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LazyPRM.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_PRM_LAZY_PRM_
38 #define OMPL_GEOMETRIC_PLANNERS_PRM_LAZY_PRM_
39 
40 #include "ompl/geometric/planners/prm/PRM.h"
41 
42 namespace ompl
43 {
44 
45  namespace geometric
46  {
47 
63  class LazyPRM : public PRM
64  {
65  public:
66 
68  LazyPRM(const base::SpaceInformationPtr &si, bool starStrategy = false);
69 
70  virtual ~LazyPRM(void);
71 
73  virtual void constructRoadmap(const base::PlannerTerminationCondition &ptc);
74 
75  using PRM::growRoadmap;
76 
77  protected:
78 
80  static const unsigned int VALIDITY_UNKNOWN = 0;
81 
83  static const unsigned int VALIDITY_TRUE = 1;
84 
85  virtual Vertex addMilestone(base::State *state);
86 
87  virtual void growRoadmap(const base::PlannerTerminationCondition &ptc, base::State *workState);
88 
89  virtual base::PathPtr constructGeometricPath(const boost::vector_property_map<Vertex> &prev, const Vertex &start, const Vertex &goal);
90 
92  boost::property_map<Graph, vertex_flags_t>::type vertexValidityProperty_;
94  boost::property_map<Graph, edge_flags_t>::type edgeValidityProperty_;
95 
96  };
97 
98  }
99 }
100 
101 #endif
virtual Vertex addMilestone(base::State *state)
Construct a milestone for a given state (state), store it in the nearest neighbors data structure and...
Definition: LazyPRM.cpp:57
LazyPRM(const base::SpaceInformationPtr &si, bool starStrategy=false)
Constructor.
Definition: LazyPRM.cpp:45
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
virtual void growRoadmap(double growTime)
If the user desires, the roadmap can be improved for the given time (seconds). The solve() method wil...
Definition: PRM.cpp:250
Lazy Probabilistic RoadMap planner.
Definition: LazyPRM.h:63
static const unsigned int VALIDITY_UNKNOWN
Flag indicating validity of an edge of a vertex.
Definition: LazyPRM.h:80
virtual void growRoadmap(const base::PlannerTerminationCondition &ptc, base::State *workState)
Randomly sample the state space, add and connect milestones in the roadmap. Stop this process when th...
Definition: LazyPRM.cpp:88
virtual base::PathPtr constructGeometricPath(const boost::vector_property_map< Vertex > &prev, const Vertex &start, const Vertex &goal)
Given a solution represented as a vector of predecesors in the roadmap, construct a geometric path...
Definition: LazyPRM.cpp:109
virtual void constructRoadmap(const base::PlannerTerminationCondition &ptc)
For LazyPRM, this simply calls growRoadmap()
Definition: LazyPRM.cpp:99
boost::property_map< Graph, vertex_flags_t >::type vertexValidityProperty_
Access the validity state of a vertex.
Definition: LazyPRM.h:92
A boost shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50
Probabilistic RoadMap planner.
Definition: PRM.h:83
static const unsigned int VALIDITY_TRUE
Flag indicating validity of an edge of a vertex.
Definition: LazyPRM.h:83
boost::property_map< Graph, edge_flags_t >::type edgeValidityProperty_
Access the validity state of an edge.
Definition: LazyPRM.h:94
A boost shared pointer wrapper for ompl::base::Path.