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<div class="title">CForest.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) 2014, 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 the 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">/* Authors: Javier V. Gómez, Ioan Sucan, Mark Moll */</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/cforest/CForest.h"</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include "ompl/geometric/planners/rrt/RRTstar.h"</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#include "ompl/base/objectives/PathLengthOptimizationObjective.h"</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include "ompl/util/String.h"</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <thread></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> ompl::geometric::CForest::CForest(<span class="keyword">const</span> base::SpaceInformationPtr &si) : base::Planner(si, <span class="stringliteral">"CForest"</span>)</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> {</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  specs_.optimizingPaths = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  specs_.multithreaded = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  numThreads_ = std::max(std::thread::hardware_concurrency(), 2u);</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  Planner::declareParam<bool>(<span class="stringliteral">"focus_search"</span>, <span class="keyword">this</span>, &CForest::setFocusSearch, &CForest::getFocusSearch, <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  Planner::declareParam<unsigned int>(<span class="stringliteral">"num_threads"</span>, <span class="keyword">this</span>, &CForest::setNumThreads, &CForest::getNumThreads, <span class="stringliteral">"0:64"</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>  addPlannerProgressProperty(<span class="stringliteral">"best cost REAL"</span>, [<span class="keyword">this</span>]</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  {</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keywordflow">return</span> getBestCost();</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  });</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  addPlannerProgressProperty(<span class="stringliteral">"shared paths INTEGER"</span>, [<span class="keyword">this</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"> 58</span>  <span class="keywordflow">return</span> getNumPathsShared();</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>  addPlannerProgressProperty(<span class="stringliteral">"shared states INTEGER"</span>, [<span class="keyword">this</span>]</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  {</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">return</span> getNumStatesShared();</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</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"> 66</span> ompl::geometric::CForest::~CForest() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  </div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#a8afa358915bfa89765f78fce46b0595f"> 68</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#a8afa358915bfa89765f78fce46b0595f">ompl::geometric::CForest::setNumThreads</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numThreads)</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>  numThreads_ = numThreads != 0u ? numThreads : std::max(std::thread::hardware_concurrency(), 2u);</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>  </div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="keywordtype">void</span> ompl::geometric::CForest::addPlannerInstanceInternal(<span class="keyword">const</span> base::PlannerPtr &planner)</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> {</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordflow">if</span> (!planner->getSpecs().canReportIntermediateSolutions)</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <a class="code" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"%s cannot report intermediate solutions, not added as CForest planner."</span>, planner->getName().c_str());</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordflow">else</span></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>  planner->setProblemDefinition(pdef_);</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordflow">if</span> (planner->params().hasParam(<span class="stringliteral">"focus_search"</span>))</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  planner->params()[<span class="stringliteral">"focus_search"</span>] = focusSearch_;</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <a class="code" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"%s does not appear to support search focusing."</span>, planner->getName().c_str());</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  planners_.push_back(planner);</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="l00088"></a><span class="lineno"> 88</span>  </div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#aca48982e4c0177b867fdcef87c90be9f"> 89</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#aca48982e4c0177b867fdcef87c90be9f">ompl::geometric::CForest::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="l00090"></a><span class="lineno"> 90</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#ae8af389dbcdf416e142dc2f1cf5a8829">Planner::getPlannerData</a>(data);</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>  <span class="keywordflow">for</span> (std::size_t i = 0; i < planners_.size(); ++i)</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  {</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <a class="code" href="classompl_1_1base_1_1PlannerData.html">base::PlannerData</a> pd(si_);</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  planners_[i]->getPlannerData(pd);</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  </div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0; j < pd.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a877a673801134168cba0581b277cae79">numVertices</a>(); ++j)</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>  <a class="code" href="classompl_1_1base_1_1PlannerDataVertex.html">base::PlannerDataVertex</a> &v = pd.<a class="code" href="classompl_1_1base_1_1PlannerData.html#abebe83e30a20d7d79e26f18bf228e8bb">getVertex</a>(j);</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>  v.<a class="code" href="classompl_1_1base_1_1PlannerDataVertex.html#a4e6d6a6ecf6fdff4c4c74410be5c3596">setTag</a>(i);</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  std::vector<unsigned int> edgeList;</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numEdges = pd.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a81695127ac273368325eb61bd2b9b2ca">getIncomingEdges</a>(j, edgeList);</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < numEdges; ++k)</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  {</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> edgeWeight;</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <a class="code" href="classompl_1_1base_1_1PlannerDataVertex.html">base::PlannerDataVertex</a> &w = pd.<a class="code" href="classompl_1_1base_1_1PlannerData.html#abebe83e30a20d7d79e26f18bf228e8bb">getVertex</a>(edgeList[k]);</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  </div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  w.<a class="code" href="classompl_1_1base_1_1PlannerDataVertex.html#a4e6d6a6ecf6fdff4c4c74410be5c3596">setTag</a>(i);</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  pd.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a0457d193b3297e8e90ee28bbe651d07e">getEdgeWeight</a>(j, k, &edgeWeight);</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#ac09c21494a8c7db500ef1a66bbbb1aa7">addEdge</a>(v, w, pd.<a class="code" href="classompl_1_1base_1_1PlannerData.html#ab1702251b05069848409efade85a3605">getEdge</a>(j, k), edgeWeight);</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  }</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  }</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>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0; j < pd.<a class="code" href="classompl_1_1base_1_1PlannerData.html#acc1145957cc29ef8e8328b8f31b9216a">numGoalVertices</a>(); ++j)</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a7772ac307d153831c0e7ecfc4fb1c18b">markGoalState</a>(pd.<a class="code" href="classompl_1_1base_1_1PlannerData.html#acc67731741c9990a749307fd558161c1">getGoalVertex</a>(j).<a class="code" href="classompl_1_1base_1_1PlannerDataVertex.html#ac5b0bef3bc9dacf6cc11e033e770641e">getState</a>());</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="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0; j < pd.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a9b7c83a71e59cc10492b96c52990124d">numStartVertices</a>(); ++j)</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a48ebd34b6da9efd9ec7647155f9173c9">markStartState</a>(pd.<a class="code" href="classompl_1_1base_1_1PlannerData.html#ab2e140727e79440c47c275a52bfd0604">getStartVertex</a>(j).<a class="code" href="classompl_1_1base_1_1PlannerDataVertex.html#ac5b0bef3bc9dacf6cc11e033e770641e">getState</a>());</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  }</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> }</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  </div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#a8fcd2cdd4956e01b20015b8c6d0a95a9"> 124</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#a8fcd2cdd4956e01b20015b8c6d0a95a9">ompl::geometric::CForest::clear</a>()</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> {</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#a7929c12020a42b679601d22fb204919a">Planner::clear</a>();</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &planner : planners_)</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  planner->clear();</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>  bestCost_ = <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a>(std::numeric_limits<double>::quiet_NaN());</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  numPathsShared_ = 0;</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  numStatesShared_ = 0;</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>  std::vector<base::StateSamplerPtr> samplers;</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  samplers.reserve(samplers_.size());</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &sampler : samplers_)</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keywordflow">if</span> (sampler.use_count() > 1)</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  samplers.push_back(sampler);</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  samplers_.swap(samplers);</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>  </div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#af750a426c2d555de19705ac111a2437e"> 142</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#af750a426c2d555de19705ac111a2437e">ompl::geometric::CForest::setup</a>()</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> {</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#ab7e49fc3b3b7011d46d647d8f1603bd5">Planner::setup</a>();</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keywordflow">if</span> (pdef_->hasOptimizationObjective())</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  opt_ = pdef_->getOptimizationObjective();</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  {</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: No optimization objective specified. Defaulting to optimizing path length for the allowed "</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="stringliteral">"planning time."</span>,</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  getName().c_str());</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  opt_ = std::make_shared<base::PathLengthOptimizationObjective>(si_);</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  }</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  </div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  bestCost_ = opt_->infiniteCost();</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  </div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keywordflow">if</span> (planners_.empty())</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  {</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: Number and type of instances not specified. Defaulting to %d instances of RRTstar."</span>,</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  getName().c_str(), numThreads_);</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  addPlannerInstances<RRTstar>(numThreads_);</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  }</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  </div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &planner : planners_)</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordflow">if</span> (!planner->isSetup())</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  planner->setup();</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  </div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="comment">// This call is needed to make sure the ParamSet is up to date after changes induced by the planner setup calls</span></div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <span class="comment">// above, via the state space wrappers for CForest.</span></div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  si_->setup();</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_1CForest.html#ac2c809faf24daaaef1789517f0dfe013"> 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_1CForest.html#ac2c809faf24daaaef1789517f0dfe013">ompl::geometric::CForest::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>  </div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <a class="code" href="namespaceompl_1_1time.html#a4bbc20223e0b408d4a59f453a1ae7a25">time::point</a> start = <a class="code" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>();</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  std::vector<std::thread *> threads(planners_.size());</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="keyword">const</span> <a class="code" href="namespaceompl_1_1base.html#a2654ca90af54f839e5aa8936f1e23351">base::ReportIntermediateSolutionFn</a> prevSolutionCallback =</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  getProblemDefinition()->getIntermediateSolutionCallback();</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>  <span class="keywordflow">if</span> (prevSolutionCallback)</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <a class="code" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"Cannot use previously set intermediate solution callback with %s"</span>, getName().c_str());</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>  pdef_->setIntermediateSolutionCallback(</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  [<span class="keyword">this</span>](<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1Planner.html">base::Planner</a> *planner, <span class="keyword">const</span> std::vector<const base::State *> &states, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> cost) {</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="keywordflow">return</span> newSolutionFound(planner, states, cost);</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  });</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  bestCost_ = opt_->infiniteCost();</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="comment">// run each planner in its own thread, with the same ptc.</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < threads.size(); ++i)</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  {</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <a class="code" href="classompl_1_1base_1_1Planner.html">base::Planner</a> *planner = planners_[i].get();</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  threads[i] = <span class="keyword">new</span> std::thread([<span class="keyword">this</span>, planner, &ptc]</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">return</span> solve(planner, ptc);</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  });</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  }</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  </div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &thread : threads)</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  {</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  thread->join();</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <span class="keyword">delete</span> thread;</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>  </div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="comment">// restore callback</span></div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  getProblemDefinition()->setIntermediateSolutionCallback(prevSolutionCallback);</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">"Solution found in %f seconds"</span>, <a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1">time::seconds</a>(<a class="code" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>() - start));</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="keywordflow">return</span> {pdef_->hasSolution(), pdef_->hasApproximateSolution()};</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> }</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  </div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#a3a60889fc4c3ceb4ceb5a0ebbba7f0d4"> 213</a></span> std::string <a class="code" href="classompl_1_1geometric_1_1CForest.html#a3a60889fc4c3ceb4ceb5a0ebbba7f0d4">ompl::geometric::CForest::getBestCost</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keywordflow">return</span> <a class="code" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(bestCost_.value());</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> }</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  </div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#aa95d986076fd931412f644ce950ce092"> 218</a></span> std::string <a class="code" href="classompl_1_1geometric_1_1CForest.html#aa95d986076fd931412f644ce950ce092">ompl::geometric::CForest::getNumPathsShared</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keywordflow">return</span> std::to_string(numPathsShared_);</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span> }</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  </div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#aad41acab72d201f0852ee34ac4b888e3"> 223</a></span> std::string <a class="code" href="classompl_1_1geometric_1_1CForest.html#aad41acab72d201f0852ee34ac4b888e3">ompl::geometric::CForest::getNumStatesShared</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="keywordflow">return</span> std::to_string(numStatesShared_);</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span> }</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="keywordtype">void</span> ompl::geometric::CForest::newSolutionFound(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1Planner.html">base::Planner</a> *planner,</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keyword">const</span> std::vector<const base::State *> &states, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> cost)</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>  <span class="keywordtype">bool</span> change = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  std::vector<const base::State *> statesToShare;</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  newSolutionFoundMutex_.lock();</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <span class="keywordflow">if</span> (opt_->isCostBetterThan(cost, bestCost_))</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>  ++numPathsShared_;</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  bestCost_ = cost;</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  change = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  </div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <span class="comment">// Filtering the states to add only those not already added.</span></div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  statesToShare.reserve(states.size());</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> state : states)</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>  <span class="keywordflow">if</span> (statesShared_.find(state) == statesShared_.end())</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  {</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  statesShared_.insert(state);</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  statesToShare.push_back(state);</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  ++numStatesShared_;</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  }</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>  }</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  newSolutionFoundMutex_.unlock();</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  </div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keywordflow">if</span> (!change || statesToShare.empty())</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  </div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &i : samplers_)</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>  <span class="keyword">auto</span> *sampler = <span class="keyword">static_cast<</span>base::CForestStateSampler *<span class="keyword">></span>(i.get());</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="keyword">const</span> <span class="keyword">auto</span> *space =</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="keyword">static_cast<</span><span class="keyword">const </span>base::CForestStateSpaceWrapper *<span class="keyword">></span>(sampler->getStateSpace());</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <span class="keyword">const</span> base::Planner *cfplanner = space->getPlanner();</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="keywordflow">if</span> (cfplanner != planner)</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  sampler->setStatesToSample(statesToShare);</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  }</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> }</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  </div>
<div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#a185bafe7c4cd4297efc87bfefb9737f3"> 268</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#ac2c809faf24daaaef1789517f0dfe013">ompl::geometric::CForest::solve</a>(<a class="code" href="classompl_1_1base_1_1Planner.html">base::Planner</a> *planner, <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="l00269"></a><span class="lineno"> 269</span> {</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <a class="code" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Starting %s"</span>, planner->getName().c_str());</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <a class="code" href="namespaceompl_1_1time.html#a4bbc20223e0b408d4a59f453a1ae7a25">time::point</a> start = <a class="code" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>();</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="keywordflow">try</span></div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  {</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <span class="keywordflow">if</span> (planner->solve(ptc))</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  {</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <span class="keywordtype">double</span> duration = <a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1">time::seconds</a>(<a class="code" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>() - start);</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <a class="code" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Solution found by %s in %lf seconds"</span>, planner->getName().c_str(), duration);</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  }</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  }</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="keywordflow">catch</span> (<a class="code" href="classompl_1_1Exception.html">ompl::Exception</a> &e)</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  {</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Exception thrown during CForest::solve: %s"</span>, e.what());</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> }</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_acc1145957cc29ef8e8328b8f31b9216a"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#acc1145957cc29ef8e8328b8f31b9216a">ompl::base::PlannerData::numGoalVertices</a></div><div class="ttdeci">unsigned int numGoalVertices() const</div><div class="ttdoc">Returns the number of goal vertices.</div><div class="ttdef"><b>Definition:</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00326">PlannerData.cpp:326</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html">ompl::base::Planner</a></div><div class="ttdoc">Base class for a planner.</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00279">Planner.h:279</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_a0457d193b3297e8e90ee28bbe651d07e"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#a0457d193b3297e8e90ee28bbe651d07e">ompl::base::PlannerData::getEdgeWeight</a></div><div class="ttdeci">bool getEdgeWeight(unsigned int v1, unsigned int v2, Cost *weight) const</div><div class="ttdoc">Returns the weight of the edge between the given vertex indices. If there exists an edge between v1 a...</div><div class="ttdef"><b>Definition:</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00155">PlannerData.cpp:155</a></div></div>
<div class="ttc" id="anamespaceompl_1_1time_html_a4bbc20223e0b408d4a59f453a1ae7a25"><div class="ttname"><a href="namespaceompl_1_1time.html#a4bbc20223e0b408d4a59f453a1ae7a25">ompl::time::point</a></div><div class="ttdeci">std::chrono::system_clock::time_point point</div><div class="ttdoc">Representation of a point in time.</div><div class="ttdef"><b>Definition:</b> <a href="Time_8h_source.html#l00116">Time.h:116</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_aca48982e4c0177b867fdcef87c90be9f"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#aca48982e4c0177b867fdcef87c90be9f">ompl::geometric::CForest::getPlannerData</a></div><div class="ttdeci">void getPlannerData(base::PlannerData &data) const override</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="CForest_8cpp_source.html#l00089">CForest.cpp:89</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerDataVertex_html_a4e6d6a6ecf6fdff4c4c74410be5c3596"><div class="ttname"><a href="classompl_1_1base_1_1PlannerDataVertex.html#a4e6d6a6ecf6fdff4c4c74410be5c3596">ompl::base::PlannerDataVertex::setTag</a></div><div class="ttdeci">virtual void setTag(int tag)</div><div class="ttdoc">Set the integer tag associated with this vertex.</div><div class="ttdef"><b>Definition:</b> <a href="base_2PlannerData_8h_source.html#l00171">PlannerData.h:171</a></div></div>
<div class="ttc" id="anamespaceompl_1_1time_html_a5da903c529cfbbce79900b7c1cbc6cc3"><div class="ttname"><a href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">ompl::time::now</a></div><div class="ttdeci">point now()</div><div class="ttdoc">Get the current time point.</div><div class="ttdef"><b>Definition:</b> <a href="Time_8h_source.html#l00122">Time.h:122</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Cost_html"><div class="ttname"><a href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a></div><div class="ttdoc">Definition of a cost value. Can represent the cost of a motion or the cost of a state.</div><div class="ttdef"><b>Definition:</b> <a href="Cost_8h_source.html#l00111">Cost.h:111</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="aclassompl_1_1geometric_1_1CForest_html_aa95d986076fd931412f644ce950ce092"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#aa95d986076fd931412f644ce950ce092">ompl::geometric::CForest::getNumPathsShared</a></div><div class="ttdeci">std::string getNumPathsShared() const</div><div class="ttdoc">Get number of paths shared by the algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8cpp_source.html#l00218">CForest.cpp:218</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_ab7e49fc3b3b7011d46d647d8f1603bd5"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#ab7e49fc3b3b7011d46d647d8f1603bd5">ompl::base::Planner::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="Planner_8cpp_source.html#l00092">Planner.cpp:92</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_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_1PlannerData_html_a877a673801134168cba0581b277cae79"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#a877a673801134168cba0581b277cae79">ompl::base::PlannerData::numVertices</a></div><div class="ttdeci">unsigned int numVertices() const</div><div class="ttdoc">Retrieve the number of vertices in this structure.</div><div class="ttdef"><b>Definition:</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00200">PlannerData.cpp:200</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_a9b7c83a71e59cc10492b96c52990124d"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#a9b7c83a71e59cc10492b96c52990124d">ompl::base::PlannerData::numStartVertices</a></div><div class="ttdeci">unsigned int numStartVertices() const</div><div class="ttdoc">Returns the number of start vertices.</div><div class="ttdef"><b>Definition:</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00321">PlannerData.cpp:321</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_ab2e140727e79440c47c275a52bfd0604"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#ab2e140727e79440c47c275a52bfd0604">ompl::base::PlannerData::getStartVertex</a></div><div class="ttdeci">const PlannerDataVertex & getStartVertex(unsigned int i) const</div><div class="ttdoc">Retrieve a reference to the ith start vertex object. If i is greater than the number of start vertice...</div><div class="ttdef"><b>Definition:</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00357">PlannerData.cpp:357</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_1base_1_1PlannerData_html_a7772ac307d153831c0e7ecfc4fb1c18b"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#a7772ac307d153831c0e7ecfc4fb1c18b">ompl::base::PlannerData::markGoalState</a></div><div class="ttdeci">bool markGoalState(const State *st)</div><div class="ttdoc">Mark the given state as a goal vertex. If the given state does not exist in a vertex,...</div><div class="ttdef"><b>Definition:</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00595">PlannerData.cpp:595</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_aad41acab72d201f0852ee34ac4b888e3"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#aad41acab72d201f0852ee34ac4b888e3">ompl::geometric::CForest::getNumStatesShared</a></div><div class="ttdeci">std::string getNumStatesShared() const</div><div class="ttdoc">Get number of states actually shared by the algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8cpp_source.html#l00223">CForest.cpp:223</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_abebe83e30a20d7d79e26f18bf228e8bb"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#abebe83e30a20d7d79e26f18bf228e8bb">ompl::base::PlannerData::getVertex</a></div><div class="ttdeci">const PlannerDataVertex & getVertex(unsigned int index) const</div><div class="ttdoc">Retrieve a reference to the vertex object with the given index. If this vertex does not exist,...</div><div class="ttdef"><b>Definition:</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00210">PlannerData.cpp:210</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_a8fcd2cdd4956e01b20015b8c6d0a95a9"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#a8fcd2cdd4956e01b20015b8c6d0a95a9">ompl::geometric::CForest::clear</a></div><div class="ttdeci">void clear() override</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="CForest_8cpp_source.html#l00124">CForest.cpp:124</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerDataVertex_html_ac5b0bef3bc9dacf6cc11e033e770641e"><div class="ttname"><a href="classompl_1_1base_1_1PlannerDataVertex.html#ac5b0bef3bc9dacf6cc11e033e770641e">ompl::base::PlannerDataVertex::getState</a></div><div class="ttdeci">virtual const State * getState() const</div><div class="ttdoc">Retrieve the state associated with this vertex.</div><div class="ttdef"><b>Definition:</b> <a href="base_2PlannerData_8h_source.html#l00176">PlannerData.h:176</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_a8afa358915bfa89765f78fce46b0595f"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#a8afa358915bfa89765f78fce46b0595f">ompl::geometric::CForest::setNumThreads</a></div><div class="ttdeci">void setNumThreads(unsigned int numThreads=0)</div><div class="ttdoc">Set default number of threads to use when no planner instances are specified by the user.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8cpp_source.html#l00068">CForest.cpp:68</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_a48ebd34b6da9efd9ec7647155f9173c9"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#a48ebd34b6da9efd9ec7647155f9173c9">ompl::base::PlannerData::markStartState</a></div><div class="ttdeci">bool markStartState(const State *st)</div><div class="ttdoc">Mark the given state as a start vertex. If the given state does not exist in a vertex,...</div><div class="ttdef"><b>Definition:</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00578">PlannerData.cpp:578</a></div></div>
<div class="ttc" id="agroup__logging_html_gab76357dced39cb468d2061d3358f80a6"><div class="ttname"><a href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a></div><div class="ttdeci">#define OMPL_WARN(fmt,...)</div><div class="ttdoc">Log a formatted warning string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00066">Console.h:66</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_a7929c12020a42b679601d22fb204919a"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#a7929c12020a42b679601d22fb204919a">ompl::base::Planner::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="Planner_8cpp_source.html#l00118">Planner.cpp:118</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_af750a426c2d555de19705ac111a2437e"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#af750a426c2d555de19705ac111a2437e">ompl::geometric::CForest::setup</a></div><div class="ttdeci">void setup() override</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="CForest_8cpp_source.html#l00142">CForest.cpp:142</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_acc67731741c9990a749307fd558161c1"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#acc67731741c9990a749307fd558161c1">ompl::base::PlannerData::getGoalVertex</a></div><div class="ttdeci">const PlannerDataVertex & getGoalVertex(unsigned int i) const</div><div class="ttdoc">Retrieve a reference to the ith goal vertex object. If i is greater than the number of goal vertices,...</div><div class="ttdef"><b>Definition:</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00373">PlannerData.cpp:373</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_ae8af389dbcdf416e142dc2f1cf5a8829"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#ae8af389dbcdf416e142dc2f1cf5a8829">ompl::base::Planner::getPlannerData</a></div><div class="ttdeci">virtual void getPlannerData(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="Planner_8cpp_source.html#l00129">Planner.cpp:129</a></div></div>
<div class="ttc" id="anamespaceompl_1_1base_html_a2654ca90af54f839e5aa8936f1e23351"><div class="ttname"><a href="namespaceompl_1_1base.html#a2654ca90af54f839e5aa8936f1e23351">ompl::base::ReportIntermediateSolutionFn</a></div><div class="ttdeci">std::function< void(const Planner *, const std::vector< const base::State * > &, const Cost)> ReportIntermediateSolutionFn</div><div class="ttdoc">When a planner has an intermediate solution (e.g., optimizing planners), a function with this signatu...</div><div class="ttdef"><b>Definition:</b> <a href="ProblemDefinition_8h_source.html#l00209">ProblemDefinition.h:209</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="aclassompl_1_1base_1_1PlannerData_html_a81695127ac273368325eb61bd2b9b2ca"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#a81695127ac273368325eb61bd2b9b2ca">ompl::base::PlannerData::getIncomingEdges</a></div><div class="ttdeci">unsigned int getIncomingEdges(unsigned int v, std::vector< unsigned int > &edgeList) const</div><div class="ttdoc">Returns a list of vertices with outgoing edges to the vertex with index v. The number of edges connec...</div><div class="ttdef"><b>Definition:</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00129">PlannerData.cpp:129</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_a3a60889fc4c3ceb4ceb5a0ebbba7f0d4"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#a3a60889fc4c3ceb4ceb5a0ebbba7f0d4">ompl::geometric::CForest::getBestCost</a></div><div class="ttdeci">std::string getBestCost() const</div><div class="ttdoc">Get best cost among all the planners.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8cpp_source.html#l00213">CForest.cpp:213</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_1Exception_html"><div class="ttname"><a href="classompl_1_1Exception.html">ompl::Exception</a></div><div class="ttdoc">The exception type for ompl.</div><div class="ttdef"><b>Definition:</b> <a href="Exception_8h_source.html#l00078">Exception.h:78</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_ac2c809faf24daaaef1789517f0dfe013"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#ac2c809faf24daaaef1789517f0dfe013">ompl::geometric::CForest::solve</a></div><div class="ttdeci">base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override</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="CForest_8cpp_source.html#l00173">CForest.cpp:173</a></div></div>
<div class="ttc" id="anamespaceompl_html_a6e6c38ce80fbb8f10d826bb19b64735a"><div class="ttname"><a href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a></div><div class="ttdeci">std::string toString(float val)</div><div class="ttdoc">convert float to string using classic "C" locale semantics</div><div class="ttdef"><b>Definition:</b> <a href="String_8cpp_source.html#l00082">String.cpp:82</a></div></div>
<div class="ttc" id="agroup__logging_html_ga576d0bc79b521f19c5415f330e2b173d"><div class="ttname"><a href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a></div><div class="ttdeci">#define OMPL_DEBUG(fmt,...)</div><div class="ttdoc">Log a formatted debugging string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00070">Console.h:70</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>
<div class="ttc" id="anamespaceompl_1_1time_html_acac374ab4374adb207edb38cedb7fbb1"><div class="ttname"><a href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1">ompl::time::seconds</a></div><div class="ttdeci">duration seconds(double sec)</div><div class="ttdoc">Return the time duration representing a given number of seconds.</div><div class="ttdef"><b>Definition:</b> <a href="Time_8h_source.html#l00128">Time.h:128</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_ab1702251b05069848409efade85a3605"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#ab1702251b05069848409efade85a3605">ompl::base::PlannerData::getEdge</a></div><div class="ttdeci">const PlannerDataEdge & getEdge(unsigned int v1, unsigned int v2) const</div><div class="ttdoc">Retrieve a reference to the edge object connecting vertices with indexes v1 and v2....</div><div class="ttdef"><b>Definition:</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00228">PlannerData.cpp:228</a></div></div>
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