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<div class="title">BiRLRT.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) 2015, Rice University</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * * Neither the name of Rice University nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> *********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Author: Ryan Luna */</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/rlrt/BiRLRT.h"</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include "ompl/base/goals/GoalSampleableRegion.h"</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#include "ompl/tools/config/SelfConfig.h"</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <limits></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> ompl::geometric::BiRLRT::BiRLRT(<span class="keyword">const</span> base::SpaceInformationPtr &si) : base::Planner(si, <span class="stringliteral">"BiRLRT"</span>)</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> {</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365">specs_</a>.<a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#ae2facc9260851b161577e36f5a4baefc">approximateSolutions</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365">specs_</a>.<a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#abe3ce1c340ba64c14644b0cace72907d">directed</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  Planner::declareParam<double>(<span class="stringliteral">"range"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a4412f7ef3e5c909887553fef40ce08c7">BiRLRT::setRange</a>, &<a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a8e989e73f8210c7d64a933f33877b5b1">BiRLRT::getRange</a>, <span class="stringliteral">"0.:1.:10000."</span>);</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  Planner::declareParam<double>(<span class="stringliteral">"max_dist_near"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a0739548abde6eef5319a9356109e2e12">BiRLRT::setMaxDistanceNear</a>, &<a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a28101586165f4c288cf898a3288357b7">BiRLRT::getMaxDistanceNear</a>,</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="stringliteral">"0.:0.1:10."</span>);</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  Planner::declareParam<bool>(<span class="stringliteral">"keep_last_valid"</span>, <span class="keyword">this</span>, &<a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a10f2c95c70803b5f7ea797269cf84fff">BiRLRT::setKeepLast</a>, &<a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a9d8454fd6e4aed25ab9a626dc1324884">BiRLRT::getKeepLast</a>, <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> }</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> ompl::geometric::BiRLRT::~BiRLRT()</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> {</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  freeMemory();</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> }</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiRLRT.html#ad84a729b14bcc7879f677a875c92a732"> 58</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#ad84a729b14bcc7879f677a875c92a732">ompl::geometric::BiRLRT::clear</a>()</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> {</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  Planner::clear();</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  sampler_.reset();</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  freeMemory();</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  connectionPoint_ = std::make_pair<base::State *, base::State *>(<span class="keyword">nullptr</span>, <span class="keyword">nullptr</span>);</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> }</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  </div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiRLRT.html#aa33ba88ac8326dea8d015de44cd92a13"> 66</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#aa33ba88ac8326dea8d015de44cd92a13">ompl::geometric::BiRLRT::setup</a>()</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> {</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  Planner::setup();</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <a class="code" href="classompl_1_1tools_1_1SelfConfig.html">tools::SelfConfig</a> sc(si_, getName());</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="keywordflow">if</span> (range_ < 1e-4)</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  sc.<a class="code" href="classompl_1_1tools_1_1SelfConfig.html#a65bff53ea4bc6f158342a856175ab9a6">configurePlannerRange</a>(range_);</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keywordflow">if</span> (maxDistNear_ < 1e-4)</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  maxDistNear_ = range_ / 20.0; <span class="comment">// make this pretty small</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> }</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiRLRT.html#ae6540de93e17d53e24e9240c6e44c2db"> 78</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#ae6540de93e17d53e24e9240c6e44c2db">ompl::geometric::BiRLRT::freeMemory</a>()</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> {</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &motion : tStart_)</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  {</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">if</span> (motion->state != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  si_->freeState(motion->state);</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keyword">delete</span> motion;</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  }</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &motion : tGoal_)</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  {</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordflow">if</span> (motion->state != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  si_->freeState(motion->state);</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keyword">delete</span> motion;</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  }</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>  tStart_.clear();</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  tGoal_.clear();</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>  </div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiRLRT.html#a2a8f50deb80b9918b7f57b39f02386d4"> 98</a></span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a2a8f50deb80b9918b7f57b39f02386d4">ompl::geometric::BiRLRT::growTreeRangeLimited</a>(std::vector<Motion *> &tree, <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html">Motion</a> *xmotion)</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> {</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  assert(tree.size() > 0);</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">// select a state from tree to expand from</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html">Motion</a> *randomMotion = tree[rng_.uniformInt(0, tree.size() - 1)];</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  </div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="comment">// Sample a random direction. Limit length of motion to range_, if necessary</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  sampler_->sampleUniform(xmotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>);</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordtype">double</span> d = si_->distance(randomMotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>, xmotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>);</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordflow">if</span> (d > range_)</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  si_->getStateSpace()->interpolate(randomMotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>, xmotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>, range_ / d, xmotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>);</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> (si_->checkMotion(randomMotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>, xmotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>))</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>  <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html">Motion</a> *motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html">Motion</a>(si_);</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  si_->copyState(motion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>, xmotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>);</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  motion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#af50c6f412c9adea8f9fabdafaca4d4fa">parent</a> = randomMotion;</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  motion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#a99f6abe9e3ad1e54296b3433708d6675">root</a> = randomMotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#a99f6abe9e3ad1e54296b3433708d6675">root</a>;</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  </div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  tree.push_back(motion);</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordflow">return</span> <span class="keyword">true</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>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> }</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  </div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiRLRT.html#a46a9a1be7d607738ca1594df4011e28f"> 126</a></span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a46a9a1be7d607738ca1594df4011e28f">ompl::geometric::BiRLRT::growTreeKeepLast</a>(std::vector<Motion *> &tree, <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html">Motion</a> *xmotion,</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  std::pair<ompl::base::State *, double> &lastValid)</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> {</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  assert(tree.size() > 0);</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">// select a state from tree to expand from</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html">Motion</a> *randomMotion = tree[rng_.uniformInt(0, tree.size() - 1)];</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">// Sample a random state.</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  sampler_->sampleUniform(xmotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</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>  lastValid.second = 0.0;</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keywordtype">bool</span> valid = si_->checkMotion(randomMotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>, xmotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>, lastValid);</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="keywordflow">if</span> (valid || lastValid.second > 1e-3)</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  {</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="comment">// create a new motion</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html">Motion</a> *motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html">Motion</a>(si_);</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  si_->copyState(motion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>, valid ? xmotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a> : lastValid.first);</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  motion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#af50c6f412c9adea8f9fabdafaca4d4fa">parent</a> = randomMotion;</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  motion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#a99f6abe9e3ad1e54296b3433708d6675">root</a> = randomMotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#a99f6abe9e3ad1e54296b3433708d6675">root</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>  tree.push_back(motion);</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  }</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="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> }</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  </div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiRLRT.html#afedc17485c2f909fa35af14bce43a26d"> 154</a></span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#afedc17485c2f909fa35af14bce43a26d">ompl::geometric::BiRLRT::connectToTree</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html">Motion</a> *motion, std::vector<Motion *> &tree)</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> {</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  assert(tree.size() > 0);</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="keywordtype">int</span> checks = tree.size() > 1 ? ceil(<a class="code" href="namespaceompl_1_1msg.html#affe7852f27c06f98af7eb2579f1e5350">log</a>(tree.size())) : 1;</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  </div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < checks; ++i)</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  {</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="comment">// select a state from tree to expand from</span></div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keywordtype">int</span> randIndex = rng_.uniformInt(0, tree.size() - 1);</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html">Motion</a> *randomMotion = tree[randIndex];</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  </div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="keywordflow">if</span> (si_->checkMotion(randomMotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>, motion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>))</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordflow">return</span> randIndex;</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  }</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  </div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keywordflow">return</span> -1; <span class="comment">// failed connection</span></div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> }</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  </div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiRLRT.html#a4fb81bbdfed131fcd0dc575d5736916e"> 173</a></span> <a class="code" href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a4fb81bbdfed131fcd0dc575d5736916e">ompl::geometric::BiRLRT::solve</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc)</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span> {</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  checkValidity();</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keyword">auto</span> *goal = <span class="keyword">dynamic_cast<</span><a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html">base::GoalSampleableRegion</a> *<span class="keyword">></span>(pdef_->getGoal().get());</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keywordflow">if</span> (!goal)</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#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: Unknown type of goal"</span>, getName().c_str());</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordflow">return</span> <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a47d769205044efa345184a640bd863ff">base::PlannerStatus::UNRECOGNIZED_GOAL_TYPE</a>;</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>  <span class="keywordflow">while</span> (<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *st = pis_.nextStart())</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  {</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html">Motion</a> *motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html">Motion</a>(si_);</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  si_->copyState(motion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>, st);</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  motion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#a99f6abe9e3ad1e54296b3433708d6675">root</a> = motion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>;</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  tStart_.push_back(motion);</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  }</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  </div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="keywordflow">if</span> (tStart_.size() == 0)</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  {</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: Motion planning start tree could not be initialized!"</span>, getName().c_str());</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordflow">return</span> <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a1f20d012b563fc223902e24a8bcd7547">base::PlannerStatus::INVALID_START</a>;</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="keywordflow">if</span> (!sampler_)</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  sampler_ = si_->allocStateSampler();</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>  <span class="keywordflow">if</span> (!goal->couldSample())</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  {</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: Insufficient states in sampleable goal region"</span>, getName().c_str());</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordflow">return</span> <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a2e2b2b7e02900c4417af0ecea272c637">base::PlannerStatus::INVALID_GOAL</a>;</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  }</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  </div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: Starting planning with %d states already in datastructure"</span>, getName().c_str(),</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  (<span class="keywordtype">int</span>)(tStart_.size() + tGoal_.size()));</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <span class="keywordflow">if</span> (keepLast_)</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: keeping last valid state"</span>, getName().c_str());</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: tree is range limited"</span>, getName().c_str());</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  </div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  std::vector<Motion *> *tree, *otherTree;</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  tree = &tStart_;</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  otherTree = &tGoal_;</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="keywordtype">bool</span> solved = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4">base::PlannerStatus::StatusType</a> status = <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a620a03eebe49aa307140d6a4763278fd">base::PlannerStatus::TIMEOUT</a>;</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  </div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="keyword">auto</span> xmotion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html">Motion</a>(si_);</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  </div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  std::pair<ompl::base::State *, double> lastValid;</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  lastValid.first = si_->allocState();</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  </div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keywordflow">while</span> (ptc == <span class="keyword">false</span> && solved == <span class="keyword">false</span>)</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">if</span> (tGoal_.size() == 0 || pis_.getSampledGoalsCount() < tGoal_.size() / 2)</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>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *st = tGoal_.size() == 0 ? pis_.nextGoal(ptc) : pis_.nextGoal();</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keywordflow">if</span> (st)</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  {</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html">Motion</a> *motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html">Motion</a>(si_);</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  si_->copyState(motion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>, st);</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  motion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#a99f6abe9e3ad1e54296b3433708d6675">root</a> = motion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>;</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  tGoal_.push_back(motion);</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>  </div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keywordflow">if</span> (tGoal_.size() == 0)</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#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: Unable to sample any valid states for goal tree"</span>, getName().c_str());</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  status = <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a2e2b2b7e02900c4417af0ecea272c637">base::PlannerStatus::INVALID_GOAL</a>;</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  }</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  }</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>  <span class="keywordtype">bool</span> expanded = keepLast_ ? growTreeKeepLast(*tree, xmotion, lastValid) : growTreeRangeLimited(*tree, xmotion);</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <span class="keywordflow">if</span> (expanded)</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="keywordtype">int</span> connectionIdx = connectToTree(tree->back(), *otherTree);</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <span class="keywordflow">if</span> (connectionIdx >= 0)</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  {</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="comment">// there is a solution path. construct it.</span></div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html">Motion</a> *startMotion = tree == &tStart_ ? tree->back() : otherTree->at(connectionIdx);</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html">Motion</a> *goalMotion = tree == &tStart_ ? otherTree->at(connectionIdx) : tree->back();</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  </div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="comment">// start and goal pair is not valid for this problem</span></div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="keywordflow">if</span> (!goal->isStartGoalPairValid(startMotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#a99f6abe9e3ad1e54296b3433708d6675">root</a>, goalMotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#a99f6abe9e3ad1e54296b3433708d6675">root</a>))</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  </div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  connectionPoint_ = std::make_pair(startMotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>, goalMotion-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>);</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>  <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html">Motion</a> *solution = startMotion;</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  std::vector<Motion *> mpath1;</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="keywordflow">while</span> (solution != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  {</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  mpath1.push_back(solution);</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  solution = solution-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#af50c6f412c9adea8f9fabdafaca4d4fa">parent</a>;</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  }</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  </div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  solution = goalMotion;</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  std::vector<Motion *> mpath2;</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <span class="keywordflow">while</span> (solution != <span class="keyword">nullptr</span>)</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>  mpath2.push_back(solution);</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  solution = solution-><a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#af50c6f412c9adea8f9fabdafaca4d4fa">parent</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>  </div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html">PathGeometric</a> *path = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html">PathGeometric</a>(si_);</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  path->getStates().reserve(mpath1.size() + mpath2.size());</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = mpath1.size() - 1; i >= 0; --i)</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  path->append(mpath1[i]->state);</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < mpath2.size(); ++i)</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  path->append(mpath2[i]->state);</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  </div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  pdef_->addSolutionPath(base::PathPtr(path), <span class="keyword">false</span>, 0.0, getName());</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  solved = <span class="keyword">true</span>;</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>  }</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  std::swap(tree, otherTree);</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  }</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>  si_->freeState(xmotion->state);</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <span class="keyword">delete</span> xmotion;</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  si_->freeState(lastValid.first);</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>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: Created %u states (%u start + %u goal)"</span>, getName().c_str(), tStart_.size() + tGoal_.size(),</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  tStart_.size(), tGoal_.size());</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  </div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="keywordflow">return</span> solved ? <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28">base::PlannerStatus::EXACT_SOLUTION</a> : status;</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span> }</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  </div>
<div class="line"><a name="l00301"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiRLRT.html#acf82ca521b99c931cefadaba3d739dff"> 301</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#acf82ca521b99c931cefadaba3d739dff">ompl::geometric::BiRLRT::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="l00302"></a><span class="lineno"> 302</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  Planner::getPlannerData(data);</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>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &motion : tStart_)</div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  {</div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <span class="keywordflow">if</span> (motion->parent == <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</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">base::PlannerDataVertex</a>(motion->state, 1));</div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  <span class="keywordflow">else</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"> 311</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">base::PlannerDataVertex</a>(motion->parent->state, 1), <a class="code" href="classompl_1_1base_1_1PlannerDataVertex.html">base::PlannerDataVertex</a>(motion->state, 1));</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  }</div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  }</div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &motion : tGoal_)</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  {</div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="keywordflow">if</span> (motion->parent == <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</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">base::PlannerDataVertex</a>(motion->state, 1));</div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  <span class="keywordflow">else</span></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>  data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#ac09c21494a8c7db500ef1a66bbbb1aa7">addEdge</a>(<a class="code" href="classompl_1_1base_1_1PlannerDataVertex.html">base::PlannerDataVertex</a>(motion->parent->state, 1), <a class="code" href="classompl_1_1base_1_1PlannerDataVertex.html">base::PlannerDataVertex</a>(motion->state, 1));</div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  }</div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  }</div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  </div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  <span class="comment">// Add the edge connecting the two trees</span></div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#ac09c21494a8c7db500ef1a66bbbb1aa7">addEdge</a>(data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a06792592713e6463c4b9814f2a715b4c">vertexIndex</a>(connectionPoint_.first), data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a06792592713e6463c4b9814f2a715b4c">vertexIndex</a>(connectionPoint_.second));</div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span> }</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_html_a9d8454fd6e4aed25ab9a626dc1324884"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#a9d8454fd6e4aed25ab9a626dc1324884">ompl::geometric::BiRLRT::getKeepLast</a></div><div class="ttdeci">bool getKeepLast() const</div><div class="ttdoc">If true, the planner will not have the range limitation. Instead, if a collision is detected,...</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8h_source.html#l00201">BiRLRT.h:201</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_1_1Motion_html_af50c6f412c9adea8f9fabdafaca4d4fa"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#af50c6f412c9adea8f9fabdafaca4d4fa">ompl::geometric::BiRLRT::Motion::parent</a></div><div class="ttdeci">Motion * parent</div><div class="ttdoc">The parent motion in the exploration tree.</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8h_source.html#l00233">BiRLRT.h:233</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_html_ae6540de93e17d53e24e9240c6e44c2db"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#ae6540de93e17d53e24e9240c6e44c2db">ompl::geometric::BiRLRT::freeMemory</a></div><div class="ttdeci">void freeMemory()</div><div class="ttdoc">Free the memory allocated by this planner.</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8cpp_source.html#l00078">BiRLRT.cpp:78</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a47d769205044efa345184a640bd863ff"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a47d769205044efa345184a640bd863ff">ompl::base::PlannerStatus::UNRECOGNIZED_GOAL_TYPE</a></div><div class="ttdeci">@ UNRECOGNIZED_GOAL_TYPE</div><div class="ttdoc">The goal is of a type that a planner does not recognize.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00188">PlannerStatus.h:188</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1SelfConfig_html_a65bff53ea4bc6f158342a856175ab9a6"><div class="ttname"><a href="classompl_1_1tools_1_1SelfConfig.html#a65bff53ea4bc6f158342a856175ab9a6">ompl::tools::SelfConfig::configurePlannerRange</a></div><div class="ttdeci">void configurePlannerRange(double &range)</div><div class="ttdoc">Compute what a good length for motion segments is.</div><div class="ttdef"><b>Definition:</b> <a href="SelfConfig_8cpp_source.html#l00225">SelfConfig.cpp:225</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html"><div class="ttname"><a href="classompl_1_1base_1_1State.html">ompl::base::State</a></div><div class="ttdoc">Definition of an abstract state.</div><div class="ttdef"><b>Definition:</b> <a href="base_2State_8h_source.html#l00113">State.h:113</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_html_afedc17485c2f909fa35af14bce43a26d"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#afedc17485c2f909fa35af14bce43a26d">ompl::geometric::BiRLRT::connectToTree</a></div><div class="ttdeci">int connectToTree(const Motion *motion, std::vector< Motion * > &tree)</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8cpp_source.html#l00154">BiRLRT.cpp:154</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1SelfConfig_html"><div class="ttname"><a href="classompl_1_1tools_1_1SelfConfig.html">ompl::tools::SelfConfig</a></div><div class="ttdoc">This class contains methods that automatically configure various parameters for motion planning....</div><div class="ttdef"><b>Definition:</b> <a href="SelfConfig_8h_source.html#l00122">SelfConfig.h:122</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_html_ad84a729b14bcc7879f677a875c92a732"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#ad84a729b14bcc7879f677a875c92a732">ompl::geometric::BiRLRT::clear</a></div><div class="ttdeci">virtual void clear()</div><div class="ttdoc">Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8cpp_source.html#l00058">BiRLRT.cpp:58</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_html_a10f2c95c70803b5f7ea797269cf84fff"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#a10f2c95c70803b5f7ea797269cf84fff">ompl::geometric::BiRLRT::setKeepLast</a></div><div class="ttdeci">void setKeepLast(bool keepLast)</div><div class="ttdoc">Set whether the planner will use the range or keep last heuristic. If keepLast = false,...</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8h_source.html#l00210">BiRLRT.h:210</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_html_aa33ba88ac8326dea8d015de44cd92a13"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#aa33ba88ac8326dea8d015de44cd92a13">ompl::geometric::BiRLRT::setup</a></div><div class="ttdeci">virtual void setup()</div><div class="ttdoc">Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8cpp_source.html#l00066">BiRLRT.cpp:66</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_1_1Motion_html"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html">ompl::geometric::BiRLRT::Motion</a></div><div class="ttdoc">A motion (tree node) with parent pointer.</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8h_source.html#l00219">BiRLRT.h:219</a></div></div>
<div class="ttc" id="anamespaceompl_1_1msg_html_affe7852f27c06f98af7eb2579f1e5350"><div class="ttname"><a href="namespaceompl_1_1msg.html#affe7852f27c06f98af7eb2579f1e5350">ompl::msg::log</a></div><div class="ttdeci">void log(const char *file, int line, LogLevel level, const char *m,...)</div><div class="ttdoc">Root level logging function. This should not be invoked directly, but rather used via a logging macro...</div><div class="ttdef"><b>Definition:</b> <a href="Console_8cpp_source.html#l00120">Console.cpp:120</a></div></div>
<div class="ttc" id="agroup__logging_html_ga04bc36d1b8c57ad7e13a8a48451a3a05"><div class="ttname"><a href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a></div><div class="ttdeci">#define OMPL_INFORM(fmt,...)</div><div class="ttdoc">Log a formatted information string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00068">Console.h:68</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a620a03eebe49aa307140d6a4763278fd"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a620a03eebe49aa307140d6a4763278fd">ompl::base::PlannerStatus::TIMEOUT</a></div><div class="ttdeci">@ TIMEOUT</div><div class="ttdoc">The planner failed to find a solution.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00190">PlannerStatus.h:190</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_html_a4412f7ef3e5c909887553fef40ce08c7"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#a4412f7ef3e5c909887553fef40ce08c7">ompl::geometric::BiRLRT::setRange</a></div><div class="ttdeci">void setRange(double distance)</div><div class="ttdoc">Set the maximum distance between states in the tree.</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8h_source.html#l00173">BiRLRT.h:173</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1PathGeometric_html"><div class="ttname"><a href="classompl_1_1geometric_1_1PathGeometric.html">ompl::geometric::PathGeometric</a></div><div class="ttdoc">Definition of a geometric path.</div><div class="ttdef"><b>Definition:</b> <a href="PathGeometric_8h_source.html#l00097">PathGeometric.h:97</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a></div><div class="ttdoc">Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...</div><div class="ttdef"><b>Definition:</b> <a href="base_2PlannerData_8h_source.html#l00238">PlannerData.h:238</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_html_a4fb81bbdfed131fcd0dc575d5736916e"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#a4fb81bbdfed131fcd0dc575d5736916e">ompl::geometric::BiRLRT::solve</a></div><div class="ttdeci">virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc)</div><div class="ttdoc">Function that can solve the motion planning problem. This function can be called multiple times on th...</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8cpp_source.html#l00173">BiRLRT.cpp:173</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_1_1Motion_html_a99f6abe9e3ad1e54296b3433708d6675"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#a99f6abe9e3ad1e54296b3433708d6675">ompl::geometric::BiRLRT::Motion::root</a></div><div class="ttdeci">const base::State * root</div><div class="ttdoc">Pointer to the root of the tree this motion is connected to.</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8h_source.html#l00236">BiRLRT.h:236</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerTerminationCondition_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a></div><div class="ttdoc">Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...</div><div class="ttdef"><b>Definition:</b> <a href="PlannerTerminationCondition_8h_source.html#l00127">PlannerTerminationCondition.h:127</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_a4311ea7a0470f0e0f76cb1656d63e365"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365">ompl::base::Planner::specs_</a></div><div class="ttdeci">PlannerSpecs specs_</div><div class="ttdoc">The specifications of the planner (its capabilities)</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00486">Planner.h:486</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a2e2b2b7e02900c4417af0ecea272c637"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a2e2b2b7e02900c4417af0ecea272c637">ompl::base::PlannerStatus::INVALID_GOAL</a></div><div class="ttdeci">@ INVALID_GOAL</div><div class="ttdoc">Invalid goal state.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00186">PlannerStatus.h:186</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_a06792592713e6463c4b9814f2a715b4c"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#a06792592713e6463c4b9814f2a715b4c">ompl::base::PlannerData::vertexIndex</a></div><div class="ttdeci">unsigned int vertexIndex(const PlannerDataVertex &v) const</div><div class="ttdoc">Return the index for the vertex associated with the given data. INVALID_INDEX is returned if this ver...</div><div class="ttdef"><b>Definition:</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00313">PlannerData.cpp:313</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerSpecs_html_abe3ce1c340ba64c14644b0cace72907d"><div class="ttname"><a href="structompl_1_1base_1_1PlannerSpecs.html#abe3ce1c340ba64c14644b0cace72907d">ompl::base::PlannerSpecs::directed</a></div><div class="ttdeci">bool directed</div><div class="ttdoc">Flag indicating whether the planner is able to account for the fact that the validity of a motion fro...</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00269">Planner.h:269</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_html_a28101586165f4c288cf898a3288357b7"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#a28101586165f4c288cf898a3288357b7">ompl::geometric::BiRLRT::getMaxDistanceNear</a></div><div class="ttdeci">double getMaxDistanceNear() const</div><div class="ttdoc">Get the maximum distance (per dimension) when sampling near an existing state.</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8h_source.html#l00193">BiRLRT.h:193</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_1_1Motion_html_ac3e5f970ccc0af55937613f87ee0916a"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">ompl::geometric::BiRLRT::Motion::state</a></div><div class="ttdeci">base::State * state</div><div class="ttdoc">The state contained by the motion.</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8h_source.html#l00230">BiRLRT.h:230</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a></div><div class="ttdoc">A class to store the exit status of Planner::solve()</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00112">PlannerStatus.h:112</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_html_acf82ca521b99c931cefadaba3d739dff"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#acf82ca521b99c931cefadaba3d739dff">ompl::geometric::BiRLRT::getPlannerData</a></div><div class="ttdeci">virtual void getPlannerData(base::PlannerData &data) const</div><div class="ttdoc">Get information about the current run of the motion planner. Repeated calls to this function will upd...</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8cpp_source.html#l00301">BiRLRT.cpp:301</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_html_a0739548abde6eef5319a9356109e2e12"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#a0739548abde6eef5319a9356109e2e12">ompl::geometric::BiRLRT::setMaxDistanceNear</a></div><div class="ttdeci">void setMaxDistanceNear(double dNear)</div><div class="ttdoc">Set the maximum distance (per dimension) when sampling near an existing state.</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8h_source.html#l00186">BiRLRT.h:186</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_html_a8e989e73f8210c7d64a933f33877b5b1"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#a8e989e73f8210c7d64a933f33877b5b1">ompl::geometric::BiRLRT::getRange</a></div><div class="ttdeci">double getRange() const</div><div class="ttdoc">Get the maximum distance between states in the tree.</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8h_source.html#l00179">BiRLRT.h:179</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28">ompl::base::PlannerStatus::EXACT_SOLUTION</a></div><div class="ttdeci">@ EXACT_SOLUTION</div><div class="ttdoc">The planner found an exact solution.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00194">PlannerStatus.h:194</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_html_a46a9a1be7d607738ca1594df4011e28f"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#a46a9a1be7d607738ca1594df4011e28f">ompl::geometric::BiRLRT::growTreeKeepLast</a></div><div class="ttdeci">bool growTreeKeepLast(std::vector< Motion * > &tree, Motion *xmotion, std::pair< base::State *, double > &lastValid)</div><div class="ttdoc">Try to grow the tree randomly. Return true if a new state was added.</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8cpp_source.html#l00126">BiRLRT.cpp:126</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4">ompl::base::PlannerStatus::StatusType</a></div><div class="ttdeci">StatusType</div><div class="ttdoc">The possible values of the status returned by a planner.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00147">PlannerStatus.h:147</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_a2eea84456784452486aa0065af391f47"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#a2eea84456784452486aa0065af391f47">ompl::base::PlannerData::addStartVertex</a></div><div class="ttdeci">unsigned int addStartVertex(const PlannerDataVertex &v)</div><div class="ttdoc">Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...</div><div class="ttdef"><b>Definition:</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00411">PlannerData.cpp:411</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_html_a2a8f50deb80b9918b7f57b39f02386d4"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#a2a8f50deb80b9918b7f57b39f02386d4">ompl::geometric::BiRLRT::growTreeRangeLimited</a></div><div class="ttdeci">bool growTreeRangeLimited(std::vector< Motion * > &tree, Motion *xmotion)</div><div class="ttdoc">Try to grow the tree randomly. Return true if a new state was added.</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8cpp_source.html#l00098">BiRLRT.cpp:98</a></div></div>
<div class="ttc" id="agroup__logging_html_ga05ad3ae88188e7f248748785afd2b882"><div class="ttname"><a href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a></div><div class="ttdeci">#define OMPL_ERROR(fmt,...)</div><div class="ttdoc">Log a formatted error string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00064">Console.h:64</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerSpecs_html_ae2facc9260851b161577e36f5a4baefc"><div class="ttname"><a href="structompl_1_1base_1_1PlannerSpecs.html#ae2facc9260851b161577e36f5a4baefc">ompl::base::PlannerSpecs::approximateSolutions</a></div><div class="ttdeci">bool approximateSolutions</div><div class="ttdoc">Flag indicating whether the planner is able to compute approximate solutions.</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00259">Planner.h:259</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_ac09c21494a8c7db500ef1a66bbbb1aa7"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#ac09c21494a8c7db500ef1a66bbbb1aa7">ompl::base::PlannerData::addEdge</a></div><div class="ttdeci">virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0))</div><div class="ttdoc">Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...</div><div class="ttdef"><b>Definition:</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00430">PlannerData.cpp:430</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1GoalSampleableRegion_html"><div class="ttname"><a href="classompl_1_1base_1_1GoalSampleableRegion.html">ompl::base::GoalSampleableRegion</a></div><div class="ttdoc">Abstract definition of a goal region that can be sampled.</div><div class="ttdef"><b>Definition:</b> <a href="GoalSampleableRegion_8h_source.html#l00111">GoalSampleableRegion.h:111</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a1f20d012b563fc223902e24a8bcd7547"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a1f20d012b563fc223902e24a8bcd7547">ompl::base::PlannerStatus::INVALID_START</a></div><div class="ttdeci">@ INVALID_START</div><div class="ttdoc">Invalid start state or no start state specified.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00184">PlannerStatus.h:184</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerDataVertex_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerDataVertex.html">ompl::base::PlannerDataVertex</a></div><div class="ttdoc">Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...</div><div class="ttdef"><b>Definition:</b> <a href="base_2PlannerData_8h_source.html#l00122">PlannerData.h:122</a></div></div>
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