(window,document,'script','//www.google-analytics.com/analytics.js','ga');
ga('create', 'UA-9156598-2', 'auto');
ga('send', 'pageview');
</script>
<script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.14.7/umd/popper.min.js" integrity="sha384-UO2eT0CpHqdSJQ6hJty5KVphtPhzWj9WO1clHTMGa3JDZwrnQq4sF86dIHNDz0W1" crossorigin="anonymous"></script>
<script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
</body>
</html>