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<div class="title">AITstar.cpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Copyright (c) 2019, University of Oxford</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * * Neither the names of the copyright holders nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> *********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">// Authors: Marlin Strub</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include "ompl/geometric/planners/informedtrees/AITstar.h"</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#include <algorithm></span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <cmath></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <string></span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <boost/range/adaptor/reversed.hpp></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include "ompl/base/objectives/PathLengthOptimizationObjective.h"</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#include "<a class="code" href="Console_8h.html">ompl/util/Console.h</a>"</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">using namespace </span>std::string_literals;</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="keyword">using namespace </span>ompl::geometric::aitstar;</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> {</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keyword">namespace </span>geometric</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  {</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#a8ca34113a338e6392e59143c7e8d2948"> 55</a></span>  AITstar::AITstar(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html">ompl::base::SpaceInformationPtr</a> &spaceInformation)</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  : <a class="code" href="namespaceompl.html">ompl</a>::base::Planner(spaceInformation, <span class="stringliteral">"AITstar"</span>)</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  , solutionCost_()</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  , graph_(solutionCost_)</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  , forwardQueue_([this](const auto &lhs, const auto &rhs) { <span class="keywordflow">return</span> isEdgeBetter(lhs, rhs); })</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  , reverseQueue_([<span class="keyword">this</span>](<span class="keyword">const</span> <span class="keyword">auto</span> &lhs, <span class="keyword">const</span> <span class="keyword">auto</span> &rhs) { <span class="keywordflow">return</span> isVertexBetter(lhs, rhs); })</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  {</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="comment">// Specify AIT*'s planner specs.</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  specs_.recognizedGoal = <a class="code" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a6fb685fa51055688c4e130094225b7f9">base::GOAL_SAMPLEABLE_REGION</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  specs_.multithreaded = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  specs_.approximateSolutions = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  specs_.optimizingPaths = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  specs_.directed = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  specs_.provingSolutionNonExistence = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  specs_.canReportIntermediateSolutions = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  </div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="comment">// Register the setting callbacks.</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  declareParam<bool>(<span class="stringliteral">"use_k_nearest"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1AITstar.html#adcc75681a6aa1ef5e1e5ac6e8f172fd6">AITstar::setUseKNearest</a>, &<a class="code" href="classompl_1_1geometric_1_1AITstar.html#a97a8e248dab17309cd028bdcf2fe065d">AITstar::getUseKNearest</a>, <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  declareParam<double>(<span class="stringliteral">"rewire_factor"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1AITstar.html#a54196b5b1aaa96ffb84e603627d6b906">AITstar::setRewireFactor</a>, &<a class="code" href="classompl_1_1geometric_1_1AITstar.html#a41ce1b84ebe1427a927c8b558a7026e0">AITstar::getRewireFactor</a>,</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="stringliteral">"1.0:0.01:3.0"</span>);</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  declareParam<std::size_t>(<span class="stringliteral">"samples_per_batch"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1AITstar.html#a5a06e51a4463f03fb76193510b075b1e">AITstar::setBatchSize</a>, &<a class="code" href="classompl_1_1geometric_1_1AITstar.html#af92037c77c4fb206e985bcd2213c0b41">AITstar::getBatchSize</a>,</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="stringliteral">"1:1:1000"</span>);</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  declareParam<bool>(<span class="stringliteral">"use_graph_pruning"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1AITstar.html#a1d0819970bc1e94e3a2cb85d7c230e85">AITstar::enablePruning</a>, &<a class="code" href="classompl_1_1geometric_1_1AITstar.html#a47dc57bc1044ddfada50236b6e3851bf">AITstar::isPruningEnabled</a>, <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  declareParam<bool>(<span class="stringliteral">"find_approximate_solutions"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1AITstar.html#ad94c30d8d6eb05822c5b9bda53beb105">AITstar::trackApproximateSolutions</a>,</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  &<a class="code" href="classompl_1_1geometric_1_1AITstar.html#aff79dbc4d9887857a902a317059a5f0c">AITstar::areApproximateSolutionsTracked</a>, <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  declareParam<std::size_t>(<span class="stringliteral">"set_max_num_goals"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1AITstar.html#a32d4aff593a4f4e7f5f364700b218db1">AITstar::setMaxNumberOfGoals</a>,</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  &<a class="code" href="classompl_1_1geometric_1_1AITstar.html#a84d104447bc332421b3050226877f25e">AITstar::getMaxNumberOfGoals</a>, <span class="stringliteral">"1:1:1000"</span>);</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="comment">// Register the progress properties.</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  addPlannerProgressProperty(<span class="stringliteral">"iterations INTEGER"</span>, [<span class="keyword">this</span>]() { <span class="keywordflow">return</span> std::to_string(numIterations_); });</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  addPlannerProgressProperty(<span class="stringliteral">"best cost DOUBLE"</span>, [<span class="keyword">this</span>]() { <span class="keywordflow">return</span> std::to_string(solutionCost_.value()); });</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  addPlannerProgressProperty(<span class="stringliteral">"state collision checks INTEGER"</span>,</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  [<span class="keyword">this</span>]() { <span class="keywordflow">return</span> std::to_string(graph_.getNumberOfStateCollisionChecks()); });</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  addPlannerProgressProperty(<span class="stringliteral">"edge collision checks INTEGER"</span>,</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  [<span class="keyword">this</span>]() { <span class="keywordflow">return</span> std::to_string(numEdgeCollisionChecks_); });</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  addPlannerProgressProperty(<span class="stringliteral">"nearest neighbour calls INTEGER"</span>,</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  [<span class="keyword">this</span>]() { <span class="keywordflow">return</span> std::to_string(graph_.getNumberOfNearestNeighborCalls()); });</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  }</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#ac0e524e03c585a05b18a2531728d9f6c"> 94</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#ac0e524e03c585a05b18a2531728d9f6c">AITstar::setup</a>()</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  {</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="comment">// Call the base-class setup.</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  Planner::setup();</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  </div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="comment">// Check that a problem definition has been set.</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">if</span> (<span class="keyword">static_cast<</span><span class="keywordtype">bool</span><span class="keyword">></span>(Planner::pdef_))</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>  <span class="comment">// Default to path length optimization objective if none has been specified.</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->hasOptimizationObjective())</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>  <a class="code" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"%s: No optimization objective has been specified. Defaulting to path length."</span>,</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  Planner::getName().c_str());</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  Planner::pdef_->setOptimizationObjective(</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  std::make_shared<ompl::base::PathLengthOptimizationObjective>(Planner::si_));</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>  </div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordflow">if</span> (<span class="keyword">static_cast<</span><span class="keywordtype">bool</span><span class="keyword">></span>(<a class="code" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->getGoal()))</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  {</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="comment">// If we were given a goal, make sure its of appropriate type.</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordflow">if</span> (!(<a class="code" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->getGoal()->hasType(<a class="code" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a6fb685fa51055688c4e130094225b7f9">ompl::base::GOAL_SAMPLEABLE_REGION</a>)))</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>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"AIT* is currently only implemented for goals that can be cast to "</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="stringliteral">"ompl::base::GOAL_SAMPLEABLE_GOAL_REGION."</span>);</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#adba44a4ee27079c5b258a2ebed719eed">setup_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  }</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  }</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  </div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="comment">// Pull the optimization objective through the problem definition.</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  objective_ = <a class="code" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->getOptimizationObjective();</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  </div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="comment">// Initialize the solution cost to be infinite.</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  solutionCost_ = objective_->infiniteCost();</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  approximateSolutionCost_ = objective_->infiniteCost();</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  approximateSolutionCostToGoal_ = objective_->infiniteCost();</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  </div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="comment">// Pull the motion validator through the space information.</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  motionValidator_ = <a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->getMotionValidator();</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  </div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="comment">// Setup a graph.</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a791d0b0704d18fdbf9c6667788fa73cc">setup</a>(<a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>, <a class="code" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>, &<a class="code" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>);</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>  <span class="keywordflow">else</span></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>  <span class="comment">// AIT* can't be setup without a problem definition.</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#adba44a4ee27079c5b258a2ebed719eed">setup_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <a class="code" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"AIT*: Unable to setup without a problem definition."</span>);</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  }</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  }</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  </div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#ac8eee478e7c2e8ffecd94915f00f61bf"> 145</a></span>  <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4">ompl::base::PlannerStatus::StatusType</a> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#ac8eee478e7c2e8ffecd94915f00f61bf">AITstar::ensureSetup</a>()</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  {</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="comment">// Call the base planners validity check. This checks if the</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="comment">// planner is setup if not then it calls setup().</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#ab416900477cf4499139c01f35663dffb">checkValidity</a>();</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  </div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="comment">// Ensure the planner is setup.</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1base_1_1Planner.html#adba44a4ee27079c5b258a2ebed719eed">setup_</a>)</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  {</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: The planner is not setup."</span>, <a class="code" href="classompl_1_1base_1_1Planner.html#a806de82eeff9ef9231963a9851524b97">name_</a>.c_str());</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keywordflow">return</span> ompl::base::PlannerStatus::StatusType::ABORT;</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>  </div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="comment">// Ensure the space is setup.</span></div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->isSetup())</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>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: The space information is not setup."</span>, <a class="code" href="classompl_1_1base_1_1Planner.html#a806de82eeff9ef9231963a9851524b97">name_</a>.c_str());</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="keywordflow">return</span> ompl::base::PlannerStatus::StatusType::ABORT;</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  }</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  </div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordflow">return</span> ompl::base::PlannerStatus::StatusType::UNKNOWN;</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  }</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>  <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4">ompl::base::PlannerStatus::StatusType</a></div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#a62685b6e67ffd9fa813ba7be9a8efcdc"> 169</a></span>  <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a62685b6e67ffd9fa813ba7be9a8efcdc">AITstar::ensureStartAndGoalStates</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a> &terminationCondition)</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  {</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="comment">// If the graph currently does not have a start state, try to get one.</span></div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keywordflow">if</span> (!graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a1053d98ab6c8885d4a7f5b1362138061">hasAStartState</a>())</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>  graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a4235979c17fdfc93d36bc203150e59ee">updateStartAndGoalStates</a>(terminationCondition, &<a class="code" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>);</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  </div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="comment">// If we could not get a start state, then there's nothing to solve.</span></div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keywordflow">if</span> (!graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a1053d98ab6c8885d4a7f5b1362138061">hasAStartState</a>())</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  {</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <a class="code" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"%s: No solution can be found as no start states are available"</span>, <a class="code" href="classompl_1_1base_1_1Planner.html#a806de82eeff9ef9231963a9851524b97">name_</a>.c_str());</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordflow">return</span> ompl::base::PlannerStatus::StatusType::INVALID_START;</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  }</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  }</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  </div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="comment">// If the graph currently does not have a goal state, we wait until we get one.</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="keywordflow">if</span> (!graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#acb8c6613582a1afcc91d9d4c1f10f79a">hasAGoalState</a>())</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  {</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a4235979c17fdfc93d36bc203150e59ee">updateStartAndGoalStates</a>(terminationCondition, &<a class="code" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>);</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  </div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <span class="comment">// If the graph still doesn't have a goal after waiting, then there's nothing to solve.</span></div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordflow">if</span> (!graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#acb8c6613582a1afcc91d9d4c1f10f79a">hasAGoalState</a>())</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>  <a class="code" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"%s: No solution can be found as no goal states are available"</span>, <a class="code" href="classompl_1_1base_1_1Planner.html#a806de82eeff9ef9231963a9851524b97">name_</a>.c_str());</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <span class="keywordflow">return</span> ompl::base::PlannerStatus::StatusType::INVALID_GOAL;</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  }</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  }</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  </div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <span class="comment">// Would it be worth implementing a 'setup' or 'checked' status type?</span></div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="keywordflow">return</span> ompl::base::PlannerStatus::StatusType::UNKNOWN;</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  }</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  </div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#ae643581d03d47232d4e62e97c5131818"> 201</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#ae643581d03d47232d4e62e97c5131818">AITstar::clear</a>()</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  {</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a4f6ab33b250d7c6bafd38350c5ea3c87">clear</a>();</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  forwardQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#addf7a2e9d0cc43dd05659686f58d695f">clear</a>();</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  reverseQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#addf7a2e9d0cc43dd05659686f58d695f">clear</a>();</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keywordflow">if</span> (objective_)</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  {</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  solutionCost_ = objective_->infiniteCost();</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  approximateSolutionCost_ = objective_->infiniteCost();</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  approximateSolutionCostToGoal_ = objective_->infiniteCost();</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  }</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  numIterations_ = 0u;</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  numInconsistentOrUnconnectedTargets_ = 0u;</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  Planner::clear();</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#adba44a4ee27079c5b258a2ebed719eed">setup_</a> = <span class="keyword">false</span>;</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="l00218"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#ac26877517bb669d691514312ea2cd276"> 218</a></span>  <a class="code" href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#ac26877517bb669d691514312ea2cd276">AITstar::solve</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a> &terminationCondition)</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  {</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="comment">// Ensure that the planner and state space are setup before solving.</span></div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keyword">auto</span> status = <a class="code" href="classompl_1_1geometric_1_1AITstar.html#ac8eee478e7c2e8ffecd94915f00f61bf">ensureSetup</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>  <span class="comment">// Return early if the planner or state space are not setup.</span></div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keywordflow">if</span> (status == ompl::base::PlannerStatus::StatusType::ABORT)</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  {</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="keywordflow">return</span> status;</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>  </div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="comment">// Ensure that the problem has start and goal states before solving.</span></div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  status = <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a62685b6e67ffd9fa813ba7be9a8efcdc">ensureStartAndGoalStates</a>(terminationCondition);</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  </div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <span class="comment">// Return early if the problem cannot be solved.</span></div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  <span class="keywordflow">if</span> (status == ompl::base::PlannerStatus::StatusType::INVALID_START ||</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  status == ompl::base::PlannerStatus::StatusType::INVALID_GOAL)</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  {</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="keywordflow">return</span> status;</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  }</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  </div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: Solving the given planning problem. The current best solution cost is %.4f"</span>, <a class="code" href="classompl_1_1base_1_1Planner.html#a806de82eeff9ef9231963a9851524b97">name_</a>.c_str(),</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  solutionCost_.<a class="code" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>());</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  </div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="comment">// Iterate to solve the problem.</span></div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="keywordflow">while</span> (!terminationCondition && !objective_->isSatisfied(solutionCost_))</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  {</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  iterate(terminationCondition);</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  }</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  </div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="comment">// Someone might call ProblemDefinition::clearSolutionPaths() between invocations of Planner::sovle(), in</span></div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <span class="comment">// which case previously found solutions are not registered with the problem definition anymore.</span></div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  status = updateSolution();</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  </div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="comment">// Let the caller know the status.</span></div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  informAboutPlannerStatus(status);</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keywordflow">return</span> status;</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  }</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  </div>
<div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#a6ad2d569af889b260c80b49718def2ca"> 257</a></span>  <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a6ad2d569af889b260c80b49718def2ca">AITstar::bestCost</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <span class="keywordflow">return</span> solutionCost_;</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  }</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  </div>
<div class="line"><a name="l00262"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#aa063eaa8232ae1e10c08d35f35399169"> 262</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#aa063eaa8232ae1e10c08d35f35399169">AITstar::getPlannerData</a>(<a class="code" href="classompl_1_1base_1_1PlannerData.html">base::PlannerData</a> &data)<span class="keyword"> const</span></div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <span class="comment">// base::PlannerDataVertex takes a raw pointer to a state. I want to guarantee, that the state lives as</span></div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <span class="comment">// long as the program lives.</span></div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keyword">static</span> std::set<std::shared_ptr<Vertex>,</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  std::function<bool(<span class="keyword">const</span> std::shared_ptr<Vertex> &, <span class="keyword">const</span> std::shared_ptr<Vertex> &)>></div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  liveStates([](<span class="keyword">const</span> <span class="keyword">auto</span> &lhs, <span class="keyword">const</span> <span class="keyword">auto</span> &rhs) { <span class="keywordflow">return</span> lhs->getId() < rhs->getId(); });</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  </div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="comment">// Fill the planner progress properties.</span></div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  Planner::getPlannerData(data);</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  </div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <span class="comment">// Get the vertices.</span></div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <span class="keyword">auto</span> vertices = graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a27aa4fc1963c20a84dbe93922d2275f2">getVertices</a>();</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  </div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <span class="comment">// Add the vertices and edges.</span></div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &vertex : vertices)</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  {</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <span class="comment">// Add the vertex to the live states.</span></div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  liveStates.insert(vertex);</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  </div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <span class="comment">// Add the vertex as the right kind of vertex.</span></div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="keywordflow">if</span> (graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a01bbb18f652cf51c29631d7a2d225a14">isStart</a>(vertex))</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  {</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a2eea84456784452486aa0065af391f47">addStartVertex</a>(<a class="code" href="classompl_1_1base_1_1PlannerDataVertex.html">ompl::base::PlannerDataVertex</a>(vertex->getState(), vertex->getId()));</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  }</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a29743fed7d0d8a6abb83ffe259e8dfcb">isGoal</a>(vertex))</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>  data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a3604cb85b0402b09b319c5f1df02b12e">addGoalVertex</a>(<a class="code" href="classompl_1_1base_1_1PlannerDataVertex.html">ompl::base::PlannerDataVertex</a>(vertex->getState(), vertex->getId()));</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  }</div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  {</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#ac61c5ab5cfd6a66a58e03b1731c1e454">addVertex</a>(<a class="code" href="classompl_1_1base_1_1PlannerDataVertex.html">ompl::base::PlannerDataVertex</a>(vertex->getState(), vertex->getId()));</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  }</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  </div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <span class="comment">// If it has a parent, add the corresponding edge.</span></div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  <span class="keywordflow">if</span> (vertex->hasForwardParent())</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  {</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#ac09c21494a8c7db500ef1a66bbbb1aa7">addEdge</a>(<a class="code" href="classompl_1_1base_1_1PlannerDataVertex.html">ompl::base::PlannerDataVertex</a>(vertex->getState(), vertex->getId()),</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  <a class="code" href="classompl_1_1base_1_1PlannerDataVertex.html">ompl::base::PlannerDataVertex</a>(vertex->getForwardParent()->getState(),</div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  vertex->getForwardParent()->getId()));</div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  }</div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  }</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>  </div>
<div class="line"><a name="l00306"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#a5a06e51a4463f03fb76193510b075b1e"> 306</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a5a06e51a4463f03fb76193510b075b1e">AITstar::setBatchSize</a>(std::size_t batchSize)</div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  {</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  batchSize_ = batchSize;</div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  }</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  </div>
<div class="line"><a name="l00311"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#af92037c77c4fb206e985bcd2213c0b41"> 311</a></span>  std::size_t <a class="code" href="classompl_1_1geometric_1_1AITstar.html#af92037c77c4fb206e985bcd2213c0b41">AITstar::getBatchSize</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keywordflow">return</span> batchSize_;</div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  }</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  </div>
<div class="line"><a name="l00316"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#a54196b5b1aaa96ffb84e603627d6b906"> 316</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a54196b5b1aaa96ffb84e603627d6b906">AITstar::setRewireFactor</a>(<span class="keywordtype">double</span> rewireFactor)</div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  {</div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#ae2210cd1231eda6ceefc67bfb9b533af">setRewireFactor</a>(rewireFactor);</div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  }</div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  </div>
<div class="line"><a name="l00321"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#a41ce1b84ebe1427a927c8b558a7026e0"> 321</a></span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a41ce1b84ebe1427a927c8b558a7026e0">AITstar::getRewireFactor</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  <span class="keywordflow">return</span> graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a2b60d7b45db920951d40f17b3fb47f3a">getRewireFactor</a>();</div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  }</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  </div>
<div class="line"><a name="l00326"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#ad94c30d8d6eb05822c5b9bda53beb105"> 326</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#ad94c30d8d6eb05822c5b9bda53beb105">AITstar::trackApproximateSolutions</a>(<span class="keywordtype">bool</span> track)</div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  {</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  trackApproximateSolutions_ = track;</div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  <span class="keywordflow">if</span> (!trackApproximateSolutions_)</div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  {</div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  <span class="keywordflow">if</span> (<span class="keyword">static_cast<</span><span class="keywordtype">bool</span><span class="keyword">></span>(objective_))</div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  {</div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  approximateSolutionCost_ = objective_->infiniteCost();</div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  approximateSolutionCostToGoal_ = objective_->infiniteCost();</div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  }</div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  }</div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  }</div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  </div>
<div class="line"><a name="l00339"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#aff79dbc4d9887857a902a317059a5f0c"> 339</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#aff79dbc4d9887857a902a317059a5f0c">AITstar::areApproximateSolutionsTracked</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  <span class="keywordflow">return</span> trackApproximateSolutions_;</div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  }</div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  </div>
<div class="line"><a name="l00344"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#a1d0819970bc1e94e3a2cb85d7c230e85"> 344</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a1d0819970bc1e94e3a2cb85d7c230e85">AITstar::enablePruning</a>(<span class="keywordtype">bool</span> prune)</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>  isPruningEnabled_ = prune;</div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  }</div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  </div>
<div class="line"><a name="l00349"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#a47dc57bc1044ddfada50236b6e3851bf"> 349</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a47dc57bc1044ddfada50236b6e3851bf">AITstar::isPruningEnabled</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <span class="keywordflow">return</span> isPruningEnabled_;</div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  }</div>
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  </div>
<div class="line"><a name="l00354"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#adcc75681a6aa1ef5e1e5ac6e8f172fd6"> 354</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#adcc75681a6aa1ef5e1e5ac6e8f172fd6">AITstar::setUseKNearest</a>(<span class="keywordtype">bool</span> useKNearest)</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>  graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#aeb5e6cb9c9a72723984fe9250d4c0aad">setUseKNearest</a>(useKNearest);</div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  }</div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  </div>
<div class="line"><a name="l00359"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#a97a8e248dab17309cd028bdcf2fe065d"> 359</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a97a8e248dab17309cd028bdcf2fe065d">AITstar::getUseKNearest</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  <span class="keywordflow">return</span> graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#adf1e6bd36ce3d915e3e44c007e0e414c">getUseKNearest</a>();</div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  }</div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  </div>
<div class="line"><a name="l00364"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#a32d4aff593a4f4e7f5f364700b218db1"> 364</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a32d4aff593a4f4e7f5f364700b218db1">AITstar::setMaxNumberOfGoals</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numberOfGoals)</div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  {</div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a285255315d97d3272a42ac83346a12ca">setMaxNumberOfGoals</a>(numberOfGoals);</div>
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  }</div>
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  </div>
<div class="line"><a name="l00369"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#a84d104447bc332421b3050226877f25e"> 369</a></span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a84d104447bc332421b3050226877f25e">AITstar::getMaxNumberOfGoals</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00370"></a><span class="lineno"> 370</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <span class="keywordflow">return</span> graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#ae75781c1cd4d89417d577ee581ecc90a">getMaxNumberOfGoals</a>();</div>
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  }</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>  <span class="keywordtype">void</span> AITstar::rebuildForwardQueue()</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>  <span class="comment">// Get all edges from the queue.</span></div>
<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  std::vector<Edge> edges;</div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  forwardQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#ac7bc9e22fbcbad4ea5dfd20b34ef348f">getContent</a>(edges);</div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  </div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  <span class="comment">// Rebuilding the queue invalidates the incoming and outgoing lookup.</span></div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &edge : edges)</div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  {</div>
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  edge.getChild()->resetForwardQueueIncomingLookup();</div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  edge.getParent()->resetForwardQueueOutgoingLookup();</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>  </div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  <span class="comment">// Clear the queue.</span></div>
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  forwardQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#addf7a2e9d0cc43dd05659686f58d695f">clear</a>();</div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  numInconsistentOrUnconnectedTargets_ = 0u;</div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  </div>
<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  <span class="comment">// Insert all edges into the queue if they connect vertices that have been processed, otherwise store</span></div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  <span class="comment">// them in the cache of edges that are to be inserted.</span></div>
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &edge : edges)</div>
<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  {</div>
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  insertOrUpdateInForwardQueue(</div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <a class="code" href="classompl_1_1geometric_1_1aitstar_1_1Edge.html">Edge</a>(edge.getParent(), edge.getChild(), computeSortKey(edge.getParent(), edge.getChild())));</div>
<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  }</div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  }</div>
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  </div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  <span class="keywordtype">void</span> AITstar::clearForwardQueue()</div>
<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  {</div>
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  std::vector<Edge> forwardQueue;</div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  forwardQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#ac7bc9e22fbcbad4ea5dfd20b34ef348f">getContent</a>(forwardQueue);</div>
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &element : forwardQueue)</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>  element.getChild()->resetForwardQueueIncomingLookup();</div>
<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  element.getParent()->resetForwardQueueOutgoingLookup();</div>
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  }</div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  forwardQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#addf7a2e9d0cc43dd05659686f58d695f">clear</a>();</div>
<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  numInconsistentOrUnconnectedTargets_ = 0u;</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="l00413"></a><span class="lineno"> 413</span>  <span class="keywordtype">void</span> AITstar::rebuildReverseQueue()</div>
<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  {</div>
<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  <span class="comment">// Rebuilding the reverse queue invalidates the reverse queue pointers.</span></div>
<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  std::vector<aitstar::KeyVertexPair> content;</div>
<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  reverseQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#ac7bc9e22fbcbad4ea5dfd20b34ef348f">getContent</a>(content);</div>
<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &element : content)</div>
<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  {</div>
<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  element.second->resetReverseQueuePointer();</div>
<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  }</div>
<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  reverseQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#addf7a2e9d0cc43dd05659686f58d695f">clear</a>();</div>
<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  </div>
<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &vertex : content)</div>
<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  {</div>
<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  <span class="comment">// Compute the sort key for the vertex queue.</span></div>
<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  std::pair<std::array<ompl::base::Cost, 2u>, std::shared_ptr<Vertex>> element(</div>
<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  computeSortKey(vertex.second), vertex.second);</div>
<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  <span class="keyword">auto</span> reverseQueuePointer = reverseQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a7712c8909b596a4d12e0080960bd0274">insert</a>(element);</div>
<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  element.second->setReverseQueuePointer(reverseQueuePointer);</div>
<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  }</div>
<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  }</div>
<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  </div>
<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  <span class="keywordtype">void</span> AITstar::clearReverseQueue()</div>
<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  {</div>
<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  std::vector<aitstar::KeyVertexPair> reverseQueue;</div>
<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  reverseQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#ac7bc9e22fbcbad4ea5dfd20b34ef348f">getContent</a>(reverseQueue);</div>
<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &element : reverseQueue)</div>
<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  {</div>
<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  element.second->resetReverseQueuePointer();</div>
<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  }</div>
<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  reverseQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#addf7a2e9d0cc43dd05659686f58d695f">clear</a>();</div>
<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  }</div>
<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  </div>
<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  <span class="keywordtype">void</span> AITstar::informAboutNewSolution()<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>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s (%u iterations): Found a new exact solution of cost %.4f. Sampled a total of %u states, %u "</span></div>
<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  <span class="stringliteral">"of which were valid samples (%.1f \%). Processed %u edges, %u of which were collision checked "</span></div>
<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  <span class="stringliteral">"(%.1f \%). The forward search tree has %u vertices, %u of which are start states. The reverse "</span></div>
<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  <span class="stringliteral">"search tree has %u vertices, %u of which are goal states."</span>,</div>
<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#a806de82eeff9ef9231963a9851524b97">name_</a>.c_str(), numIterations_, solutionCost_.<a class="code" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>(), graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#ae15772f6658c80e712a0b3b73f7857c2">getNumberOfSampledStates</a>(),</div>
<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a34427c0cf91b92be027639ef7fafcd4b">getNumberOfValidSamples</a>(),</div>
<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#ae15772f6658c80e712a0b3b73f7857c2">getNumberOfSampledStates</a>() == 0u ?</div>
<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  0.0 :</div>
<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  100.0 * (<span class="keyword">static_cast<</span><span class="keywordtype">double</span><span class="keyword">></span>(graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a34427c0cf91b92be027639ef7fafcd4b">getNumberOfValidSamples</a>()) /</div>
<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  <span class="keyword">static_cast<</span><span class="keywordtype">double</span><span class="keyword">></span>(graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#ae15772f6658c80e712a0b3b73f7857c2">getNumberOfSampledStates</a>())),</div>
<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  numProcessedEdges_, numEdgeCollisionChecks_,</div>
<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  numProcessedEdges_ == 0u ? 0.0 :</div>
<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  100.0 * (<span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span>(numEdgeCollisionChecks_) /</div>
<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span>(numProcessedEdges_)),</div>
<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  countNumVerticesInForwardTree(), graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a22e69329641d3a12a393359222817261">getStartVertices</a>().size(),</div>
<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  countNumVerticesInReverseTree(), graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a5d07bddf68583cf2c06eebcfe1cc0327">getGoalVertices</a>().size());</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>  <span class="keywordtype">void</span> AITstar::informAboutPlannerStatus(<a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4">ompl::base::PlannerStatus::StatusType</a> status)<span class="keyword"> const</span></div>
<div class="line"><a name="l00466"></a><span class="lineno"> 466</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  <span class="keywordflow">switch</span> (status)</div>
<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  {</div>
<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  <span class="keywordflow">case</span> ompl::base::PlannerStatus::StatusType::EXACT_SOLUTION:</div>
<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  {</div>
<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s (%u iterations): Found an exact solution of cost %.4f."</span>, <a class="code" href="classompl_1_1base_1_1Planner.html#a806de82eeff9ef9231963a9851524b97">name_</a>.c_str(),</div>
<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  numIterations_, solutionCost_.<a class="code" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>());</div>
<div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  }</div>
<div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  <span class="keywordflow">case</span> ompl::base::PlannerStatus::StatusType::APPROXIMATE_SOLUTION:</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="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s (%u iterations): Did not find an exact solution, but found an approximate "</span></div>
<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  <span class="stringliteral">"solution "</span></div>
<div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  <span class="stringliteral">"of cost %.4f which is %.4f away from a goal (in cost space)."</span>,</div>
<div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#a806de82eeff9ef9231963a9851524b97">name_</a>.c_str(), numIterations_, approximateSolutionCost_.<a class="code" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>(),</div>
<div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  approximateSolutionCostToGoal_.<a class="code" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>());</div>
<div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  }</div>
<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  <span class="keywordflow">case</span> ompl::base::PlannerStatus::StatusType::TIMEOUT:</div>
<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  {</div>
<div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  <span class="keywordflow">if</span> (trackApproximateSolutions_)</div>
<div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  {</div>
<div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s (%u iterations): Did not find any solution."</span>, <a class="code" href="classompl_1_1base_1_1Planner.html#a806de82eeff9ef9231963a9851524b97">name_</a>.c_str(), numIterations_);</div>
<div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  }</div>
<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  {</div>
<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s (%u iterations): Did not find an exact solution, and tracking approximate "</span></div>
<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  <span class="stringliteral">"solutions is disabled."</span>,</div>
<div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#a806de82eeff9ef9231963a9851524b97">name_</a>.c_str(), numIterations_);</div>
<div class="line"><a name="l00495"></a><span class="lineno"> 495</span>  }</div>
<div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00497"></a><span class="lineno"> 497</span>  }</div>
<div class="line"><a name="l00498"></a><span class="lineno"> 498</span>  <span class="keywordflow">case</span> ompl::base::PlannerStatus::StatusType::INFEASIBLE:</div>
<div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  <span class="keywordflow">case</span> ompl::base::PlannerStatus::StatusType::UNKNOWN:</div>
<div class="line"><a name="l00500"></a><span class="lineno"> 500</span>  <span class="keywordflow">case</span> ompl::base::PlannerStatus::StatusType::INVALID_START:</div>
<div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  <span class="keywordflow">case</span> ompl::base::PlannerStatus::StatusType::INVALID_GOAL:</div>
<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  <span class="keywordflow">case</span> ompl::base::PlannerStatus::StatusType::UNRECOGNIZED_GOAL_TYPE:</div>
<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  <span class="keywordflow">case</span> ompl::base::PlannerStatus::StatusType::CRASH:</div>
<div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  <span class="keywordflow">case</span> ompl::base::PlannerStatus::StatusType::ABORT:</div>
<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  <span class="keywordflow">case</span> ompl::base::PlannerStatus::StatusType::TYPE_COUNT:</div>
<div class="line"><a name="l00506"></a><span class="lineno"> 506</span>  {</div>
<div class="line"><a name="l00507"></a><span class="lineno"> 507</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s (%u iterations): Unable to solve the given planning problem."</span>, <a class="code" href="classompl_1_1base_1_1Planner.html#a806de82eeff9ef9231963a9851524b97">name_</a>.c_str(),</div>
<div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  numIterations_);</div>
<div class="line"><a name="l00509"></a><span class="lineno"> 509</span>  }</div>
<div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  }</div>
<div class="line"><a name="l00511"></a><span class="lineno"> 511</span>  </div>
<div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(</div>
<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  <span class="stringliteral">"%s (%u iterations): Sampled a total of %u states, %u of which were valid samples (%.1f \%). "</span></div>
<div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  <span class="stringliteral">"Processed %u edges, %u of which were collision checked (%.1f \%). The forward search tree "</span></div>
<div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  <span class="stringliteral">"has %u vertices. The reverse search tree has %u vertices."</span>,</div>
<div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#a806de82eeff9ef9231963a9851524b97">name_</a>.c_str(), numIterations_, graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#ae15772f6658c80e712a0b3b73f7857c2">getNumberOfSampledStates</a>(), graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a34427c0cf91b92be027639ef7fafcd4b">getNumberOfValidSamples</a>(),</div>
<div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#ae15772f6658c80e712a0b3b73f7857c2">getNumberOfSampledStates</a>() == 0u ?</div>
<div class="line"><a name="l00518"></a><span class="lineno"> 518</span>  0.0 :</div>
<div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  100.0 * (<span class="keyword">static_cast<</span><span class="keywordtype">double</span><span class="keyword">></span>(graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a34427c0cf91b92be027639ef7fafcd4b">getNumberOfValidSamples</a>()) /</div>
<div class="line"><a name="l00520"></a><span class="lineno"> 520</span>  <span class="keyword">static_cast<</span><span class="keywordtype">double</span><span class="keyword">></span>(graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#ae15772f6658c80e712a0b3b73f7857c2">getNumberOfSampledStates</a>())),</div>
<div class="line"><a name="l00521"></a><span class="lineno"> 521</span>  numProcessedEdges_, numEdgeCollisionChecks_,</div>
<div class="line"><a name="l00522"></a><span class="lineno"> 522</span>  numProcessedEdges_ == 0u ?</div>
<div class="line"><a name="l00523"></a><span class="lineno"> 523</span>  0.0 :</div>
<div class="line"><a name="l00524"></a><span class="lineno"> 524</span>  100.0 * (<span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span>(numEdgeCollisionChecks_) / <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span>(numProcessedEdges_)),</div>
<div class="line"><a name="l00525"></a><span class="lineno"> 525</span>  countNumVerticesInForwardTree(), countNumVerticesInReverseTree());</div>
<div class="line"><a name="l00526"></a><span class="lineno"> 526</span>  }</div>
<div class="line"><a name="l00527"></a><span class="lineno"> 527</span>  </div>
<div class="line"><a name="l00528"></a><span class="lineno"> 528</span>  <span class="keywordtype">void</span> AITstar::insertGoalVerticesInReverseQueue()</div>
<div class="line"><a name="l00529"></a><span class="lineno"> 529</span>  {</div>
<div class="line"><a name="l00530"></a><span class="lineno"> 530</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &goal : graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a5d07bddf68583cf2c06eebcfe1cc0327">getGoalVertices</a>())</div>
<div class="line"><a name="l00531"></a><span class="lineno"> 531</span>  {</div>
<div class="line"><a name="l00532"></a><span class="lineno"> 532</span>  <span class="comment">// Set the cost to come from the goal to identity and the expanded cost to infinity.</span></div>
<div class="line"><a name="l00533"></a><span class="lineno"> 533</span>  goal->setExpandedCostToComeFromGoal(objective_->infiniteCost());</div>
<div class="line"><a name="l00534"></a><span class="lineno"> 534</span>  goal->setCostToComeFromGoal(objective_->identityCost());</div>
<div class="line"><a name="l00535"></a><span class="lineno"> 535</span>  </div>
<div class="line"><a name="l00536"></a><span class="lineno"> 536</span>  <span class="comment">// Create an element for the queue.</span></div>
<div class="line"><a name="l00537"></a><span class="lineno"> 537</span>  aitstar::KeyVertexPair element({computeCostToGoToStartHeuristic(goal), objective_->identityCost()},</div>
<div class="line"><a name="l00538"></a><span class="lineno"> 538</span>  goal);</div>
<div class="line"><a name="l00539"></a><span class="lineno"> 539</span>  </div>
<div class="line"><a name="l00540"></a><span class="lineno"> 540</span>  <span class="comment">// Insert the element into the queue and set the corresponding pointer.</span></div>
<div class="line"><a name="l00541"></a><span class="lineno"> 541</span>  <span class="keyword">auto</span> reverseQueuePointer = reverseQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a7712c8909b596a4d12e0080960bd0274">insert</a>(element);</div>
<div class="line"><a name="l00542"></a><span class="lineno"> 542</span>  goal->setReverseQueuePointer(reverseQueuePointer);</div>
<div class="line"><a name="l00543"></a><span class="lineno"> 543</span>  }</div>
<div class="line"><a name="l00544"></a><span class="lineno"> 544</span>  }</div>
<div class="line"><a name="l00545"></a><span class="lineno"> 545</span>  </div>
<div class="line"><a name="l00546"></a><span class="lineno"> 546</span>  <span class="keywordtype">void</span> AITstar::expandStartVerticesIntoForwardQueue()</div>
<div class="line"><a name="l00547"></a><span class="lineno"> 547</span>  {</div>
<div class="line"><a name="l00548"></a><span class="lineno"> 548</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &start : graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a22e69329641d3a12a393359222817261">getStartVertices</a>())</div>
<div class="line"><a name="l00549"></a><span class="lineno"> 549</span>  {</div>
<div class="line"><a name="l00550"></a><span class="lineno"> 550</span>  start->setCostToComeFromStart(objective_->identityCost());</div>
<div class="line"><a name="l00551"></a><span class="lineno"> 551</span>  insertOrUpdateInForwardQueue(getOutgoingEdges(start));</div>
<div class="line"><a name="l00552"></a><span class="lineno"> 552</span>  }</div>
<div class="line"><a name="l00553"></a><span class="lineno"> 553</span>  }</div>
<div class="line"><a name="l00554"></a><span class="lineno"> 554</span>  </div>
<div class="line"><a name="l00555"></a><span class="lineno"> 555</span>  <span class="keywordtype">bool</span> AITstar::continueReverseSearch()<span class="keyword"> const</span></div>
<div class="line"><a name="l00556"></a><span class="lineno"> 556</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00557"></a><span class="lineno"> 557</span>  <span class="comment">// Never continue the reverse search if the reverse of forward queue is empty.</span></div>
<div class="line"><a name="l00558"></a><span class="lineno"> 558</span>  <span class="keywordflow">if</span> (reverseQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a442b00d357e3c2859c40169ed0817b92">empty</a>() || forwardQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a442b00d357e3c2859c40169ed0817b92">empty</a>())</div>
<div class="line"><a name="l00559"></a><span class="lineno"> 559</span>  {</div>
<div class="line"><a name="l00560"></a><span class="lineno"> 560</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00561"></a><span class="lineno"> 561</span>  }</div>
<div class="line"><a name="l00562"></a><span class="lineno"> 562</span>  </div>
<div class="line"><a name="l00563"></a><span class="lineno"> 563</span>  <span class="comment">// Get references to the best edge and vertex in the queues.</span></div>
<div class="line"><a name="l00564"></a><span class="lineno"> 564</span>  <span class="keyword">const</span> <span class="keyword">auto</span> &bestEdge = forwardQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a5d1ecb7a7d154ad44df98a5109738697">top</a>()->data;</div>
<div class="line"><a name="l00565"></a><span class="lineno"> 565</span>  <span class="keyword">const</span> <span class="keyword">auto</span> &bestVertex = reverseQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a5d1ecb7a7d154ad44df98a5109738697">top</a>()->data;</div>
<div class="line"><a name="l00566"></a><span class="lineno"> 566</span>  </div>
<div class="line"><a name="l00567"></a><span class="lineno"> 567</span>  <span class="comment">// The reverse search must be continued if the best edge has an inconsistent child state or if the best</span></div>
<div class="line"><a name="l00568"></a><span class="lineno"> 568</span>  <span class="comment">// vertex can potentially lead to a better solution than the best edge.</span></div>
<div class="line"><a name="l00569"></a><span class="lineno"> 569</span>  <span class="keywordflow">return</span> !((bestEdge.getChild()->isConsistent() &&</div>
<div class="line"><a name="l00570"></a><span class="lineno"> 570</span>  objective_->isCostBetterThan(bestEdge.getSortKey()[0u], bestVertex.first[0u])) ||</div>
<div class="line"><a name="l00571"></a><span class="lineno"> 571</span>  numInconsistentOrUnconnectedTargets_ == 0u);</div>
<div class="line"><a name="l00572"></a><span class="lineno"> 572</span>  }</div>
<div class="line"><a name="l00573"></a><span class="lineno"> 573</span>  </div>
<div class="line"><a name="l00574"></a><span class="lineno"> 574</span>  <span class="keywordtype">bool</span> AITstar::continueForwardSearch()</div>
<div class="line"><a name="l00575"></a><span class="lineno"> 575</span>  {</div>
<div class="line"><a name="l00576"></a><span class="lineno"> 576</span>  <span class="comment">// Never continue the forward search if its queue is empty.</span></div>
<div class="line"><a name="l00577"></a><span class="lineno"> 577</span>  <span class="keywordflow">if</span> (forwardQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a442b00d357e3c2859c40169ed0817b92">empty</a>())</div>
<div class="line"><a name="l00578"></a><span class="lineno"> 578</span>  {</div>
<div class="line"><a name="l00579"></a><span class="lineno"> 579</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  }</div>
<div class="line"><a name="l00581"></a><span class="lineno"> 581</span>  </div>
<div class="line"><a name="l00582"></a><span class="lineno"> 582</span>  <span class="comment">// If the best edge in the forward queue has a potential total solution cost of infinity, the forward</span></div>
<div class="line"><a name="l00583"></a><span class="lineno"> 583</span>  <span class="comment">// search does not need to be continued. This can happen if the reverse search did not reach any target</span></div>
<div class="line"><a name="l00584"></a><span class="lineno"> 584</span>  <span class="comment">// state of the edges in the forward queue.</span></div>
<div class="line"><a name="l00585"></a><span class="lineno"> 585</span>  <span class="keyword">const</span> <span class="keyword">auto</span> &bestEdgeCost = forwardQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a5d1ecb7a7d154ad44df98a5109738697">top</a>()->data.getSortKey()[0u];</div>
<div class="line"><a name="l00586"></a><span class="lineno"> 586</span>  <span class="keywordflow">if</span> (!objective_->isFinite(bestEdgeCost))</div>
<div class="line"><a name="l00587"></a><span class="lineno"> 587</span>  {</div>
<div class="line"><a name="l00588"></a><span class="lineno"> 588</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00589"></a><span class="lineno"> 589</span>  }</div>
<div class="line"><a name="l00590"></a><span class="lineno"> 590</span>  </div>
<div class="line"><a name="l00591"></a><span class="lineno"> 591</span>  <span class="comment">// The forward search can be stopped once the resolution optimal solution has been found.</span></div>
<div class="line"><a name="l00592"></a><span class="lineno"> 592</span>  <span class="keywordflow">return</span> objective_->isCostBetterThan(bestEdgeCost, solutionCost_);</div>
<div class="line"><a name="l00593"></a><span class="lineno"> 593</span>  }</div>
<div class="line"><a name="l00594"></a><span class="lineno"> 594</span>  </div>
<div class="line"><a name="l00595"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#aec409c0ca511804323a352242724115d"> 595</a></span>  std::vector<Edge> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#aec409c0ca511804323a352242724115d">AITstar::getEdgesInQueue</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00596"></a><span class="lineno"> 596</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00597"></a><span class="lineno"> 597</span>  std::vector<Edge> edges;</div>
<div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  forwardQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#ac7bc9e22fbcbad4ea5dfd20b34ef348f">getContent</a>(edges);</div>
<div class="line"><a name="l00599"></a><span class="lineno"> 599</span>  <span class="keywordflow">return</span> edges;</div>
<div class="line"><a name="l00600"></a><span class="lineno"> 600</span>  }</div>
<div class="line"><a name="l00601"></a><span class="lineno"> 601</span>  </div>
<div class="line"><a name="l00602"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#a8ad338a1eef68fb7697a24c5789665e8"> 602</a></span>  std::vector<std::shared_ptr<Vertex>> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a8ad338a1eef68fb7697a24c5789665e8">AITstar::getVerticesInQueue</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00603"></a><span class="lineno"> 603</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00604"></a><span class="lineno"> 604</span>  <span class="comment">// Get the content from the queue.</span></div>
<div class="line"><a name="l00605"></a><span class="lineno"> 605</span>  std::vector<std::pair<std::array<ompl::base::Cost, 2u>, std::shared_ptr<Vertex>>> content;</div>
<div class="line"><a name="l00606"></a><span class="lineno"> 606</span>  reverseQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#ac7bc9e22fbcbad4ea5dfd20b34ef348f">getContent</a>(content);</div>
<div class="line"><a name="l00607"></a><span class="lineno"> 607</span>  </div>
<div class="line"><a name="l00608"></a><span class="lineno"> 608</span>  <span class="comment">// Return the vertices.</span></div>
<div class="line"><a name="l00609"></a><span class="lineno"> 609</span>  std::vector<std::shared_ptr<Vertex>> vertices;</div>
<div class="line"><a name="l00610"></a><span class="lineno"> 610</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &pair : content)</div>
<div class="line"><a name="l00611"></a><span class="lineno"> 611</span>  {</div>
<div class="line"><a name="l00612"></a><span class="lineno"> 612</span>  vertices.emplace_back(pair.second);</div>
<div class="line"><a name="l00613"></a><span class="lineno"> 613</span>  }</div>
<div class="line"><a name="l00614"></a><span class="lineno"> 614</span>  <span class="keywordflow">return</span> vertices;</div>
<div class="line"><a name="l00615"></a><span class="lineno"> 615</span>  }</div>
<div class="line"><a name="l00616"></a><span class="lineno"> 616</span>  </div>
<div class="line"><a name="l00617"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#a9c7cbe5393f341034cc568ddd520569d"> 617</a></span>  <a class="code" href="classompl_1_1geometric_1_1aitstar_1_1Edge.html">Edge</a> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a9c7cbe5393f341034cc568ddd520569d">AITstar::getNextEdgeInQueue</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00618"></a><span class="lineno"> 618</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00619"></a><span class="lineno"> 619</span>  <span class="keywordflow">if</span> (!forwardQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a442b00d357e3c2859c40169ed0817b92">empty</a>())</div>
<div class="line"><a name="l00620"></a><span class="lineno"> 620</span>  {</div>
<div class="line"><a name="l00621"></a><span class="lineno"> 621</span>  <span class="keywordflow">return</span> forwardQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a5d1ecb7a7d154ad44df98a5109738697">top</a>()->data;</div>
<div class="line"><a name="l00622"></a><span class="lineno"> 622</span>  }</div>
<div class="line"><a name="l00623"></a><span class="lineno"> 623</span>  </div>
<div class="line"><a name="l00624"></a><span class="lineno"> 624</span>  <span class="keywordflow">return</span> {};</div>
<div class="line"><a name="l00625"></a><span class="lineno"> 625</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"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#a1a09de2c4eda92ce52aabdd580371ac3"> 627</a></span>  std::shared_ptr<Vertex> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#a1a09de2c4eda92ce52aabdd580371ac3">AITstar::getNextVertexInQueue</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00628"></a><span class="lineno"> 628</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00629"></a><span class="lineno"> 629</span>  <span class="keywordflow">if</span> (!reverseQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a442b00d357e3c2859c40169ed0817b92">empty</a>())</div>
<div class="line"><a name="l00630"></a><span class="lineno"> 630</span>  {</div>
<div class="line"><a name="l00631"></a><span class="lineno"> 631</span>  <span class="keywordflow">return</span> reverseQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a5d1ecb7a7d154ad44df98a5109738697">top</a>()->data.second;</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="keywordflow">return</span> {};</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>  </div>
<div class="line"><a name="l00637"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1AITstar.html#ad00faccadc59ac77c09a9ab77f6e89c4"> 637</a></span>  std::vector<std::shared_ptr<Vertex>> <a class="code" href="classompl_1_1geometric_1_1AITstar.html#ad00faccadc59ac77c09a9ab77f6e89c4">AITstar::getVerticesInReverseSearchTree</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00638"></a><span class="lineno"> 638</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00639"></a><span class="lineno"> 639</span>  <span class="comment">// Get all vertices from the graph.</span></div>
<div class="line"><a name="l00640"></a><span class="lineno"> 640</span>  <span class="keyword">auto</span> vertices = graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a27aa4fc1963c20a84dbe93922d2275f2">getVertices</a>();</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>  <span class="comment">// Erase the vertices that are not in the reverse search tree.</span></div>
<div class="line"><a name="l00643"></a><span class="lineno"> 643</span>  vertices.erase(std::remove_if(vertices.begin(), vertices.end(),</div>
<div class="line"><a name="l00644"></a><span class="lineno"> 644</span>  [<span class="keyword">this</span>](<span class="keyword">const</span> std::shared_ptr<Vertex> &vertex) {</div>
<div class="line"><a name="l00645"></a><span class="lineno"> 645</span>  return !graph_.isGoal(vertex) && !vertex->hasReverseParent();</div>
<div class="line"><a name="l00646"></a><span class="lineno"> 646</span>  }),</div>
<div class="line"><a name="l00647"></a><span class="lineno"> 647</span>  vertices.end());</div>
<div class="line"><a name="l00648"></a><span class="lineno"> 648</span>  <span class="keywordflow">return</span> vertices;</div>
<div class="line"><a name="l00649"></a><span class="lineno"> 649</span>  }</div>
<div class="line"><a name="l00650"></a><span class="lineno"> 650</span>  </div>
<div class="line"><a name="l00651"></a><span class="lineno"> 651</span>  <span class="keywordtype">void</span> AITstar::iterate(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a> &terminationCondition)</div>
<div class="line"><a name="l00652"></a><span class="lineno"> 652</span>  {</div>
<div class="line"><a name="l00653"></a><span class="lineno"> 653</span>  <span class="comment">// If this is the first time solve is called, populate the queues.</span></div>
<div class="line"><a name="l00654"></a><span class="lineno"> 654</span>  <span class="keywordflow">if</span> (numIterations_ == 0u)</div>
<div class="line"><a name="l00655"></a><span class="lineno"> 655</span>  {</div>
<div class="line"><a name="l00656"></a><span class="lineno"> 656</span>  insertGoalVerticesInReverseQueue();</div>
<div class="line"><a name="l00657"></a><span class="lineno"> 657</span>  expandStartVerticesIntoForwardQueue();</div>
<div class="line"><a name="l00658"></a><span class="lineno"> 658</span>  }</div>
<div class="line"><a name="l00659"></a><span class="lineno"> 659</span>  </div>
<div class="line"><a name="l00660"></a><span class="lineno"> 660</span>  <span class="comment">// Keep track of the number of iterations.</span></div>
<div class="line"><a name="l00661"></a><span class="lineno"> 661</span>  ++numIterations_;</div>
<div class="line"><a name="l00662"></a><span class="lineno"> 662</span>  </div>
<div class="line"><a name="l00663"></a><span class="lineno"> 663</span>  <span class="comment">// If the reverse search needs to be continued, do that now.</span></div>
<div class="line"><a name="l00664"></a><span class="lineno"> 664</span>  <span class="keywordflow">if</span> (continueReverseSearch())</div>
<div class="line"><a name="l00665"></a><span class="lineno"> 665</span>  {</div>
<div class="line"><a name="l00666"></a><span class="lineno"> 666</span>  iterateReverseSearch();</div>
<div class="line"><a name="l00667"></a><span class="lineno"> 667</span>  } <span class="comment">// If the reverse search is suspended, check whether the forward search needs to be continued.</span></div>
<div class="line"><a name="l00668"></a><span class="lineno"> 668</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (continueForwardSearch())</div>
<div class="line"><a name="l00669"></a><span class="lineno"> 669</span>  {</div>
<div class="line"><a name="l00670"></a><span class="lineno"> 670</span>  iterateForwardSearch();</div>
<div class="line"><a name="l00671"></a><span class="lineno"> 671</span>  } <span class="comment">// If neither the forward search nor the reverse search needs to be continued, add more samples.</span></div>
<div class="line"><a name="l00672"></a><span class="lineno"> 672</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00673"></a><span class="lineno"> 673</span>  {</div>
<div class="line"><a name="l00674"></a><span class="lineno"> 674</span>  <span class="comment">// Add new samples to the graph, respecting the termination condition.</span></div>
<div class="line"><a name="l00675"></a><span class="lineno"> 675</span>  <span class="keywordflow">if</span> (graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a73553ed7c59fa8082044a770f4c0a7a9">addSamples</a>(batchSize_, terminationCondition))</div>
<div class="line"><a name="l00676"></a><span class="lineno"> 676</span>  {</div>
<div class="line"><a name="l00677"></a><span class="lineno"> 677</span>  <span class="comment">// Remove useless samples from the graph.</span></div>
<div class="line"><a name="l00678"></a><span class="lineno"> 678</span>  <span class="keywordflow">if</span> (isPruningEnabled_)</div>
<div class="line"><a name="l00679"></a><span class="lineno"> 679</span>  {</div>
<div class="line"><a name="l00680"></a><span class="lineno"> 680</span>  graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a3ba73478ad05a13b3424b0e0fe322c1d">prune</a>();</div>
<div class="line"><a name="l00681"></a><span class="lineno"> 681</span>  }</div>
<div class="line"><a name="l00682"></a><span class="lineno"> 682</span>  </div>
<div class="line"><a name="l00683"></a><span class="lineno"> 683</span>  <span class="comment">// Clear the reverse search tree.</span></div>
<div class="line"><a name="l00684"></a><span class="lineno"> 684</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &goal : graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a5d07bddf68583cf2c06eebcfe1cc0327">getGoalVertices</a>())</div>
<div class="line"><a name="l00685"></a><span class="lineno"> 685</span>  {</div>
<div class="line"><a name="l00686"></a><span class="lineno"> 686</span>  invalidateCostToComeFromGoalOfReverseBranch(goal);</div>
<div class="line"><a name="l00687"></a><span class="lineno"> 687</span>  }</div>
<div class="line"><a name="l00688"></a><span class="lineno"> 688</span>  </div>
<div class="line"><a name="l00689"></a><span class="lineno"> 689</span>  <span class="comment">// Add new start and goal states if necessary.</span></div>
<div class="line"><a name="l00690"></a><span class="lineno"> 690</span>  <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>.<a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a3af0f27cc94711e6055d0221aa4f9c42">haveMoreStartStates</a>() || <a class="code" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>.<a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#adfcf64da095fd8953611e739ac40af99">haveMoreGoalStates</a>())</div>
<div class="line"><a name="l00691"></a><span class="lineno"> 691</span>  {</div>
<div class="line"><a name="l00692"></a><span class="lineno"> 692</span>  graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a4235979c17fdfc93d36bc203150e59ee">updateStartAndGoalStates</a>(<a class="code" href="namespaceompl_1_1base.html#a1125deb13109d3f27b3acab34d79c09c">ompl::base::plannerAlwaysTerminatingCondition</a>(), &<a class="code" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>);</div>
<div class="line"><a name="l00693"></a><span class="lineno"> 693</span>  }</div>
<div class="line"><a name="l00694"></a><span class="lineno"> 694</span>  </div>
<div class="line"><a name="l00695"></a><span class="lineno"> 695</span>  <span class="comment">// Reinitialize the queues.</span></div>
<div class="line"><a name="l00696"></a><span class="lineno"> 696</span>  clearReverseQueue();</div>
<div class="line"><a name="l00697"></a><span class="lineno"> 697</span>  clearForwardQueue();</div>
<div class="line"><a name="l00698"></a><span class="lineno"> 698</span>  insertGoalVerticesInReverseQueue();</div>
<div class="line"><a name="l00699"></a><span class="lineno"> 699</span>  expandStartVerticesIntoForwardQueue();</div>
<div class="line"><a name="l00700"></a><span class="lineno"> 700</span>  }</div>
<div class="line"><a name="l00701"></a><span class="lineno"> 701</span>  }</div>
<div class="line"><a name="l00702"></a><span class="lineno"> 702</span>  }</div>
<div class="line"><a name="l00703"></a><span class="lineno"> 703</span>  </div>
<div class="line"><a name="l00704"></a><span class="lineno"> 704</span>  <span class="keywordtype">void</span> AITstar::iterateForwardSearch()</div>
<div class="line"><a name="l00705"></a><span class="lineno"> 705</span>  {</div>
<div class="line"><a name="l00706"></a><span class="lineno"> 706</span>  assert(!forwardQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a442b00d357e3c2859c40169ed0817b92">empty</a>());</div>
<div class="line"><a name="l00707"></a><span class="lineno"> 707</span>  </div>
<div class="line"><a name="l00708"></a><span class="lineno"> 708</span>  <span class="comment">// Get the most promising edge.</span></div>
<div class="line"><a name="l00709"></a><span class="lineno"> 709</span>  <span class="keyword">auto</span> parent = forwardQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a5d1ecb7a7d154ad44df98a5109738697">top</a>()->data.getParent();</div>
<div class="line"><a name="l00710"></a><span class="lineno"> 710</span>  <span class="keyword">auto</span> child = forwardQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a5d1ecb7a7d154ad44df98a5109738697">top</a>()->data.getChild();</div>
<div class="line"><a name="l00711"></a><span class="lineno"> 711</span>  child->removeFromForwardQueueIncomingLookup(forwardQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a5d1ecb7a7d154ad44df98a5109738697">top</a>());</div>
<div class="line"><a name="l00712"></a><span class="lineno"> 712</span>  parent->removeFromForwardQueueOutgoingLookup(forwardQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a5d1ecb7a7d154ad44df98a5109738697">top</a>());</div>
<div class="line"><a name="l00713"></a><span class="lineno"> 713</span>  forwardQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a178e694e35e7864834d765a2819256f1">pop</a>();</div>
<div class="line"><a name="l00714"></a><span class="lineno"> 714</span>  </div>
<div class="line"><a name="l00715"></a><span class="lineno"> 715</span>  <span class="comment">// Ensure that the child is consistent and the parent isn't the goal.</span></div>
<div class="line"><a name="l00716"></a><span class="lineno"> 716</span>  assert(child->isConsistent());</div>
<div class="line"><a name="l00717"></a><span class="lineno"> 717</span>  assert(!graph_.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1ImplicitGraph.html#a29743fed7d0d8a6abb83ffe259e8dfcb">isGoal</a>(parent));</div>
<div class="line"><a name="l00718"></a><span class="lineno"> 718</span>  </div>
<div class="line"><a name="l00719"></a><span class="lineno"> 719</span>  <span class="comment">// This counts as processing an edge.</span></div>
<div class="line"><a name="l00720"></a><span class="lineno"> 720</span>  ++numProcessedEdges_;</div>
<div class="line"><a name="l00721"></a><span class="lineno"> 721</span>  </div>
<div class="line"><a name="l00722"></a><span class="lineno"> 722</span>  <span class="comment">// If this edge is already in the forward tree, it's a freeby.</span></div>
<div class="line"><a name="l00723"></a><span class="lineno"> 723</span>  <span class="keywordflow">if</span> (child->hasForwardParent() && child->getForwardParent()->getId() == parent->getId())</div>
<div class="line"><a name="l00724"></a><span class="lineno"> 724</span>  {</div>
<div class="line"><a name="l00725"></a><span class="lineno"> 725</span>  insertOrUpdateInForwardQueue(getOutgoingEdges(child));</div>
<div class="line"><a name="l00726"></a><span class="lineno"> 726</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00727"></a><span class="lineno"> 727</span>  } <span class="comment">// Check if this edge can possibly improve the current search tree.</span></div>
<div class="line"><a name="l00728"></a><span class="lineno"> 728</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (objective_->isCostBetterThan(objective_->combineCosts(parent->getCostToComeFromStart(),</div>
<div class="line"><a name="l00729"></a><span class="lineno"> 729</span>  objective_->motionCostHeuristic(</div>
<div class="line"><a name="l00730"></a><span class="lineno"> 730</span>  parent->getState(), child->getState())),</div>
<div class="line"><a name="l00731"></a><span class="lineno"> 731</span>  child->getCostToComeFromStart()))</div>
<div class="line"><a name="l00732"></a><span class="lineno"> 732</span>  {</div>
<div class="line"><a name="l00733"></a><span class="lineno"> 733</span>  <span class="comment">// The edge can possibly improve the solution and the path to the child. Let's check it for</span></div>
<div class="line"><a name="l00734"></a><span class="lineno"> 734</span>  <span class="comment">// collision.</span></div>
<div class="line"><a name="l00735"></a><span class="lineno"> 735</span>  <span class="keywordflow">if</span> (parent->isWhitelistedAsChild(child) ||</div>
<div class="line"><a name="l00736"></a><span class="lineno"> 736</span>  motionValidator_->checkMotion(parent->getState(), child->getState()))</div>
<div class="line"><a name="l00737"></a><span class="lineno"> 737</span>  {</div>
<div class="line"><a name="l00738"></a><span class="lineno"> 738</span>  <span class="comment">// Remember that this is a good edge.</span></div>
<div class="line"><a name="l00739"></a><span class="lineno"> 739</span>  <span class="keywordflow">if</span> (!parent->isWhitelistedAsChild(child))</div>
<div class="line"><a name="l00740"></a><span class="lineno"> 740</span>  {</div>
<div class="line"><a name="l00741"></a><span class="lineno"> 741</span>  parent->whitelistAsChild(child);</div>
<div class="line"><a name="l00742"></a><span class="lineno"> 742</span>  numEdgeCollisionChecks_++;</div>
<div class="line"><a name="l00743"></a><span class="lineno"> 743</span>  }</div>
<div class="line"><a name="l00744"></a><span class="lineno"> 744</span>  </div>
<div class="line"><a name="l00745"></a><span class="lineno"> 745</span>  <span class="comment">// Compute the edge cost.</span></div>
<div class="line"><a name="l00746"></a><span class="lineno"> 746</span>  <span class="keyword">const</span> <span class="keyword">auto</span> edgeCost = objective_->motionCost(parent->getState(), child->getState());</div>
<div class="line"><a name="l00747"></a><span class="lineno"> 747</span>  </div>
<div class="line"><a name="l00748"></a><span class="lineno"> 748</span>  <span class="comment">// Check if the edge can improve the cost to come to the child.</span></div>
<div class="line"><a name="l00749"></a><span class="lineno"> 749</span>  <span class="keywordflow">if</span> (objective_->isCostBetterThan(</div>
<div class="line"><a name="l00750"></a><span class="lineno"> 750</span>  objective_->combineCosts(parent->getCostToComeFromStart(), edgeCost),</div>
<div class="line"><a name="l00751"></a><span class="lineno"> 751</span>  child->getCostToComeFromStart()))</div>
<div class="line"><a name="l00752"></a><span class="lineno"> 752</span>  {</div>
<div class="line"><a name="l00753"></a><span class="lineno"> 753</span>  <span class="comment">// Rewire the child.</span></div>
<div class="line"><a name="l00754"></a><span class="lineno"> 754</span>  child->setForwardParent(parent, edgeCost);</div>
<div class="line"><a name="l00755"></a><span class="lineno"> 755</span>  </div>
<div class="line"><a name="l00756"></a><span class="lineno"> 756</span>  <span class="comment">// Add it to the children of the parent.</span></div>
<div class="line"><a name="l00757"></a><span class="lineno"> 757</span>  parent->addToForwardChildren(child);</div>
<div class="line"><a name="l00758"></a><span class="lineno"> 758</span>  </div>
<div class="line"><a name="l00759"></a><span class="lineno"> 759</span>  <span class="comment">// Share the good news with the whole branch.</span></div>
<div class="line"><a name="l00760"></a><span class="lineno"> 760</span>  child->updateCostOfForwardBranch();</div>
<div class="line"><a name="l00761"></a><span class="lineno"> 761</span>  </div>
<div class="line"><a name="l00762"></a><span class="lineno"> 762</span>  <span class="comment">// Check if the solution can benefit from this.</span></div>
<div class="line"><a name="l00763"></a><span class="lineno"> 763</span>  updateSolution(child);</div>
<div class="line"><a name="l00764"></a><span class="lineno"> 764</span>  </div>
<div class="line"><a name="l00765"></a><span class="lineno"> 765</span>  <span class="comment">// Insert the child's outgoing edges into the queue.</span></div>
<div class="line"><a name="l00766"></a><span class="lineno"> 766</span>  insertOrUpdateInForwardQueue(getOutgoingEdges(child));</div>
<div class="line"><a name="l00767"></a><span class="lineno"> 767</span>  }</div>
<div class="line"><a name="l00768"></a><span class="lineno"> 768</span>  }</div>
<div class="line"><a name="l00769"></a><span class="lineno"> 769</span>  <span class="keywordflow">else</span> <span class="comment">// This edge is in collision</span></div>
<div class="line"><a name="l00770"></a><span class="lineno"> 770</span>  {</div>
<div class="line"><a name="l00771"></a><span class="lineno"> 771</span>  <span class="comment">// The edge should be blacklisted in both directions.</span></div>
<div class="line"><a name="l00772"></a><span class="lineno"> 772</span>  parent->blacklistAsChild(child);</div>
<div class="line"><a name="l00773"></a><span class="lineno"> 773</span>  child->blacklistAsChild(parent);</div>
<div class="line"><a name="l00774"></a><span class="lineno"> 774</span>  </div>
<div class="line"><a name="l00775"></a><span class="lineno"> 775</span>  <span class="comment">// Repair the reverse search if this edge was in the reverse search tree.</span></div>
<div class="line"><a name="l00776"></a><span class="lineno"> 776</span>  <span class="keywordflow">if</span> (parent->hasReverseParent() && parent->getReverseParent()->getId() == child->getId())</div>
<div class="line"><a name="l00777"></a><span class="lineno"> 777</span>  {</div>
<div class="line"><a name="l00778"></a><span class="lineno"> 778</span>  <span class="comment">// The parent was connected to the child through an invalid edge, so we need to invalidate</span></div>
<div class="line"><a name="l00779"></a><span class="lineno"> 779</span>  <span class="comment">// the branch of the reverse search tree starting from the parent.</span></div>
<div class="line"><a name="l00780"></a><span class="lineno"> 780</span>  invalidateCostToComeFromGoalOfReverseBranch(parent);</div>
<div class="line"><a name="l00781"></a><span class="lineno"> 781</span>  }</div>
<div class="line"><a name="l00782"></a><span class="lineno"> 782</span>  }</div>
<div class="line"><a name="l00783"></a><span class="lineno"> 783</span>  }</div>
<div class="line"><a name="l00784"></a><span class="lineno"> 784</span>  }</div>
<div class="line"><a name="l00785"></a><span class="lineno"> 785</span>  </div>
<div class="line"><a name="l00786"></a><span class="lineno"> 786</span>  <span class="keywordtype">void</span> AITstar::iterateReverseSearch()</div>
<div class="line"><a name="l00787"></a><span class="lineno"> 787</span>  {</div>
<div class="line"><a name="l00788"></a><span class="lineno"> 788</span>  assert(!reverseQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a442b00d357e3c2859c40169ed0817b92">empty</a>());</div>
<div class="line"><a name="l00789"></a><span class="lineno"> 789</span>  </div>
<div class="line"><a name="l00790"></a><span class="lineno"> 790</span>  <span class="comment">// Get the most promising vertex and remove it from the queue.</span></div>
<div class="line"><a name="l00791"></a><span class="lineno"> 791</span>  <span class="keyword">auto</span> vertex = reverseQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a5d1ecb7a7d154ad44df98a5109738697">top</a>()->data.second;</div>
<div class="line"><a name="l00792"></a><span class="lineno"> 792</span>  reverseQueue_.<a class="code" href="classompl_1_1BinaryHeap.html#a178e694e35e7864834d765a2819256f1">pop</a>();</div>
<div class="line"><a name="l00793"></a><span class="lineno"> 793</span>  vertex->resetReverseQueuePointer();</div>
<div class="line"><a name="l00794"></a><span class="lineno"> 794</span>  </div>
<div class="line"><a name="l00795"></a><span class="lineno"> 795</span>  <span class="comment">// The open queue should not contain consistent vertices.</span></div>
<div class="line"><a name="l00796"></a><span class="lineno"> 796</span>  assert(!vertex->isConsistent());</div>
<div class="line"><a name="l00797"></a><span class="lineno"> 797</span>  </div>
<div class="line"><a name="l00798"></a><span class="lineno"> 798</span>  <span class="comment">// Check if the vertex is underconsistent. g[s] < v[s].</span></div>
<div class="line"><a name="l00799"></a><span class="lineno"> 799</span>  <span class="keywordflow">if</span> (objective_->isCostBetterThan(vertex->getCostToComeFromGoal(), vertex->getExpandedCostToComeFromGoal()))</div>
<div class="line"><a name="l00800"></a><span class="lineno"> 800</span>  {</div>
<div class="line"><a name="l00801"></a><span class="lineno"> 801</span>  <span class="comment">// Make the vertex consistent and update the vertex.</span></div>
<div class="line"><a name="l00802"></a><span class="lineno"> 802</span>  vertex->setExpandedCostToComeFromGoal(vertex->getCostToComeFromGoal());</div>
<div class="line"><a name="l00803"></a><span class="lineno"> 803</span>  updateReverseSearchNeighbors(vertex);</div>
<div class="line"><a name="l00804"></a><span class="lineno"> 804</span>  </div>
<div class="line"><a name="l00805"></a><span class="lineno"> 805</span>  <span class="comment">// Update the number of inconsistent targets in the forward queue.</span></div>
<div class="line"><a name="l00806"></a><span class="lineno"> 806</span>  numInconsistentOrUnconnectedTargets_ -= vertex->getForwardQueueIncomingLookup().size();</div>
<div class="line"><a name="l00807"></a><span class="lineno"> 807</span>  }</div>
<div class="line"><a name="l00808"></a><span class="lineno"> 808</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00809"></a><span class="lineno"> 809</span>  {</div>
<div class="line"><a name="l00810"></a><span class="lineno"> 810</span>  <span class="comment">// Make the vertex overconsistent.</span></div>
<div class="line"><a name="l00811"></a><span class="lineno"> 811</span>  vertex->setExpandedCostToComeFromGoal(objective_->infiniteCost());</div>
<div class="line"><a name="l00812"></a><span class="lineno"> 812</span>  </div>
<div class="line"><a name="l00813"></a><span class="lineno"> 813</span>  <span class="comment">// Update the vertex and its neighbors.</span></div>
<div class="line"><a name="l00814"></a><span class="lineno"> 814</span>  updateReverseSearchVertex(vertex);</div>
<div class="line"><a name="l00815"></a><span class="lineno"> 815</span>  updateReverseSearchNeighbors(vertex);</div>
<div class="line"><a name="l00816"></a><span class="lineno"> 816</span>  }</div>
<div class="line"><a name="l00817"></a><span class="lineno"> 817</span>  }</div>
<div class="line"><a name="l00818"></a><span class="lineno"> 818</span>  </div>
<div class="line"><a name="l00819"></a><span class="lineno"> 819</span>  <span class="keywordtype">bool</span> AITstar::isEdgeBetter(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1aitstar_1_1Edge.html">Edge</a> &lhs, <span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1aitstar_1_1Edge.html">Edge</a> &rhs)<span class="keyword"> const</span></div>
<div class="line"><a name="l00820"></a><span class="lineno"> 820</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00821"></a><span class="lineno"> 821</span>  <span class="keywordflow">return</span> std::lexicographical_compare(</div>
<div class="line"><a name="l00822"></a><span class="lineno"> 822</span>  lhs.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1Edge.html#a3faa9b4f6540fc9a1628ae705257979c">getSortKey</a>().cbegin(), lhs.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1Edge.html#a3faa9b4f6540fc9a1628ae705257979c">getSortKey</a>().cend(), rhs.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1Edge.html#a3faa9b4f6540fc9a1628ae705257979c">getSortKey</a>().cbegin(), rhs.<a class="code" href="classompl_1_1geometric_1_1aitstar_1_1Edge.html#a3faa9b4f6540fc9a1628ae705257979c">getSortKey</a>().cend(),</div>
<div class="line"><a name="l00823"></a><span class="lineno"> 823</span>  [<span class="keyword">this</span>](<span class="keyword">const</span> <span class="keyword">auto</span> &a, <span class="keyword">const</span> <span class="keyword">auto</span> &b) { return objective_->isCostBetterThan(a, b); });</div>
<div class="line"><a name="l00824"></a><span class="lineno"> 824</span>  }</div>
<div class="line"><a name="l00825"></a><span class="lineno"> 825</span>  </div>
<div class="line"><a name="l00826"></a><span class="lineno"> 826</span>  <span class="keywordtype">bool</span> AITstar::isVertexBetter(<span class="keyword">const</span> aitstar::KeyVertexPair &lhs, <span class="keyword">const</span> aitstar::KeyVertexPair &rhs)<span class="keyword"> const</span></div>
<div class="line"><a name="l00827"></a><span class="lineno"> 827</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00828"></a><span class="lineno"> 828</span>  <span class="comment">// If the costs of two vertices are equal then we prioritize inconsistent vertices that are targets of</span></div>
<div class="line"><a name="l00829"></a><span class="lineno"> 829</span>  <span class="comment">// edges in the forward queue.</span></div>
<div class="line"><a name="l00830"></a><span class="lineno"> 830</span>  <span class="keywordflow">if</span> (objective_->isCostEquivalentTo(lhs.first[0u], rhs.first[0u]) &&</div>
<div class="line"><a name="l00831"></a><span class="lineno"> 831</span>  objective_->isCostEquivalentTo(lhs.first[1u], rhs.first[1u]))</div>
<div class="line"><a name="l00832"></a><span class="lineno"> 832</span>  {</div>
<div class="line"><a name="l00833"></a><span class="lineno"> 833</span>  <span class="keywordflow">return</span> !lhs.second->getForwardQueueIncomingLookup().empty() && !lhs.second->isConsistent();</div>
<div class="line"><a name="l00834"></a><span class="lineno"> 834</span>  }</div>
<div class="line"><a name="l00835"></a><span class="lineno"> 835</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00836"></a><span class="lineno"> 836</span>  {</div>
<div class="line"><a name="l00837"></a><span class="lineno"> 837</span>  <span class="comment">// Otherwise it's a regular lexicographical comparison of the keys.</span></div>
<div class="line"><a name="l00838"></a><span class="lineno"> 838</span>  <span class="keywordflow">return</span> std::lexicographical_compare(</div>
<div class="line"><a name="l00839"></a><span class="lineno"> 839</span>  lhs.first.cbegin(), lhs.first.cend(), rhs.first.cbegin(), rhs.first.cend(),</div>
<div class="line"><a name="l00840"></a><span class="lineno"> 840</span>  [<span class="keyword">this</span>](<span class="keyword">const</span> <span class="keyword">auto</span> &a, <span class="keyword">const</span> <span class="keyword">auto</span> &b) { return objective_->isCostBetterThan(a, b); });</div>
<div class="line"><a name="l00841"></a><span class="lineno"> 841</span>  }</div>
<div class="line"><a name="l00842"></a><span class="lineno"> 842</span>  }</div>
<div class="line"><a name="l00843"></a><span class="lineno"> 843</span>  </div>
<div class="line"><a name="l00844"></a><span class="lineno"> 844</span>  <span class="keywordtype">void</span> AITstar::updateReverseSearchVertex(<span class="keyword">const</span> std::shared_ptr<Vertex> &vertex)</div>
<div class="line"><a name="l00845"></a><span class="lineno"> 845</span>  {</div>