-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathCForest.html
1451 lines (1445 loc) · 79 KB
/
CForest.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
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
<!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>CForest Parallelization Framework</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><!-- top -->
<div class="PageDoc"><div class="header">
<div class="headertitle">
<div class="title">CForest Parallelization Framework </div> </div>
</div><!--header-->
<div class="contents">
<div class="toc"><h3>Table of Contents</h3>
<ul><li class="level1"><a href="#cf_ompl">CForest in OMPL</a></li>
<li class="level1"><a href="#cf_diff">Main differences with the paper version</a></li>
<li class="level1"><a href="#cf_example">Example</a></li>
<li class="level1"><a href="#cf_results">Results</a></li>
<li class="level1"><a href="#cf_advanced">Advanced information</a><ul><li class="level2"><a href="#cf_implementation">Design and implementation details</a></li>
<li class="level2"><a href="#cf_limitations">Limitations</a></li>
<li class="level2"><a href="#cf_compatible">Make your planner CForest-compatible</a><ul><li class="level3"><a href="#autotoc_md177">CForest activation and configuration</a></li>
</ul>
</li>
<li class="level2"><a href="#autotoc_md178">Path sharing</a><ul><li class="level3"><a href="#autotoc_md179">Tree pruning</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</div>
<div class="textblock"><p>CForest was proposed by M. Otte and N. Correll in <a href="http://ottelab.com/html_stuff/pdf_files/otte_ieeetro2013.pdf">this paper.</a></p>
<p>The main idea behind CForest is that many trees are built in parallel between the same start and goal states. The key concepts of CForest are:</p>
<ul>
<li>Every time a tree finds a better solution, it is shared with all other trees so that all trees have the best solution found so far.</li>
<li>Trees are expanded into regions that are known to be beneficial. Samples that cannot lead to a better solution are immediately discarded.</li>
<li>Trees are pruned every time a better solution is found. Those states in the tree that do not help to find a better solution are removed from the tree.</li>
</ul>
<p>CForest is designed to be used with any random tree algorithm under the following assumptions:</p>
<ol type="1">
<li>The search tree has almost sure convergence to the optimal solution.</li>
<li>The configuration space obeys the <a href="http://en.wikipedia.org/wiki/Triangle_inequality">triangle inequality.</a> That is, there exists an admissible heuristic.</li>
</ol>
<h1><a class="anchor" id="cf_ompl"></a>
CForest in OMPL</h1>
<p>CForest has been included into OMPL as a new <a href="optimalPlanning.html">optimizing planner</a> called <a class="el" href="classompl_1_1geometric_1_1CForest.html" title="Coupled Forest of Random Engrafting Search Trees.">ompl::geometric::CForest</a>.</p>
<dl class="section note"><dt>Note</dt><dd>CForest is designed to optimize path lengths. In OMPL, it is possible to optimize with respect to an arbitrary optimization objective. Therefore, the requirements for CForest in OMPL are not for the <em>state space</em> but for the <em>optimization objective</em>. It requires an optimization objective with an admissible heuristic. Since this is complex to check, a warning is shown if the state space is not a metric space (although this does not mean that the optimization objective is not valid to be used with CForest).</dd></dl>
<p>Currently RRT* (<a class="el" href="classompl_1_1geometric_1_1RRTstar.html" title="Optimal Rapidly-exploring Random Trees.">ompl::geometric::RRTstar</a>) is the only underlying planner available, since it is the only single-query, incremental, asymptotically optimal planning algorithm implemented in OMPL.</p>
<p>The CForest planner is responsible for coordinating different trees and sharing the solutions found. Path sharing is done through a specific CForest state sampler (<a class="el" href="classompl_1_1base_1_1CForestStateSampler.html" title="Extended state sampler to use with the CForest planning algorithm. It wraps the user-specified state ...">ompl::base::CForestStateSampler</a>). This sampler wraps around the default sampler associated with the state space CForest is planning in. The sampler wrapper will usually just pass through any calls to sampling methods, but when a thread finds a new best solution, subsequent calls to the sampling methods will return subsequent states along the best found path. This is done for each thread except the one that found the best solution.</p>
<p>From the user perspective, CForest can be used as any other planning algorithm:</p>
<div class="fragment"><div class="line"><span class="preprocessor">#include <ompl/geometric/planners/cforest/CForest.h></span></div>
<div class="line">...</div>
<div class="line"><span class="comment">// Setting up the planning problem with SimpleSetup</span></div>
<div class="line">SimpleSetup ss;</div>
<div class="line">...</div>
<div class="line">ompl::base::PlannerPtr planner(<span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html">ompl::geometric::CForest</a>(ss.getSpaceInformation()));</div>
<div class="line">ss.setPlanner(planner);</div>
<div class="line">...</div>
</div><!-- fragment --><p>By default, it will use as many RRT* instances as cores available. The number of instances and the underlying planner can be modified calling the <code>addPlannerInstances<T>()</code> method:</p>
<div class="fragment"><div class="line"><a class="code" href="classompl_1_1base_1_1PlannerPtr.html">ompl::base::PlannerPtr</a> planner(<span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html">ompl::geometric::CForest</a>(ss.getSpaceInformation()));</div>
<div class="line"><span class="comment">// Setting up CForest to expand 5 trees of RRTstar.</span></div>
<div class="line">planner->as<<a class="code" href="classompl_1_1geometric_1_1CForest.html">ompl::geometric::CForest</a>>()->addPlannerInstances<ompl::geometric::RRTstar>(5);</div>
</div><!-- fragment --><p>The call <code>addPlannerInstances<T>()</code> will check the <code>PlannerSpecs</code> of the planner type given. CForest only supports all those planners with the <code>canReportIntermediateSolutions</code> spec true. Otherwise, the following warning will appear during execution (test with PRM*):**</p>
<div class="fragment"><div class="line">planner->as<<a class="code" href="classompl_1_1geometric_1_1CForest.html">ompl::geometric::CForest</a>>()->addPlannerInstances<ompl::geometric::PRMstar>(2);</div>
</div><!-- fragment --><pre class="fragment">Warning: PRMstar cannot report intermediate solutions, not added as CForest planner.
at line 100 in ompl/geometric/planners/cforest/CForest.h
</pre><p>If not valid planners are added by the user, two instances of RRTstar will be automatically set.</p>
<p>Alternatively, only the number of threads could be specified and the default underlying planner (RRT*) will be chosen. This is specially useful when using the planner with a benchmark configuration file:</p>
<div class="fragment"><div class="line"><span class="comment">// Using 6 threads of the default planner</span></div>
<div class="line">planner->as<<a class="code" href="classompl_1_1geometric_1_1CForest.html">ompl::geometric::CForest</a>>()->setNumThreads(6);</div>
</div><!-- fragment --><dl class="section note"><dt>Note</dt><dd>No Python bindings are available for this planner due to its multi-threaded implementation.</dd></dl>
<h1><a class="anchor" id="cf_diff"></a>
Main differences with the paper version</h1>
<p>When implementing CForest, the focus was to modify the underlying planner as little as possible. Although the main idea of CForest remains, the actual implementation differs from the one proposed in the paper:</p>
<ul>
<li>No message passing is used. Instead, shared memory and std::threads are employed.</li>
<li>The paper creates two different versions: sequential (many trees expanding in the same CPU) and parallel (1 tree per CPU). Since std::threads are used, the trees/CPU division is done by the scheduler.</li>
<li>In the paper, shared states are treated in a slightly different way than randomly sampled states. Due to the CForestStateSampler encapsulation, all states are treated the same way. Under some circumstances shared states are not included in other trees. However, tests showed that this does not have a high impact on performance.</li>
<li>Sampling bounds are not explicitly set. When samples are created, we check whether they can lead to a better solution.</li>
<li>Start and goal states are not included in the shared paths in order to keep code simpler.</li>
<li>Before pruning a tree, it is checked how many states would be removed. If the ratio of the size of the new tree size to the size of the old tree is not small enough, pruning will not be carried out. This reduces the amortized cost of having to rebuild NearestNeighbors datastructures when states are pruned.</li>
</ul>
<dl class="section note"><dt>Note</dt><dd>Despite all these differences, the CForest implementation greatly improves the performance of the underlying planner. However, an implementation closer to the one described in the paper could improve the performance. Please, take that into account if you plan to compare your algorithm against CForest.</dd></dl>
<h1><a class="anchor" id="cf_example"></a>
Example</h1>
<ul>
<li><a href="CForestCircleGridBenchmark_8cpp_source.html">Circle Grid benchmark</a>. Benchmarks the performance of CForest against RRT* in a specific 2D circle grid problem.</li>
</ul>
<h1><a class="anchor" id="cf_results"></a>
Results</h1>
<p>CForest produces many interesting results. All these results are obtained with the alpha 1.5 puzzle benchmark configuration included in OMPL.app. The following figure shows the results of running CForest in 2 and 16 threads in a <b>16-core</b> machine. Also, the standard RRT* and the pruned version are included in the benchmark.</p>
<p>
<div class="row">
<div class="col-md-6 col-sm-6">
<img src="images/cforest.png" width="100%"><br>
<b>Best cost evolution through time.</b> CForest converges faster towards the minimum cost (optimal solution) as the threads are increased. Pruned RRT* also improves the standard RRT*.
</div>
<div class="col-md-6 col-sm-6">
<img src="images/sharedpaths.png" width="100%"><br>
<b>Number of paths shared by CForest.</b>
</div>
</div>
</p>
<p>Another interesting experiment is to run CForest with pruning deactivated and compare it to the standard CForest:</p>
<p>
<div class="row"><div class="col-md-8 col-sm-10 offset-md-2 offset-sm-1"><img src="images/prunevsnoprune.png" class="img-fluid"><br>
<b>Best cost evolution through time.</b> Not pruning trees affects negatively on the convergence. However, it still improves the standard RRT.
</div></div>
</p>
<p>In case you only have one core available, CForest still improves the RRTstar performance! The following figure shows that using CForest in one single core but with many threads (in the picture 4 and 8) also improves the convergence rate against standard RRT* and its pruned version, reaching lower cost solutions in much less time.</p>
<p>
<div class="row"><div class="col-md-8 col-sm-10 offset-md-2 offset-sm-1"><img src="images/threadscforest.png" class="img-fluid"><br>
<b>Best cost evolution through time</b> Sequential version of the CForest: many threads working in the same core.
</div></div>
</p>
<h1><a class="anchor" id="cf_advanced"></a>
Advanced information</h1>
<h2><a class="anchor" id="cf_implementation"></a>
Design and implementation details</h2>
<p>The CForest <em>planner</em> comes with its own state sampler <a class="el" href="classompl_1_1base_1_1CForestStateSampler.html" title="Extended state sampler to use with the CForest planning algorithm. It wraps the user-specified state ...">ompl::base::CForestStateSampler</a> and its own state space <a class="el" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html" title="State space wrapper to use together with CForest. It adds some functionalities to the regular state s...">ompl::base::CForestStateSpaceWrapper</a>. They are completely transparent to the user as the <a class="el" href="classompl_1_1geometric_1_1CForest.html" title="Coupled Forest of Random Engrafting Search Trees.">ompl::geometric::CForest</a> handles the creation of these.</p>
<p>CForest operates on the user-specified <a class="el" href="classompl_1_1base_1_1SpaceInformation.html" title="The base class for space information. This contains all the information about the space planning is d...">ompl::base::SpaceInformation</a>. However, CForest instantiates the underlying planners with an individual SpaceInformation instance for each planner, containing an instance of a <code>CForestStateSpaceWrapper</code>. When the underlying planner allocates the <code>StateSampler</code>, <code>CForestStateSpaceWrapper</code> creates an instance of a <code>CForestStateSampler</code> which wraps the user-specified state sampler (or the default sampler if none was provided). This design is summarized in the following schema:</p>
<p>
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!-- Created with Inkscape (http://www.inkscape.org/) -->
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://creativecommons.org/ns#"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
xmlns="http://www.w3.org/2000/svg"
xmlns:xlink="http://www.w3.org/1999/xlink"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
width="555.25232"
height="510.99362"
id="svg3131"
version="1.1"
inkscape:version="0.48.4 r9939"
sodipodi:docname="cforest.svg">
<defs
id="defs3133">
<marker
inkscape:stockid="Arrow2Lend"
orient="auto"
refY="0"
refX="0"
id="Arrow2Lend"
style="overflow:visible">
<path
id="path4074"
style="fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round"
d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
transform="matrix(-1.1,0,0,-1.1,-1.1,0)"
inkscape:connector-curvature="0" />
</marker>
<inkscape:path-effect
effect="spiro"
id="path-effect4047"
is_visible="true" />
<marker
inkscape:stockid="Arrow2Lend"
orient="auto"
refY="0"
refX="0"
id="Arrow2Lend-6"
style="overflow:visible">
<path
inkscape:connector-curvature="0"
id="path4074-0"
style="fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round"
d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
transform="matrix(-1.1,0,0,-1.1,-1.1,0)" />
</marker>
<inkscape:path-effect
effect="spiro"
id="path-effect4047-2-8-0"
is_visible="true" />
<marker
inkscape:stockid="Arrow2Lend"
orient="auto"
refY="0"
refX="0"
id="Arrow2Lend-1"
style="overflow:visible">
<path
id="path4074-4"
style="fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round"
d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
transform="matrix(-1.1,0,0,-1.1,-1.1,0)"
inkscape:connector-curvature="0" />
</marker>
<inkscape:path-effect
effect="spiro"
id="path-effect4047-6"
is_visible="true" />
<marker
inkscape:stockid="Arrow2Lend"
orient="auto"
refY="0"
refX="0"
id="Arrow2Lend-2"
style="overflow:visible">
<path
id="path4074-3"
style="fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round"
d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
transform="matrix(-1.1,0,0,-1.1,-1.1,0)"
inkscape:connector-curvature="0" />
</marker>
<inkscape:path-effect
effect="spiro"
id="path-effect4047-6-2"
is_visible="true" />
<marker
inkscape:stockid="Arrow2Lend"
orient="auto"
refY="0"
refX="0"
id="Arrow2Lend-6-1"
style="overflow:visible">
<path
inkscape:connector-curvature="0"
id="path4074-0-6"
style="fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round"
d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
transform="matrix(-1.1,0,0,-1.1,-1.1,0)" />
</marker>
<inkscape:path-effect
effect="spiro"
id="path-effect4047-2-4"
is_visible="true" />
<marker
inkscape:stockid="Arrow2Lend"
orient="auto"
refY="0"
refX="0"
id="marker3699"
style="overflow:visible">
<path
inkscape:connector-curvature="0"
id="path3701"
style="fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round"
d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
transform="matrix(-1.1,0,0,-1.1,-1.1,0)" />
</marker>
<inkscape:path-effect
effect="spiro"
id="path-effect4047-2"
is_visible="true" />
<marker
inkscape:stockid="Arrow2Lend"
orient="auto"
refY="0"
refX="0"
id="marker3704"
style="overflow:visible">
<path
inkscape:connector-curvature="0"
id="path3706"
style="fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round"
d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
transform="matrix(-1.1,0,0,-1.1,-1.1,0)" />
</marker>
<inkscape:path-effect
effect="spiro"
id="path-effect4047-2-8"
is_visible="true" />
</defs>
<sodipodi:namedview
id="base"
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1.0"
inkscape:pageopacity="0.0"
inkscape:pageshadow="2"
inkscape:zoom="1.4"
inkscape:cx="285.64478"
inkscape:cy="317.61134"
inkscape:document-units="px"
inkscape:current-layer="layer1"
showgrid="false"
fit-margin-top="0"
fit-margin-left="0"
fit-margin-right="0"
fit-margin-bottom="0"
inkscape:window-width="959"
inkscape:window-height="927"
inkscape:window-x="960"
inkscape:window-y="27"
inkscape:window-maximized="0" />
<metadata
id="metadata3136">
<rdf:RDF>
<cc:Work
rdf:about="">
<dc:format>image/svg+xml</dc:format>
<dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
<dc:title />
</cc:Work>
</rdf:RDF>
</metadata>
<g
inkscape:label="Capa 1"
inkscape:groupmode="layer"
id="layer1"
transform="translate(-35.71875,-299.20807)">
<g
id="g3945">
<rect
style="fill:#f2f2f2;stroke:#645d61;stroke-width:1.27916777;stroke-miterlimit:10;stroke-dasharray:5.11667039, 5.11667039"
x="138.20872"
y="308.71606"
stroke-miterlimit="10"
width="313.72614"
height="305.86368"
id="rect291-3" />
<g
transform="translate(-214.86663,571.91222)"
id="g3890">
<text
transform="matrix(0,-1,1,0,0,0)"
id="text293-1-9"
font-size="10"
style="font-size:10px;fill:#645d61;font-family:Helvetica-Oblique"
x="-32.920742"
y="520.90527">StateSpace</text>
<text
transform="matrix(0,-1,1,0,0,0)"
id="text293-1-9-1"
font-size="10"
style="font-size:10px;fill:#645d61;font-family:Helvetica-Oblique"
x="-32.813564"
y="594.49988">ProblemDefinition</text>
<path
sodipodi:nodetypes="cc"
inkscape:connector-curvature="0"
inkscape:original-d="m 524.94772,54.342432 0,-88.24965"
inkscape:path-effect="#path-effect4047-2"
id="path4045-8"
d="m 524.94772,54.342432 0,-88.24965"
style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:1, 2;stroke-dashoffset:0;marker-end:url(#Arrow2Lend-6)" />
<path
sodipodi:nodetypes="cc"
inkscape:connector-curvature="0"
inkscape:original-d="m 525.05157,-118.61003 0,-40.65864"
inkscape:path-effect="#path-effect4047-2-4"
id="path4045-8-6"
d="m 525.05157,-118.61003 0,-40.65864"
style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:1, 2;stroke-dashoffset:0;marker-end:url(#Arrow2Lend-6)" />
<path
sodipodi:nodetypes="cc"
inkscape:connector-curvature="0"
inkscape:original-d="m 596.76378,54.504352 0.12627,-213.874642"
inkscape:path-effect="#path-effect4047-2-8"
id="path4045-8-2"
d="m 596.76378,54.504352 0.12627,-213.874642"
style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:1, 2;stroke-dashoffset:0;marker-end:url(#Arrow2Lend-6)" />
<g
id="g3280"
transform="translate(139.05586,-535.36054)">
<path
style="fill:#c0dcf3;stroke:#7992a2;stroke-width:1.58950901;stroke-miterlimit:10;stroke-dasharray:3.19173406, 3.19173406"
inkscape:connector-curvature="0"
stroke-miterlimit="10"
d="m 523.8019,354.11333 c 0,11.54196 -10.19736,20.90096 -22.77044,20.90096 H 341.63835 c -12.57687,0 -22.77044,-9.359 -22.77044,-20.90096 v -52.24741 c 0,-11.54196 10.19357,-20.90095 22.77044,-20.90095 h 159.39311 c 12.57308,0 22.77044,9.35899 22.77044,20.90095 v 52.24741 z"
id="path471-9-8" />
<text
sodipodi:linespacing="125%"
id="text3945-1-0-6"
y="277.68723"
x="420.62238"
style="font-size:14px;font-style:normal;font-weight:normal;text-align:center;line-height:125%;letter-spacing:0px;word-spacing:0px;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;font-family:Sans"
xml:space="preserve"><tspan
id="tspan6226"
style="fill:#000000"
y="277.68723"
x="420.62238"
sodipodi:role="line" /><tspan
style="fill:#000000;font-weight:bold;-inkscape-font-specification:Sans Bold"
y="295.18723"
x="420.62238"
sodipodi:role="line"
id="tspan3097">planner_t</tspan><tspan
style="fill:#000000"
y="312.68723"
x="422.85089"
sodipodi:role="line"
id="tspan3099">Underlying planner instance </tspan><tspan
id="tspan6252"
style="fill:#000000"
y="330.18723"
x="422.85089"
sodipodi:role="line">initialized with a new </tspan><tspan
id="tspan6254"
style="fill:#000000"
y="347.68723"
x="420.62238"
sodipodi:role="line">SpaceInformation containing</tspan><tspan
id="tspan6274"
style="fill:#000000"
y="365.18723"
x="420.62238"
sodipodi:role="line">CForestStateSpaceWrapper.</tspan></text>
</g>
</g>
<text
y="306.48834"
x="151.19196"
style="font-size:10px;fill:#645d61;font-family:Helvetica-Oblique"
font-size="10"
id="text293-1-3">Done for every planner instance</text>
</g>
<a
xlink:href="classompl_1_1base_1_1CForestStateSpaceWrapper.html"
id="a6589"
transform="translate(-72.87485,34.756384)">
<g
id="g6578">
<path
style="fill:#c0dcf3;stroke:#7992a2;stroke-width:1.55922091;stroke-miterlimit:10;stroke-dasharray:3.13091554, 3.13091554"
inkscape:connector-curvature="0"
stroke-miterlimit="10"
d="m 442.03478,482.92457 c 0,10.07402 -11.24227,18.24272 -25.10369,18.24272 H 241.20532 c -13.86561,0 -25.10369,-8.1687 -25.10369,-18.24272 v -45.60244 c 0,-10.07403 11.23808,-18.24272 25.10369,-18.24272 h 175.72577 c 13.86142,0 25.10369,8.16869 25.10369,18.24272 v 45.60244 z"
id="path471-9" />
<text
sodipodi:linespacing="125%"
id="text3945-1-0"
y="421.6424"
x="329.14423"
style="font-size:14px;font-style:normal;font-weight:normal;text-align:center;line-height:125%;letter-spacing:0px;word-spacing:0px;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;font-family:Sans"
xml:space="preserve"><tspan
style="font-weight:bold;fill:#000000;-inkscape-font-specification:Sans Bold"
y="421.6424"
x="329.14423"
sodipodi:role="line"
id="tspan3101" /><tspan
style="font-weight:bold;fill:#000000;-inkscape-font-specification:Sans Bold"
y="439.1424"
x="329.14423"
sodipodi:role="line"
id="tspan3104">CForestStateSpaceWrapper</tspan><tspan
style="fill:#000000"
y="456.6424"
x="331.37274"
sodipodi:role="line"
id="tspan3108">Encapsulates the StateSpace </tspan><tspan
style="fill:#000000"
y="474.1424"
x="329.14423"
sodipodi:role="line"
id="tspan6033">provided by the user and adds</tspan><tspan
style="fill:#000000"
y="491.6424"
x="329.14423"
sodipodi:role="line"
id="tspan6027"> specific CForest funcionalities.</tspan></text>
</g>
</a>
<g
id="g3833">
<path
style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;marker-end:url(#Arrow2Lend)"
d="m 216.06488,662.13527 51.95415,0"
id="path4045-0"
inkscape:path-effect="#path-effect4047-6"
inkscape:original-d="m 216.06488,662.13527 51.95415,0"
inkscape:connector-curvature="0"
sodipodi:nodetypes="cc" />
<path
style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;marker-end:url(#Arrow2Lend)"
d="m 215.80627,712.57718 53.38272,-35.37509"
id="path4045-0-2"
inkscape:path-effect="#path-effect4047-6-2"
inkscape:original-d="m 215.80627,712.57718 53.38272,-35.37509"
inkscape:connector-curvature="0"
sodipodi:nodetypes="cc" />
<text
id="text293-1"
font-size="10"
style="font-size:10px;fill:#645d61;font-family:Helvetica-Oblique"
x="35.383671"
y="623.87415">CForest inputs</text>
<rect
style="fill:#f2f2f2;stroke:#645d61;stroke-width:0.57643527;stroke-miterlimit:10;stroke-dasharray:2.30574113, 2.30574113"
x="36.000965"
y="626.73047"
stroke-miterlimit="10"
width="180.75441"
height="107.80427"
id="rect291-7" />
</g>
<g
id="g6531"
transform="translate(-103.40063,166.05897)">
<g
id="g5"
transform="translate(361.37171,33.904407)">
<rect
id="rect7"
height="45"
width="108"
y="450"
x="225"
style="fill:#645d61" />
<text
id="text9"
font-size="14"
transform="translate(244.7773,477)"
style="font-size:14px;fill:#ffffff;font-family:Helvetica-Bold">User code</text>
</g>
<g
id="g425-1"
transform="matrix(0,-1,1,0,392.64069,892.72562)">
<path
sodipodi:nodetypes="cc"
inkscape:connector-curvature="0"
inkscape:original-d="m 386.29352,143.63309 0,48.73986"
inkscape:path-effect="#path-effect4047"
id="path4045"
d="m 386.29352,143.63309 0,48.73986"
style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;marker-end:url(#Arrow2Lend)" />
</g>
</g>
<a
xlink:href="classompl_1_1geometric_1_1CForest.html"
transform="translate(-103.40063,165.8804)"
id="a3200">
<g
id="g3189">
<path
id="path207-4"
d="m 535.42954,531.48179 c 0,11.046 -8.059,20 -18,20 H 391.42955 c -9.941,0 -18,-8.954 -18,-20 v -50 c 0,-11.045 8.059,-20 18,-20 h 125.99999 c 9.941,0 18,8.955 18,20 v 50 z"
stroke-miterlimit="10"
inkscape:connector-curvature="0"
style="fill:#7992a2;stroke:#645d61;stroke-width:2;stroke-miterlimit:10" />
<text
sodipodi:linespacing="125%"
id="text3945"
y="483.48181"
x="454.1283"
style="font-size:14px;font-style:normal;font-weight:normal;text-align:center;line-height:125%;letter-spacing:0px;word-spacing:0px;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;font-family:Sans"
xml:space="preserve"><tspan
style="font-weight:bold;fill:#ffffff;stroke:none;-inkscape-font-specification:Sans Bold"
y="483.48181"
x="454.1283"
id="tspan3947"
sodipodi:role="line">CForest</tspan><tspan
style="fill:#ffffff"
y="500.98181"
x="456.35681"
sodipodi:role="line"
id="tspan3136">Implements the </tspan><tspan
style="fill:#ffffff"
id="tspan3949"
y="518.48181"
x="456.35681"
sodipodi:role="line">CForest meta-planner </tspan><tspan
style="fill:#ffffff"
id="tspan3951"
y="535.98181"
x="454.1283"
sodipodi:role="line">as a regular planner.</tspan></text>
</g>
</a>
<g
id="g3502">
<g
id="g243"
transform="translate(-128.61375,281.86769)">
<rect
id="rect245"
height="78.334"
width="322"
y="450"
x="396"
style="fill:#f1f2f2" />
<path
id="path247"
d="m 433,462.439 c 0,-1.131 -0.896,-2.049 -2,-2.049 h -14 c -1.104,0 -2,0.918 -2,2.049 v 5.121 c 0,1.131 0.896,2.049 2,2.049 h 14 c 1.104,0 2,-0.918 2,-2.049 v -5.121 z"
stroke-miterlimit="10"
inkscape:connector-curvature="0"
style="fill:#7992a2;stroke:#645d61;stroke-width:2;stroke-miterlimit:10" />
<path
id="path249"
d="m 433,485 c 0,1.104 -0.896,2 -2,2 h -14 c -1.104,0 -2,-0.896 -2,-2 v -5 c 0,-1.104 0.896,-2 2,-2 h 14 c 1.104,0 2,0.896 2,2 v 5 z"
stroke-miterlimit="10"
inkscape:connector-curvature="0"
style="fill:#98bfd5;stroke:#645d61;stroke-miterlimit:10;stroke-dasharray:7.908, 3.954" />
<path
id="path251"
d="m 433,501 c 0,1.104 -0.896,2 -2,2 h -14 c -1.104,0 -2,-0.896 -2,-2 v -5 c 0,-1.104 0.896,-2 2,-2 h 14 c 1.104,0 2,0.896 2,2 v 5 z"
stroke-miterlimit="10"
inkscape:connector-curvature="0"
style="fill:#c0dcf3;stroke:#7992a2;stroke-miterlimit:10;stroke-dasharray:2.009, 2.009" />
<text
y="521.92828"
x="414.21445"
id="text253"
font-size="10"
style="font-size:10px;font-family:Helvetica-Oblique">A</text>
<text
y="521.92828"
x="440.21445"
id="text255"
font-size="10"
style="font-size:10px;font-family:Helvetica-Oblique">B</text>
<text
id="text257"
transform="translate(442.001,469)">
<tspan
id="tspan259"
font-size="10"
y="0"
x="0"
style="font-size:10px;font-family:Helvetica">User must instantiate this class.</tspan>
<tspan
id="tspan261"
font-size="10"
y="17"
x="0"
style="font-size:10px;font-family:Helvetica">User must instantiate this class unless SimpleSetup is used.</tspan>
<tspan
id="tspan263"
font-size="10"
y="34"
x="0"
style="font-size:10px;font-family:Helvetica">CForest creates and configures this class.</tspan>
</text>
<g
transform="translate(13.214288,3.9285718)"
id="g265">
<line
id="line267"
y2="514"
x2="419.939"
y1="514"
x1="409"
stroke-miterlimit="10"
style="fill:none;stroke:#000000;stroke-miterlimit:10" />
<g
id="g269">
<polygon
id="polygon271"
points="417.051,518.065 419.412,514 417.051,509.936 427,514 " />
</g>
</g>
</g>
<path
style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:1, 2;stroke-dashoffset:0;marker-end:url(#Arrow2Lend-6)"
d="m 335.43178,802.71847 64.37208,0.12627"
id="path4045-8-2-9"
inkscape:path-effect="#path-effect4047-2-8-0"
inkscape:original-d="m 335.43178,802.71847 64.37208,0.12627"
inkscape:connector-curvature="0"
sodipodi:nodetypes="cc" />
<text
y="798.22095"
x="338.48691"
style="font-size:10px;fill:#645d61;font-family:Helvetica-Oblique"
font-size="10"
id="text293-1-4">Parameter</text>
</g>
<a
xlink:href="classompl_1_1base_1_1SpaceInformation.html"
id="a3097">
<g
transform="translate(114.39849,234.3212)"
id="g5261">
<a
xlink:href="classompl_1_1base_1_1SpaceInformation.html"
transform="matrix(1,0,0,0.81898239,-267.14295,235.15117)"
id="a131-1">
<g
id="g133-4">
<path
style="fill:#99bfd5;stroke:#645d61;stroke-miterlimit:10;stroke-dasharray:7.908, 3.954"
inkscape:connector-curvature="0"
stroke-miterlimit="10"
d="m 360,257 c 0,8.837 -8.06,16 -18,16 H 216 c -9.941,0 -18,-7.163 -18,-16 v -40 c 0,-8.837 8.059,-16 18,-16 h 126 c 9.94,0 18,7.163 18,16 v 40 z"
id="path135-2" />
<rect
style="fill:none"
x="206.666"
y="207.16701"
width="144.66701"
height="59.667"
id="rect137-3" />
</g>
</a>
<text
sodipodi:linespacing="125%"
id="text3945-1"
y="416.39478"
x="11.419662"
style="font-size:14px;font-style:normal;font-weight:normal;text-align:center;line-height:125%;letter-spacing:0px;word-spacing:0px;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;font-family:Sans;-inkscape-font-specification:Sans"
xml:space="preserve"><tspan
style="font-weight:bold;fill:#000000;-inkscape-font-specification:Sans Bold"
id="tspan3951-3"
y="416.39478"
x="11.419662"
sodipodi:role="line">SpaceInformation</tspan><tspan
style="font-weight:normal;fill:#000000;-inkscape-font-specification:Sans"
y="433.89478"
x="11.419662"
sodipodi:role="line"
id="tspan3103">Provides StateSpace</tspan><tspan
style="font-weight:normal;fill:#000000;-inkscape-font-specification:Sans"
y="451.39478"
x="11.419662"
sodipodi:role="line"
id="tspan5063">and StateSampler</tspan></text>
</g>
</a>
<a
xlink:href="classompl_1_1base_1_1ProblemDefinition.html"
id="a3148">
<g
id="g3138">
<a
xlink:href="classompl_1_1base_1_1ProblemDefinition.html"
id="a6567"
transform="translate(-104.45866,172.45902)">
<g
transform="translate(108.57143,146.07143)"
id="g5274">
<a
xlink:href="classompl_1_1base_1_1ProblemDefinition.html"
transform="matrix(1,0,0,0.33535831,-157.07143,316.56174)"
id="a131-1-4">
<g
id="g133-4-1">
<path
style="fill:#99bfd5;stroke:#645d61;stroke-miterlimit:10;stroke-dasharray:7.908, 3.954"
inkscape:connector-curvature="0"
stroke-miterlimit="10"
d="m 360,257 c 0,8.837 -8.06,16 -18,16 H 216 c -9.941,0 -18,-7.163 -18,-16 v -40 c 0,-8.837 8.059,-16 18,-16 h 126 c 9.94,0 18,7.163 18,16 v 40 z"
id="path135-2-1" />
<rect
style="fill:none"
x="206.666"
y="207.16701"
width="144.66701"
height="59.667"
id="rect137-3-3" />
</g>
</a>
</g>
</a>
<text
sodipodi:linespacing="125%"
id="text3945-1-5"
y="717.77209"
x="128.33832"
style="font-size:14px;font-style:normal;font-weight:normal;text-align:center;line-height:125%;letter-spacing:0px;word-spacing:0px;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;font-family:Sans;-inkscape-font-specification:Sans"
xml:space="preserve"><tspan
style="font-weight:bold;fill:#000000;-inkscape-font-specification:Sans Bold"
y="717.77209"
x="128.33832"
sodipodi:role="line"
id="tspan5063-67">ProblemDefinition</tspan></text>
</g>
</a>
</g>
</svg>
</p>
<p>Whenever a planner calls <code>SpaceInformation::allocStateSampler()</code> (or <code>allocDefaultStateSampler()</code>), <code>CForestStateSpaceWrapper</code> allocates a <code>CForestStateSampler</code> which creates and wraps the provided <code>StateSampler</code> (or default if none was specified).</p>
<p>
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!-- Created with Inkscape (http://www.inkscape.org/) -->
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://creativecommons.org/ns#"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
xmlns="http://www.w3.org/2000/svg"
xmlns:xlink="http://www.w3.org/1999/xlink"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
width="582.8631"
height="254.422"
id="svg3087"
version="1.1"
inkscape:version="0.48.4 r9939"
sodipodi:docname="cforest_sampler.svg">
<defs
id="defs3089">
<marker
inkscape:stockid="Arrow2Lend"
orient="auto"
refY="0"
refX="0"
id="Arrow2Lend-6"
style="overflow:visible">
<path
inkscape:connector-curvature="0"
id="path4074-0"
style="fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round"
d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
transform="matrix(-1.1,0,0,-1.1,-1.1,0)" />
</marker>
<inkscape:path-effect
effect="spiro"
id="path-effect4047-2-4-1"
is_visible="true" />
<marker
inkscape:stockid="Arrow2Lend"
orient="auto"
refY="0"
refX="0"
id="Arrow2Lend-6-1"
style="overflow:visible">
<path
inkscape:connector-curvature="0"
id="path4074-0-7"
style="fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round"
d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
transform="matrix(-1.1,0,0,-1.1,-1.1,0)" />
</marker>
<inkscape:path-effect
effect="spiro"
id="path-effect4047-2-6"
is_visible="true" />
<marker
inkscape:stockid="Arrow2Lend"
orient="auto"
refY="0"
refX="0"
id="marker3200"
style="overflow:visible">
<path
inkscape:connector-curvature="0"
id="path3202"
style="fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round"
d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
transform="matrix(-1.1,0,0,-1.1,-1.1,0)" />
</marker>
<inkscape:path-effect
effect="spiro"
id="path-effect4047-2-6-3"
is_visible="true" />
<marker
inkscape:stockid="Arrow2Lend"
orient="auto"
refY="0"
refX="0"
id="marker3205"
style="overflow:visible">
<path
inkscape:connector-curvature="0"
id="path3207"
style="fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round"
d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
transform="matrix(-1.1,0,0,-1.1,-1.1,0)" />
</marker>
<inkscape:path-effect
effect="spiro"
id="path-effect4047-2-6-3-5"
is_visible="true" />
</defs>