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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">#ifndef OMPL_GEOMETRIC_PLANNERS_RLRT_BIRLRT_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_RLRT_BIRLRT_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include "ompl/geometric/planners/PlannerIncludes.h"</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <vector></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="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></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="keyword">namespace </span>geometric</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  {</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keyword">class </span>BiRLRT : <span class="keyword">public</span> base::Planner</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>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  BiRLRT(<span class="keyword">const</span> base::SpaceInformationPtr &si);</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>  <span class="keyword">virtual</span> ~BiRLRT();</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  </div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#acf82ca521b99c931cefadaba3d739dff">getPlannerData</a>(base::PlannerData &data) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  </div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keyword">virtual</span> base::PlannerStatus <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a4fb81bbdfed131fcd0dc575d5736916e">solve</a>(<span class="keyword">const</span> base::PlannerTerminationCondition &ptc);</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="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#ad84a729b14bcc7879f677a875c92a732">clear</a>();</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a4412f7ef3e5c909887553fef40ce08c7">setRange</a>(<span class="keywordtype">double</span> distance)</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  {</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a253bdfb5740a84b1a072954d557b3f55">range_</a> = distance;</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  }</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a8e989e73f8210c7d64a933f33877b5b1">getRange</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a253bdfb5740a84b1a072954d557b3f55">range_</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  }</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  </div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a0739548abde6eef5319a9356109e2e12">setMaxDistanceNear</a>(<span class="keywordtype">double</span> dNear)</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>  <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a5fbb1ff2efd4d6f6ba02e638b1e85248">maxDistNear_</a> = dNear;</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  }</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  </div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a28101586165f4c288cf898a3288357b7">getMaxDistanceNear</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a5fbb1ff2efd4d6f6ba02e638b1e85248">maxDistNear_</a>;</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  }</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a9d8454fd6e4aed25ab9a626dc1324884">getKeepLast</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordflow">return</span> keepLast_;</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  }</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  </div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a10f2c95c70803b5f7ea797269cf84fff">setKeepLast</a>(<span class="keywordtype">bool</span> keepLast)</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>  keepLast_ = keepLast;</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>  </div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#aa33ba88ac8326dea8d015de44cd92a13">setup</a>();</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>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keyword">class </span>Motion</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  {</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiRLRT.html"> 127</a></span>  <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#a8afbd0a9c13cd931bd68291abbf0c807">Motion</a>(<span class="keyword">const</span> base::SpaceInformationPtr &si) : <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>(si->allocState())</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>  }</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>  ~<a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#a8afbd0a9c13cd931bd68291abbf0c807">Motion</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  </div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *<a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#ac3e5f970ccc0af55937613f87ee0916a">state</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  </div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#a8afbd0a9c13cd931bd68291abbf0c807">Motion</a> *<a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#af50c6f412c9adea8f9fabdafaca4d4fa">parent</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  </div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keyword">const</span> base::State *<a class="code" href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#a99f6abe9e3ad1e54296b3433708d6675">root</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  };</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  </div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#ae6540de93e17d53e24e9240c6e44c2db">freeMemory</a>();</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  </div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a2a8f50deb80b9918b7f57b39f02386d4">growTreeRangeLimited</a>(std::vector<Motion *> &tree, Motion *xmotion);</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  </div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a46a9a1be7d607738ca1594df4011e28f">growTreeKeepLast</a>(std::vector<Motion *> &tree, Motion *xmotion,</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  std::pair<base::State *, double> &lastValid);</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  </div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#afedc17485c2f909fa35af14bce43a26d">connectToTree</a>(<span class="keyword">const</span> Motion *motion, std::vector<Motion *> &tree);</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  </div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  std::vector<Motion *> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#afb2b76b59e7fdbccaf6d0030cdbf55be">tStart_</a>;</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  std::vector<Motion *> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#af516e8cd4acd430c4568cfbad2fbd9b0">tGoal_</a>;</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  </div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  base::StateSamplerPtr <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a671c91c75cb40663e59c59d3624fe1f0">sampler_</a>;</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  </div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a253bdfb5740a84b1a072954d557b3f55">range_</a>{0.0};</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  </div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a5fbb1ff2efd4d6f6ba02e638b1e85248">maxDistNear_</a>{0.0};</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  </div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  RNG <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#a18756ce551ea2936a600c41e3ffdc9f0">rng_</a>;</div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiRLRT.html#a8e989e73f8210c7d64a933f33877b5b1"> 179</a></span>  </div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  std::pair<base::State *, base::State *> <a class="code" href="classompl_1_1geometric_1_1BiRLRT.html#abc7a2b77df91bb5db15d4bbc14940279">connectionPoint_</a>{<span class="keyword">nullptr</span>, <span class="keyword">nullptr</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="keywordtype">bool</span> keepLast_{<span class="keyword">false</span>};</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  };</div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BiRLRT.html#a0739548abde6eef5319a9356109e2e12"> 186</a></span>  </div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  } <span class="comment">// namespace geometric</span></div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span> } <span class="comment">// namespace ompl</span></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> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_html_a5fbb1ff2efd4d6f6ba02e638b1e85248"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#a5fbb1ff2efd4d6f6ba02e638b1e85248">ompl::geometric::BiRLRT::maxDistNear_</a></div><div class="ttdeci">double maxDistNear_</div><div class="ttdoc">The maximum distance (per dimension) when sampling near an existing configuration.</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8h_source.html#l00271">BiRLRT.h:271</a></div></div>
<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="aclassompl_1_1geometric_1_1BiRLRT_html_abc7a2b77df91bb5db15d4bbc14940279"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#abc7a2b77df91bb5db15d4bbc14940279">ompl::geometric::BiRLRT::connectionPoint_</a></div><div class="ttdeci">std::pair< base::State *, base::State * > connectionPoint_</div><div class="ttdoc">The pair of states in each tree connected during planning. Used for PlannerData computation.</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8h_source.html#l00278">BiRLRT.h:278</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_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_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_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_html_a671c91c75cb40663e59c59d3624fe1f0"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#a671c91c75cb40663e59c59d3624fe1f0">ompl::geometric::BiRLRT::sampler_</a></div><div class="ttdeci">base::StateSamplerPtr sampler_</div><div class="ttdoc">State sampler.</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8h_source.html#l00264">BiRLRT.h:264</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_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="aclassompl_1_1geometric_1_1BiRLRT_html_afb2b76b59e7fdbccaf6d0030cdbf55be"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#afb2b76b59e7fdbccaf6d0030cdbf55be">ompl::geometric::BiRLRT::tStart_</a></div><div class="ttdeci">std::vector< Motion * > tStart_</div><div class="ttdoc">Start tree.</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8h_source.html#l00259">BiRLRT.h:259</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_1_1Motion_html_a8afbd0a9c13cd931bd68291abbf0c807"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT_1_1Motion.html#a8afbd0a9c13cd931bd68291abbf0c807">ompl::geometric::BiRLRT::Motion::Motion</a></div><div class="ttdeci">Motion(const base::SpaceInformationPtr &si)</div><div class="ttdoc">Constructor that allocates memory for the state.</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8h_source.html#l00223">BiRLRT.h:223</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="aclassompl_1_1geometric_1_1BiRLRT_html_a253bdfb5740a84b1a072954d557b3f55"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#a253bdfb5740a84b1a072954d557b3f55">ompl::geometric::BiRLRT::range_</a></div><div class="ttdeci">double range_</div><div class="ttdoc">The maximum total length of a motion to be added to a tree.</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8h_source.html#l00267">BiRLRT.h:267</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BiRLRT_html_af516e8cd4acd430c4568cfbad2fbd9b0"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#af516e8cd4acd430c4568cfbad2fbd9b0">ompl::geometric::BiRLRT::tGoal_</a></div><div class="ttdeci">std::vector< Motion * > tGoal_</div><div class="ttdoc">Goal tree.</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8h_source.html#l00261">BiRLRT.h:261</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="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="aclassompl_1_1geometric_1_1BiRLRT_html_a18756ce551ea2936a600c41e3ffdc9f0"><div class="ttname"><a href="classompl_1_1geometric_1_1BiRLRT.html#a18756ce551ea2936a600c41e3ffdc9f0">ompl::geometric::BiRLRT::rng_</a></div><div class="ttdeci">RNG rng_</div><div class="ttdoc">The random number generator.</div><div class="ttdef"><b>Definition:</b> <a href="BiRLRT_8h_source.html#l00274">BiRLRT.h:274</a></div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00021">AppBase.h:21</a></div></div>
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