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QMPImpl.cpp
49ompl::multilevel::QMPImpl::QMPImpl(const base::SpaceInformationPtr &si, BundleSpace *parent_) : BaseT(si, parent_)
72ompl::multilevel::BundleSpaceGraph::Vertex ompl::multilevel::QMPImpl::addConfiguration(Configuration *q)
170 int s = getBundle()->randomBounceMotion(getBundleSamplerPtr(), q->state, randomWorkStates_.size(),
A configuration in Bundle-space.
Definition BundleSpaceGraph.h:96
normalized_index_type index
Index of configuration in boost::graph. Usually in the interval [0,num_vertices(graph)],...
Definition BundleSpaceGraph.h:140
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition BundleSpaceGraph.cpp:187
virtual Vertex addConfiguration(Configuration *q)
Add configuration to graph. Return its vertex in boost graph.
Definition BundleSpaceGraph.cpp:354
virtual const std::pair< Edge, bool > addEdge(const Vertex a, const Vertex b)
Add edge between Vertex a and Vertex b to graph.
Definition BundleSpaceGraph.cpp:567
virtual void init()
Initialization methods for the first iteration (adding start configuration and doing sanity checks)
Definition BundleSpaceGraph.cpp:299
void addGoalConfiguration(Configuration *x)
Add configuration to graph as goal vertex.
Definition BundleSpaceGraph.cpp:581
bool findSection() override
Call algorithm to solve the find section problem.
Definition BundleSpaceGraph.cpp:168
virtual Vertex getGoalIndex() const
Get vertex representing the goal.
Definition BundleSpaceGraph.cpp:590
const ompl::base::SpaceInformationPtr & getBundle() const
Get SpaceInformationPtr for Bundle.
Definition BundleSpace.cpp:323
bool firstRun_
Variable to check if this bundle space planner has been run at.
Definition BundleSpace.h:265
virtual void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition QMPImpl.cpp:66
virtual void grow() override
One iteration of QMP with adjusted sampling function.
Definition QMPImpl.cpp:99
virtual Vertex addConfiguration(Configuration *q) override
Add configuration to graph. Return its vertex in boost graph.
Definition QMPImpl.cpp:72