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<liclass="navelem"><b>ompl</b></li><liclass="navelem"><b>geometric</b></li><liclass="navelem"><b>planners</b></li><liclass="navelem"><b>est</b></li><liclass="navelem"><b>src</b></li></ul>
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<divclass="headertitle"><divclass="title">BiEST.cpp</div></div>
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<divclass="fragment"><divclass="line"><aid="l00001" name="l00001"></a><spanclass="lineno"> 1</span><spanclass="comment">/*********************************************************************</span></div>
<divclass="line"><aid="l00002" name="l00002"></a><spanclass="lineno"> 2</span><spanclass="comment"> * Software License Agreement (BSD License)</span></div>
<divclass="line"><aid="l00003" name="l00003"></a><spanclass="lineno"> 3</span><spanclass="comment"> *</span></div>
<divclass="line"><aid="l00004" name="l00004"></a><spanclass="lineno"> 4</span><spanclass="comment"> * Copyright (c) 2015, Rice University</span></div>
<divclass="line"><aid="l00005" name="l00005"></a><spanclass="lineno"> 5</span><spanclass="comment"> * All rights reserved.</span></div>
<divclass="line"><aid="l00006" name="l00006"></a><spanclass="lineno"> 6</span><spanclass="comment"> *</span></div>
<divclass="line"><aid="l00007" name="l00007"></a><spanclass="lineno"> 7</span><spanclass="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<divclass="line"><aid="l00008" name="l00008"></a><spanclass="lineno"> 8</span><spanclass="comment"> * modification, are permitted provided that the following conditions</span></div>
<divclass="line"><aid="l00009" name="l00009"></a><spanclass="lineno"> 9</span><spanclass="comment"> * are met:</span></div>
<divclass="line"><aid="l00010" name="l00010"></a><spanclass="lineno"> 10</span><spanclass="comment"> *</span></div>
<divclass="line"><aid="l00011" name="l00011"></a><spanclass="lineno"> 11</span><spanclass="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<divclass="line"><aid="l00012" name="l00012"></a><spanclass="lineno"> 12</span><spanclass="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<divclass="line"><aid="l00013" name="l00013"></a><spanclass="lineno"> 13</span><spanclass="comment"> * * Redistributions in binary form must reproduce the above</span></div>
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<divclass="line"><aid="l00034" name="l00034"></a><spanclass="lineno"> 34</span></div>
<divclass="line"><aid="l00035" name="l00035"></a><spanclass="lineno"> 35</span><spanclass="comment">/* Author: Ryan Luna */</span></div>
<divclass="line"><aid="l00036" name="l00036"></a><spanclass="lineno"> 36</span></div>
<divclass="line"><aid="l00037" name="l00037"></a><spanclass="lineno"> 37</span><spanclass="preprocessor">#include &quot;ompl/geometric/planners/est/BiEST.h&quot;</span></div>
<divclass="line"><aid="l00038" name="l00038"></a><spanclass="lineno"> 38</span><spanclass="preprocessor">#include &quot;ompl/base/goals/GoalSampleableRegion.h&quot;</span></div>
<divclass="line"><aid="l00039" name="l00039"></a><spanclass="lineno"> 39</span><spanclass="preprocessor">#include &quot;ompl/tools/config/SelfConfig.h&quot;</span></div>
<divclass="line"><aid="l00040" name="l00040"></a><spanclass="lineno"> 40</span><spanclass="preprocessor">#include &lt;limits&gt;</span></div>
<divclass="line"><aid="l00041" name="l00041"></a><spanclass="lineno"> 41</span><spanclass="preprocessor">#include &lt;cassert&gt;</span></div>
<divclass="line"><aid="l00042" name="l00042"></a><spanclass="lineno"> 42</span></div>
<divclass="foldopen" id="foldopen00043" data-start="{" data-end="}">
<divclass="line"><aid="l00043" name="l00043"></a><spanclass="lineno"><aclass="line" href="classompl_1_1geometric_1_1BiEST.html#a72d99dedaa6f82f033f7131e703acaab"> 43</a></span><aclass="code hl_function" href="classompl_1_1geometric_1_1BiEST.html#a72d99dedaa6f82f033f7131e703acaab">ompl::geometric::BiEST::BiEST</a>(<spanclass="keyword">const</span> base::SpaceInformationPtr &amp;si) : <aclass="code hl_namespace" href="namespaceompl_1_1base.html">base</a>::Planner(si, <spanclass="stringliteral">&quot;BiEST&quot;</span>)</div>
<divclass="line"><aid="l00044" name="l00044"></a><spanclass="lineno"> 44</span>{</div>
<divclass="line"><aid="l00045" name="l00045"></a><spanclass="lineno"> 45</span><aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365">specs_</a>.recognizedGoal = <aclass="code hl_enumvalue" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a6fb685fa51055688c4e130094225b7f9">base::GOAL_SAMPLEABLE_REGION</a>;</div>
<divclass="line"><aid="l00046" name="l00046"></a><spanclass="lineno"> 46</span><aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365">specs_</a>.directed = <spanclass="keyword">true</span>;</div>
<divclass="line"><aid="l00047" name="l00047"></a><spanclass="lineno"> 47</span></div>
<divclass="line"><aid="l00048" name="l00048"></a><spanclass="lineno"> 48</span> Planner::declareParam&lt;double&gt;(<spanclass="stringliteral">&quot;range&quot;</span>, <spanclass="keyword">this</span>, &amp;<aclass="code hl_function" href="classompl_1_1geometric_1_1BiEST.html#a9d0c2d6131257d38d80323bc1a0fa3fa">BiEST::setRange</a>, &amp;<aclass="code hl_function" href="classompl_1_1geometric_1_1BiEST.html#a38a9f84eafe8593f0f59db4a97bf923c">BiEST::getRange</a>, <spanclass="stringliteral">&quot;0.:1.:10000.&quot;</span>);</div>
<divclass="line"><aid="l00049" name="l00049"></a><spanclass="lineno"> 49</span>}</div>
</div>
<divclass="line"><aid="l00050" name="l00050"></a><spanclass="lineno"> 50</span></div>
<divclass="line"><aid="l00051" name="l00051"></a><spanclass="lineno"> 51</span>ompl::geometric::BiEST::~BiEST()</div>
<divclass="line"><aid="l00052" name="l00052"></a><spanclass="lineno"> 52</span>{</div>
<divclass="line"><aid="l00053" name="l00053"></a><spanclass="lineno"> 53</span> freeMemory();</div>
<divclass="line"><aid="l00054" name="l00054"></a><spanclass="lineno"> 54</span>}</div>
<divclass="line"><aid="l00055" name="l00055"></a><spanclass="lineno"> 55</span></div>
<divclass="foldopen" id="foldopen00056" data-start="{" data-end="}">
<divclass="line"><aid="l00056" name="l00056"></a><spanclass="lineno"><aclass="line" href="classompl_1_1geometric_1_1BiEST.html#a216a39f7f917ea9751dedc81965a8aa3"> 56</a></span><spanclass="keywordtype">void</span><aclass="code hl_function" href="classompl_1_1geometric_1_1BiEST.html#a216a39f7f917ea9751dedc81965a8aa3">ompl::geometric::BiEST::setup</a>()</div>
<divclass="line"><aid="l00057" name="l00057"></a><spanclass="lineno"> 57</span>{</div>
<divclass="line"><aid="l00058" name="l00058"></a><spanclass="lineno"> 58</span> Planner::setup();</div>
<divclass="line"><aid="l00059" name="l00059"></a><spanclass="lineno"> 59</span></div>
<divclass="line"><aid="l00060" name="l00060"></a><spanclass="lineno"> 60</span><aclass="code hl_class" href="classompl_1_1tools_1_1SelfConfig.html">tools::SelfConfig</a> sc(<aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>, <aclass="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>());</div>
<divclass="line"><aid="l00061" name="l00061"></a><spanclass="lineno"> 61</span> sc.<aclass="code hl_function" href="classompl_1_1tools_1_1SelfConfig.html#a65bff53ea4bc6f158342a856175ab9a6">configurePlannerRange</a>(<aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a5971ef305f4c66d1f3329495b8304d15">maxDistance_</a>);</div>
<divclass="line"><aid="l00062" name="l00062"></a><spanclass="lineno"> 62</span></div>
<divclass="line"><aid="l00063" name="l00063"></a><spanclass="lineno"> 63</span><spanclass="comment">// Make the neighborhood radius smaller than sampling range to</span></div>
<divclass="line"><aid="l00064" name="l00064"></a><spanclass="lineno"> 64</span><spanclass="comment">// keep probabilities relatively high for rejection sampling</span></div>
<divclass="line"><aid="l00065" name="l00065"></a><spanclass="lineno"> 65</span><aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a3a84ea128ca195c78dba20afdee2af78">nbrhoodRadius_</a> = <aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a5971ef305f4c66d1f3329495b8304d15">maxDistance_</a> / 3.0;</div>
<divclass="line"><aid="l00066" name="l00066"></a><spanclass="lineno"> 66</span></div>
<divclass="line"><aid="l00067" name="l00067"></a><spanclass="lineno"> 67</span><spanclass="keywordflow">if</span> (!<aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a3f7d12fa0cf61b2a51ddf387e1b57cee">nnStart_</a>)</div>
<divclass="line"><aid="l00068" name="l00068"></a><spanclass="lineno"> 68</span><aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a3f7d12fa0cf61b2a51ddf387e1b57cee">nnStart_</a>.reset(<aclass="code hl_function" href="classompl_1_1tools_1_1SelfConfig.html#a23f1fef30af80542eeb4709465a06148">tools::SelfConfig::getDefaultNearestNeighbors&lt;Motion *&gt;</a>(<spanclass="keyword">this</span>));</div>
<divclass="line"><aid="l00069" name="l00069"></a><spanclass="lineno"> 69</span><spanclass="keywordflow">if</span> (!nnGoal_)</div>
<divclass="line"><aid="l00070" name="l00070"></a><spanclass="lineno"> 70</span> nnGoal_.reset(<aclass="code hl_function" href="classompl_1_1tools_1_1SelfConfig.html#a23f1fef30af80542eeb4709465a06148">tools::SelfConfig::getDefaultNearestNeighbors&lt;Motion *&gt;</a>(<spanclass="keyword">this</span>));</div>
<divclass="line"><aid="l00071" name="l00071"></a><spanclass="lineno"> 71</span><aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a3f7d12fa0cf61b2a51ddf387e1b57cee">nnStart_</a>-&gt;setDistanceFunction([<spanclass="keyword">this</span>](<spanclass="keyword">const</span><aclass="code hl_class" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html">Motion</a> *a, <spanclass="keyword">const</span><aclass="code hl_class" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html">Motion</a> *b) { <spanclass="keywordflow">return</span><aclass="code hl_function" href="classompl_1_1geometric_1_1BiEST.html#aebb1a5cb966992266f4a383b2eed7db9">distanceFunction</a>(a, b); });</div>
<divclass="line"><aid="l00072" name="l00072"></a><spanclass="lineno"> 72</span> nnGoal_-&gt;setDistanceFunction([<spanclass="keyword">this</span>](<spanclass="keyword">const</span><aclass="code hl_class" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html">Motion</a> *a, <spanclass="keyword">const</span><aclass="code hl_class" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html">Motion</a> *b) { <spanclass="keywordflow">return</span><aclass="code hl_function" href="classompl_1_1geometric_1_1BiEST.html#aebb1a5cb966992266f4a383b2eed7db9">distanceFunction</a>(a, b); });</div>
<divclass="line"><aid="l00073" name="l00073"></a><spanclass="lineno"> 73</span>}</div>
</div>
<divclass="line"><aid="l00074" name="l00074"></a><spanclass="lineno"> 74</span></div>
<divclass="foldopen" id="foldopen00075" data-start="{" data-end="}">
<divclass="line"><aid="l00075" name="l00075"></a><spanclass="lineno"><aclass="line" href="classompl_1_1geometric_1_1BiEST.html#a4f6debd19df3b75fb191cfd4568a8cd2"> 75</a></span><spanclass="keywordtype">void</span><aclass="code hl_function" href="classompl_1_1geometric_1_1BiEST.html#a4f6debd19df3b75fb191cfd4568a8cd2">ompl::geometric::BiEST::clear</a>()</div>
<divclass="line"><aid="l00076" name="l00076"></a><spanclass="lineno"> 76</span>{</div>
<divclass="line"><aid="l00077" name="l00077"></a><spanclass="lineno"> 77</span> Planner::clear();</div>
<divclass="line"><aid="l00078" name="l00078"></a><spanclass="lineno"> 78</span><aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a04e975094b3061b1b03aa9a4274f935b">sampler_</a>.reset();</div>
<divclass="line"><aid="l00079" name="l00079"></a><spanclass="lineno"> 79</span><aclass="code hl_function" href="classompl_1_1geometric_1_1BiEST.html#a1e04a922f474387b538c920d7e4f50a0">freeMemory</a>();</div>
<divclass="line"><aid="l00080" name="l00080"></a><spanclass="lineno"> 80</span><spanclass="keywordflow">if</span> (<aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a3f7d12fa0cf61b2a51ddf387e1b57cee">nnStart_</a>)</div>
<divclass="line"><aid="l00081" name="l00081"></a><spanclass="lineno"> 81</span><aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a3f7d12fa0cf61b2a51ddf387e1b57cee">nnStart_</a>-&gt;clear();</div>
<divclass="line"><aid="l00082" name="l00082"></a><spanclass="lineno"> 82</span><spanclass="keywordflow">if</span> (nnGoal_)</div>
<divclass="line"><aid="l00083" name="l00083"></a><spanclass="lineno"> 83</span> nnGoal_-&gt;clear();</div>
<divclass="line"><aid="l00084" name="l00084"></a><spanclass="lineno"> 84</span></div>
<divclass="line"><aid="l00085" name="l00085"></a><spanclass="lineno"> 85</span><aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a7379a61f62527f15da424f725e1484b9">startMotions_</a>.clear();</div>
<divclass="line"><aid="l00086" name="l00086"></a><spanclass="lineno"> 86</span><aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a1ab64d956622fd9bb05ad44b1cea7604">startPdf_</a>.clear();</div>
<divclass="line"><aid="l00087" name="l00087"></a><spanclass="lineno"> 87</span></div>
<divclass="line"><aid="l00088" name="l00088"></a><spanclass="lineno"> 88</span> goalMotions_.clear();</div>
<divclass="line"><aid="l00089" name="l00089"></a><spanclass="lineno"> 89</span> goalPdf_.clear();</div>
<divclass="line"><aid="l00090" name="l00090"></a><spanclass="lineno"> 90</span></div>
<divclass="line"><aid="l00091" name="l00091"></a><spanclass="lineno"> 91</span><aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#ae94d6567e4ae0f7808169d4f871857c2">connectionPoint_</a> = std::make_pair&lt;base::State *, base::State *&gt;(<spanclass="keyword">nullptr</span>, <spanclass="keyword">nullptr</span>);</div>
<divclass="line"><aid="l00092" name="l00092"></a><spanclass="lineno"> 92</span>}</div>
</div>
<divclass="line"><aid="l00093" name="l00093"></a><spanclass="lineno"> 93</span></div>
<divclass="foldopen" id="foldopen00094" data-start="{" data-end="}">
<divclass="line"><aid="l00094" name="l00094"></a><spanclass="lineno"><aclass="line" href="classompl_1_1geometric_1_1BiEST.html#a1e04a922f474387b538c920d7e4f50a0"> 94</a></span><spanclass="keywordtype">void</span><aclass="code hl_function" href="classompl_1_1geometric_1_1BiEST.html#a1e04a922f474387b538c920d7e4f50a0">ompl::geometric::BiEST::freeMemory</a>()</div>
<divclass="line"><aid="l00095" name="l00095"></a><spanclass="lineno"> 95</span>{</div>
<divclass="line"><aid="l00096" name="l00096"></a><spanclass="lineno"> 96</span><spanclass="keywordflow">for</span> (<spanclass="keyword">auto</span> &amp;startMotion : <aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a7379a61f62527f15da424f725e1484b9">startMotions_</a>)</div>
<divclass="line"><aid="l00097" name="l00097"></a><spanclass="lineno"> 97</span> {</div>
<divclass="line"><aid="l00098" name="l00098"></a><spanclass="lineno"> 98</span><spanclass="keywordflow">if</span> (startMotion-&gt;state != <spanclass="keyword">nullptr</span>)</div>
<divclass="line"><aid="l00099" name="l00099"></a><spanclass="lineno"> 99</span><aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>-&gt;freeState(startMotion-&gt;state);</div>
<divclass="line"><aid="l00100" name="l00100"></a><spanclass="lineno"> 100</span><spanclass="keyword">delete</span> startMotion;</div>
<divclass="line"><aid="l00101" name="l00101"></a><spanclass="lineno"> 101</span> }</div>
<divclass="line"><aid="l00102" name="l00102"></a><spanclass="lineno"> 102</span></div>
<divclass="line"><aid="l00103" name="l00103"></a><spanclass="lineno"> 103</span><spanclass="keywordflow">for</span> (<spanclass="keyword">auto</span> &amp;goalMotion : goalMotions_)</div>
<divclass="line"><aid="l00104" name="l00104"></a><spanclass="lineno"> 104</span> {</div>
<divclass="line"><aid="l00105" name="l00105"></a><spanclass="lineno"> 105</span><spanclass="keywordflow">if</span> (goalMotion-&gt;state != <spanclass="keyword">nullptr</span>)</div>
<divclass="line"><aid="l00106" name="l00106"></a><spanclass="lineno"> 106</span><aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>-&gt;freeState(goalMotion-&gt;state);</div>
<divclass="line"><aid="l00107" name="l00107"></a><spanclass="lineno"> 107</span><spanclass="keyword">delete</span> goalMotion;</div>
<divclass="line"><aid="l00108" name="l00108"></a><spanclass="lineno"> 108</span> }</div>
<divclass="line"><aid="l00109" name="l00109"></a><spanclass="lineno"> 109</span>}</div>
</div>
<divclass="line"><aid="l00110" name="l00110"></a><spanclass="lineno"> 110</span></div>
<divclass="foldopen" id="foldopen00111" data-start="{" data-end="}">
<divclass="line"><aid="l00111" name="l00111"></a><spanclass="lineno"><aclass="line" href="classompl_1_1geometric_1_1BiEST.html#a2b1969192468946aec6c55a212d024cc"> 111</a></span><aclass="code hl_struct" href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a><aclass="code hl_function" href="classompl_1_1geometric_1_1BiEST.html#a2b1969192468946aec6c55a212d024cc">ompl::geometric::BiEST::solve</a>(<spanclass="keyword">const</span><aclass="code hl_class" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &amp;ptc)</div>
<divclass="line"><aid="l00112" name="l00112"></a><spanclass="lineno"> 112</span>{</div>
<divclass="line"><aid="l00113" name="l00113"></a><spanclass="lineno"> 113</span><aclass="code hl_function" href="classompl_1_1base_1_1Planner.html#ab416900477cf4499139c01f35663dffb">checkValidity</a>();</div>
<divclass="line"><aid="l00114" name="l00114"></a><spanclass="lineno"> 114</span><spanclass="keyword">auto</span> *goal = <spanclass="keyword">dynamic_cast&lt;</span><aclass="code hl_class" href="classompl_1_1base_1_1GoalSampleableRegion.html">base::GoalSampleableRegion</a> *<spanclass="keyword">&gt;</span>(<aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>-&gt;getGoal().get());</div>
<divclass="line"><aid="l00115" name="l00115"></a><spanclass="lineno"> 115</span></div>
<divclass="line"><aid="l00116" name="l00116"></a><spanclass="lineno"> 116</span><spanclass="keywordflow">if</span> (goal == <spanclass="keyword">nullptr</span>)</div>
<divclass="line"><aid="l00117" name="l00117"></a><spanclass="lineno"> 117</span> {</div>
<divclass="line"><aid="l00118" name="l00118"></a><spanclass="lineno"> 118</span><aclass="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<spanclass="stringliteral">&quot;%s: Unknown type of goal&quot;</span>, <aclass="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<divclass="line"><aid="l00119" name="l00119"></a><spanclass="lineno"> 119</span><spanclass="keywordflow">return</span><aclass="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a47d769205044efa345184a640bd863ff">base::PlannerStatus::UNRECOGNIZED_GOAL_TYPE</a>;</div>
<divclass="line"><aid="l00120" name="l00120"></a><spanclass="lineno"> 120</span> }</div>
<divclass="line"><aid="l00121" name="l00121"></a><spanclass="lineno"> 121</span></div>
<divclass="line"><aid="l00122" name="l00122"></a><spanclass="lineno"> 122</span> std::vector&lt;Motion *&gt; neighbors;</div>
<divclass="line"><aid="l00123" name="l00123"></a><spanclass="lineno"> 123</span></div>
<divclass="line"><aid="l00124" name="l00124"></a><spanclass="lineno"> 124</span><spanclass="keywordflow">while</span> (<spanclass="keyword">const</span><aclass="code hl_class" href="classompl_1_1base_1_1State.html">base::State</a> *st = <aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>.nextStart())</div>
<divclass="line"><aid="l00125" name="l00125"></a><spanclass="lineno"> 125</span> {</div>
<divclass="line"><aid="l00126" name="l00126"></a><spanclass="lineno"> 126</span><spanclass="keyword">auto</span> *motion = <spanclass="keyword">new</span><aclass="code hl_class" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html">Motion</a>(<aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>);</div>
<divclass="line"><aid="l00127" name="l00127"></a><spanclass="lineno"> 127</span><aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>-&gt;copyState(motion-&gt;state, st);</div>
<divclass="line"><aid="l00128" name="l00128"></a><spanclass="lineno"> 128</span> motion-&gt;root = motion-&gt;state;</div>
<divclass="line"><aid="l00129" name="l00129"></a><spanclass="lineno"> 129</span></div>
<divclass="line"><aid="l00130" name="l00130"></a><spanclass="lineno"> 130</span><aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a3f7d12fa0cf61b2a51ddf387e1b57cee">nnStart_</a>-&gt;nearestR(motion, <aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a3a84ea128ca195c78dba20afdee2af78">nbrhoodRadius_</a>, neighbors);</div>
<divclass="line"><aid="l00131" name="l00131"></a><spanclass="lineno"> 131</span><aclass="code hl_function" href="classompl_1_1geometric_1_1BiEST.html#a1d0bf3ea5c8ef2393fceeb628216ebac">addMotion</a>(motion, <aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a7379a61f62527f15da424f725e1484b9">startMotions_</a>, <aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a1ab64d956622fd9bb05ad44b1cea7604">startPdf_</a>, <aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a3f7d12fa0cf61b2a51ddf387e1b57cee">nnStart_</a>, neighbors);</div>
<divclass="line"><aid="l00132" name="l00132"></a><spanclass="lineno"> 132</span> }</div>
<divclass="line"><aid="l00133" name="l00133"></a><spanclass="lineno"> 133</span></div>
<divclass="line"><aid="l00134" name="l00134"></a><spanclass="lineno"> 134</span><spanclass="keywordflow">if</span> (<aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a7379a61f62527f15da424f725e1484b9">startMotions_</a>.empty())</div>
<divclass="line"><aid="l00135" name="l00135"></a><spanclass="lineno"> 135</span> {</div>
<divclass="line"><aid="l00136" name="l00136"></a><spanclass="lineno"> 136</span><aclass="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<spanclass="stringliteral">&quot;%s: There are no valid initial states!&quot;</span>, <aclass="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<divclass="line"><aid="l00137" name="l00137"></a><spanclass="lineno"> 137</span><spanclass="keywordflow">return</span><aclass="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a1f20d012b563fc223902e24a8bcd7547">base::PlannerStatus::INVALID_START</a>;</div>
<divclass="line"><aid="l00138" name="l00138"></a><spanclass="lineno"> 138</span> }</div>
<divclass="line"><aid="l00139" name="l00139"></a><spanclass="lineno"> 139</span></div>
<divclass="line"><aid="l00140" name="l00140"></a><spanclass="lineno"> 140</span><spanclass="keywordflow">if</span> (!goal-&gt;couldSample())</div>
<divclass="line"><aid="l00141" name="l00141"></a><spanclass="lineno"> 141</span> {</div>
<divclass="line"><aid="l00142" name="l00142"></a><spanclass="lineno"> 142</span><aclass="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<spanclass="stringliteral">&quot;%s: Insufficient states in sampleable goal region&quot;</span>, <aclass="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<divclass="line"><aid="l00143" name="l00143"></a><spanclass="lineno"> 143</span><spanclass="keywordflow">return</span><aclass="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a2e2b2b7e02900c4417af0ecea272c637">base::PlannerStatus::INVALID_GOAL</a>;</div>
<divclass="line"><aid="l00144" name="l00144"></a><spanclass="lineno"> 144</span> }</div>
<divclass="line"><aid="l00145" name="l00145"></a><spanclass="lineno"> 145</span></div>
<divclass="line"><aid="l00146" name="l00146"></a><spanclass="lineno"> 146</span><spanclass="keywordflow">if</span> (!<aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a04e975094b3061b1b03aa9a4274f935b">sampler_</a>)</div>
<divclass="line"><aid="l00147" name="l00147"></a><spanclass="lineno"> 147</span><aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a04e975094b3061b1b03aa9a4274f935b">sampler_</a> = <aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>-&gt;allocValidStateSampler();</div>
<divclass="line"><aid="l00148" name="l00148"></a><spanclass="lineno"> 148</span></div>
<divclass="line"><aid="l00149" name="l00149"></a><spanclass="lineno"> 149</span><aclass="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<spanclass="stringliteral">&quot;%s: Starting planning with %u states already in datastructure&quot;</span>, <aclass="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str(),</div>
<divclass="line"><aid="l00150" name="l00150"></a><spanclass="lineno"> 150</span><aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a7379a61f62527f15da424f725e1484b9">startMotions_</a>.size() + goalMotions_.size());</div>
<divclass="line"><aid="l00151" name="l00151"></a><spanclass="lineno"> 151</span></div>
<divclass="line"><aid="l00152" name="l00152"></a><spanclass="lineno"> 152</span><aclass="code hl_class" href="classompl_1_1base_1_1State.html">base::State</a> *xstate = <aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>-&gt;allocState();</div>
<divclass="line"><aid="l00153" name="l00153"></a><spanclass="lineno"> 153</span><spanclass="keyword">auto</span> *xmotion = <spanclass="keyword">new</span><aclass="code hl_class" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html">Motion</a>();</div>
<divclass="line"><aid="l00154" name="l00154"></a><spanclass="lineno"> 154</span></div>
<divclass="line"><aid="l00155" name="l00155"></a><spanclass="lineno"> 155</span><spanclass="keywordtype">bool</span> startTree = <spanclass="keyword">true</span>;</div>
<divclass="line"><aid="l00156" name="l00156"></a><spanclass="lineno"> 156</span><spanclass="keywordtype">bool</span> solved = <spanclass="keyword">false</span>;</div>
<divclass="line"><aid="l00157" name="l00157"></a><spanclass="lineno"> 157</span><aclass="code hl_enumeration" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4">base::PlannerStatus::StatusType</a> status = <aclass="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a620a03eebe49aa307140d6a4763278fd">base::PlannerStatus::TIMEOUT</a>;</div>
<divclass="line"><aid="l00158" name="l00158"></a><spanclass="lineno"> 158</span></div>
<divclass="line"><aid="l00159" name="l00159"></a><spanclass="lineno"> 159</span><spanclass="keywordflow">while</span> (!ptc &amp;&amp; !solved)</div>
<divclass="line"><aid="l00160" name="l00160"></a><spanclass="lineno"> 160</span> {</div>
<divclass="line"><aid="l00161" name="l00161"></a><spanclass="lineno"> 161</span><spanclass="comment">// Make sure goal tree has at least one state.</span></div>
<divclass="line"><aid="l00162" name="l00162"></a><spanclass="lineno"> 162</span><spanclass="keywordflow">if</span> (goalMotions_.empty() || <aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>.getSampledGoalsCount() &lt; goalMotions_.size() / 2)</div>
<divclass="line"><aid="l00163" name="l00163"></a><spanclass="lineno"> 163</span> {</div>
<divclass="line"><aid="l00164" name="l00164"></a><spanclass="lineno"> 164</span><spanclass="keyword">const</span><aclass="code hl_class" href="classompl_1_1base_1_1State.html">base::State</a> *st = goalMotions_.empty() ? <aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>.nextGoal(ptc) : <aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>.nextGoal();</div>
<divclass="line"><aid="l00165" name="l00165"></a><spanclass="lineno"> 165</span><spanclass="keywordflow">if</span> (st != <spanclass="keyword">nullptr</span>)</div>
<divclass="line"><aid="l00166" name="l00166"></a><spanclass="lineno"> 166</span> {</div>
<divclass="line"><aid="l00167" name="l00167"></a><spanclass="lineno"> 167</span><spanclass="keyword">auto</span> *motion = <spanclass="keyword">new</span><aclass="code hl_class" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html">Motion</a>(<aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>);</div>
<divclass="line"><aid="l00168" name="l00168"></a><spanclass="lineno"> 168</span><aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>-&gt;copyState(motion-&gt;state, st);</div>
<divclass="line"><aid="l00169" name="l00169"></a><spanclass="lineno"> 169</span> motion-&gt;root = motion-&gt;state;</div>
<divclass="line"><aid="l00170" name="l00170"></a><spanclass="lineno"> 170</span></div>
<divclass="line"><aid="l00171" name="l00171"></a><spanclass="lineno"> 171</span> nnGoal_-&gt;nearestR(motion, <aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a3a84ea128ca195c78dba20afdee2af78">nbrhoodRadius_</a>, neighbors);</div>
<divclass="line"><aid="l00172" name="l00172"></a><spanclass="lineno"> 172</span><aclass="code hl_function" href="classompl_1_1geometric_1_1BiEST.html#a1d0bf3ea5c8ef2393fceeb628216ebac">addMotion</a>(motion, goalMotions_, goalPdf_, nnGoal_, neighbors);</div>
<divclass="line"><aid="l00173" name="l00173"></a><spanclass="lineno"> 173</span> }</div>
<divclass="line"><aid="l00174" name="l00174"></a><spanclass="lineno"> 174</span></div>
<divclass="line"><aid="l00175" name="l00175"></a><spanclass="lineno"> 175</span><spanclass="keywordflow">if</span> (goalMotions_.empty())</div>
<divclass="line"><aid="l00176" name="l00176"></a><spanclass="lineno"> 176</span> {</div>
<divclass="line"><aid="l00177" name="l00177"></a><spanclass="lineno"> 177</span><aclass="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<spanclass="stringliteral">&quot;%s: Unable to sample any valid states for goal tree&quot;</span>, <aclass="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<divclass="line"><aid="l00178" name="l00178"></a><spanclass="lineno"> 178</span> status = <aclass="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a2e2b2b7e02900c4417af0ecea272c637">base::PlannerStatus::INVALID_GOAL</a>;</div>
<divclass="line"><aid="l00179" name="l00179"></a><spanclass="lineno"> 179</span><spanclass="keywordflow">break</span>;</div>
<divclass="line"><aid="l00180" name="l00180"></a><spanclass="lineno"> 180</span> }</div>
<divclass="line"><aid="l00181" name="l00181"></a><spanclass="lineno"> 181</span> }</div>
<divclass="line"><aid="l00182" name="l00182"></a><spanclass="lineno"> 182</span></div>
<divclass="line"><aid="l00183" name="l00183"></a><spanclass="lineno"> 183</span><spanclass="comment">// Pointers to the tree structure we are expanding</span></div>
<divclass="line"><aid="l00184" name="l00184"></a><spanclass="lineno"> 184</span> std::vector&lt;Motion *&gt; &amp;motions = startTree ? <aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a7379a61f62527f15da424f725e1484b9">startMotions_</a> : goalMotions_;</div>
<divclass="line"><aid="l00185" name="l00185"></a><spanclass="lineno"> 185</span><aclass="code hl_class" href="classompl_1_1PDF.html">PDF&lt;Motion *&gt;</a> &amp;pdf = startTree ? <aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a1ab64d956622fd9bb05ad44b1cea7604">startPdf_</a> : goalPdf_;</div>
<divclass="line"><aid="l00186" name="l00186"></a><spanclass="lineno"> 186</span> std::shared_ptr&lt;NearestNeighbors&lt;Motion *&gt;&gt; nn = startTree ? <aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a3f7d12fa0cf61b2a51ddf387e1b57cee">nnStart_</a> : nnGoal_;</div>
<divclass="line"><aid="l00187" name="l00187"></a><spanclass="lineno"> 187</span></div>
<divclass="line"><aid="l00188" name="l00188"></a><spanclass="lineno"> 188</span><spanclass="comment">// Select a state to expand from</span></div>
<divclass="line"><aid="l00189" name="l00189"></a><spanclass="lineno"> 189</span><aclass="code hl_class" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html">Motion</a> *existing = pdf.<aclass="code hl_function" href="classompl_1_1PDF.html#a40256a8cdbb6ef743e9767c04230d6bb">sample</a>(<aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a408336528629d3cbc78e1ccf836100af">rng_</a>.uniform01());</div>
<divclass="line"><aid="l00190" name="l00190"></a><spanclass="lineno"> 190</span> assert(existing);</div>
<divclass="line"><aid="l00191" name="l00191"></a><spanclass="lineno"> 191</span></div>
<divclass="line"><aid="l00192" name="l00192"></a><spanclass="lineno"> 192</span><spanclass="comment">// Sample a state in the neighborhood</span></div>
<divclass="line"><aid="l00193" name="l00193"></a><spanclass="lineno"> 193</span><spanclass="keywordflow">if</span> (!<aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a04e975094b3061b1b03aa9a4274f935b">sampler_</a>-&gt;sampleNear(xstate, existing-&gt;<aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html#a257cfeec9c27bed50015933f54608ddf">state</a>, <aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a5971ef305f4c66d1f3329495b8304d15">maxDistance_</a>))</div>
<divclass="line"><aid="l00194" name="l00194"></a><spanclass="lineno"> 194</span><spanclass="keywordflow">continue</span>;</div>
<divclass="line"><aid="l00195" name="l00195"></a><spanclass="lineno"> 195</span></div>
<divclass="line"><aid="l00196" name="l00196"></a><spanclass="lineno"> 196</span><spanclass="comment">// Compute neighborhood of candidate state</span></div>
<divclass="line"><aid="l00197" name="l00197"></a><spanclass="lineno"> 197</span> xmotion-&gt;state = xstate;</div>
<divclass="line"><aid="l00198" name="l00198"></a><spanclass="lineno"> 198</span> nn-&gt;nearestR(xmotion, <aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a3a84ea128ca195c78dba20afdee2af78">nbrhoodRadius_</a>, neighbors);</div>
<divclass="line"><aid="l00199" name="l00199"></a><spanclass="lineno"> 199</span></div>
<divclass="line"><aid="l00200" name="l00200"></a><spanclass="lineno"> 200</span><spanclass="comment">// reject state with probability proportional to neighborhood density</span></div>
<divclass="line"><aid="l00201" name="l00201"></a><spanclass="lineno"> 201</span><spanclass="keywordflow">if</span> (!neighbors.empty())</div>
<divclass="line"><aid="l00202" name="l00202"></a><spanclass="lineno"> 202</span> {</div>
<divclass="line"><aid="l00203" name="l00203"></a><spanclass="lineno"> 203</span><spanclass="keywordtype">double</span> p = 1.0 - (1.0 / neighbors.size());</div>
<divclass="line"><aid="l00204" name="l00204"></a><spanclass="lineno"> 204</span><spanclass="keywordflow">if</span> (<aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a408336528629d3cbc78e1ccf836100af">rng_</a>.uniform01() &lt; p)</div>
<divclass="line"><aid="l00205" name="l00205"></a><spanclass="lineno"> 205</span><spanclass="keywordflow">continue</span>;</div>
<divclass="line"><aid="l00206" name="l00206"></a><spanclass="lineno"> 206</span> }</div>
<divclass="line"><aid="l00207" name="l00207"></a><spanclass="lineno"> 207</span></div>
<divclass="line"><aid="l00208" name="l00208"></a><spanclass="lineno"> 208</span><spanclass="comment">// Is motion good?</span></div>
<divclass="line"><aid="l00209" name="l00209"></a><spanclass="lineno"> 209</span><spanclass="keywordflow">if</span> (<aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>-&gt;checkMotion(existing-&gt;<aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html#a257cfeec9c27bed50015933f54608ddf">state</a>, xstate))</div>
<divclass="line"><aid="l00210" name="l00210"></a><spanclass="lineno"> 210</span> {</div>
<divclass="line"><aid="l00211" name="l00211"></a><spanclass="lineno"> 211</span><spanclass="comment">// create a motion</span></div>
<divclass="line"><aid="l00212" name="l00212"></a><spanclass="lineno"> 212</span><spanclass="keyword">auto</span> *motion = <spanclass="keyword">new</span><aclass="code hl_class" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html">Motion</a>(<aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>);</div>
<divclass="line"><aid="l00213" name="l00213"></a><spanclass="lineno"> 213</span><aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>-&gt;copyState(motion-&gt;state, xstate);</div>
<divclass="line"><aid="l00214" name="l00214"></a><spanclass="lineno"> 214</span> motion-&gt;parent = existing;</div>
<divclass="line"><aid="l00215" name="l00215"></a><spanclass="lineno"> 215</span> motion-&gt;<aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html#a4ec4127f810cf3364c386349c95c2292">root</a> = existing-&gt;<aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html#a4ec4127f810cf3364c386349c95c2292">root</a>;</div>
<divclass="line"><aid="l00216" name="l00216"></a><spanclass="lineno"> 216</span></div>
<divclass="line"><aid="l00217" name="l00217"></a><spanclass="lineno"> 217</span><spanclass="comment">// add it to everything</span></div>
<divclass="line"><aid="l00218" name="l00218"></a><spanclass="lineno"> 218</span><aclass="code hl_function" href="classompl_1_1geometric_1_1BiEST.html#a1d0bf3ea5c8ef2393fceeb628216ebac">addMotion</a>(motion, motions, pdf, nn, neighbors);</div>
<divclass="line"><aid="l00219" name="l00219"></a><spanclass="lineno"> 219</span></div>
<divclass="line"><aid="l00220" name="l00220"></a><spanclass="lineno"> 220</span><spanclass="comment">// try to connect this state to the other tree</span></div>
<divclass="line"><aid="l00221" name="l00221"></a><spanclass="lineno"> 221</span><spanclass="comment">// Get all states in the other tree within a maxDistance_ ball (bigger than &quot;neighborhood&quot; ball)</span></div>
<divclass="line"><aid="l00222" name="l00222"></a><spanclass="lineno"> 222</span> startTree ? nnGoal_-&gt;nearestR(motion, <aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a5971ef305f4c66d1f3329495b8304d15">maxDistance_</a>, neighbors) :</div>
<divclass="line"><aid="l00223" name="l00223"></a><spanclass="lineno"> 223</span><aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a3f7d12fa0cf61b2a51ddf387e1b57cee">nnStart_</a>-&gt;nearestR(motion, <aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a5971ef305f4c66d1f3329495b8304d15">maxDistance_</a>, neighbors);</div>
<divclass="line"><aid="l00224" name="l00224"></a><spanclass="lineno"> 224</span><spanclass="keywordflow">for</span> (<spanclass="keywordtype">size_t</span> i = 0; i &lt; neighbors.size() &amp;&amp; !solved; ++i)</div>
<divclass="line"><aid="l00225" name="l00225"></a><spanclass="lineno"> 225</span> {</div>
<divclass="line"><aid="l00226" name="l00226"></a><spanclass="lineno"> 226</span><spanclass="keywordflow">if</span> (goal-&gt;isStartGoalPairValid(motion-&gt;root, neighbors[i]-&gt;root) &amp;&amp;</div>
<divclass="line"><aid="l00227" name="l00227"></a><spanclass="lineno"> 227</span><aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>-&gt;checkMotion(motion-&gt;state, neighbors[i]-&gt;state)) <spanclass="comment">// win! solution found.</span></div>
<divclass="line"><aid="l00228" name="l00228"></a><spanclass="lineno"> 228</span> {</div>
<divclass="line"><aid="l00229" name="l00229"></a><spanclass="lineno"> 229</span><aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#ae94d6567e4ae0f7808169d4f871857c2">connectionPoint_</a> = std::make_pair(motion-&gt;state, neighbors[i]-&gt;state);</div>
<divclass="line"><aid="l00230" name="l00230"></a><spanclass="lineno"> 230</span></div>
<divclass="line"><aid="l00231" name="l00231"></a><spanclass="lineno"> 231</span><aclass="code hl_class" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html">Motion</a> *startMotion = startTree ? motion : neighbors[i];</div>
<divclass="line"><aid="l00232" name="l00232"></a><spanclass="lineno"> 232</span><aclass="code hl_class" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html">Motion</a> *goalMotion = startTree ? neighbors[i] : motion;</div>
<divclass="line"><aid="l00233" name="l00233"></a><spanclass="lineno"> 233</span></div>
<divclass="line"><aid="l00234" name="l00234"></a><spanclass="lineno"> 234</span><aclass="code hl_class" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html">Motion</a> *solution = startMotion;</div>
<divclass="line"><aid="l00235" name="l00235"></a><spanclass="lineno"> 235</span> std::vector&lt;Motion *&gt; mpath1;</div>
<divclass="line"><aid="l00236" name="l00236"></a><spanclass="lineno"> 236</span><spanclass="keywordflow">while</span> (solution != <spanclass="keyword">nullptr</span>)</div>
<divclass="line"><aid="l00237" name="l00237"></a><spanclass="lineno"> 237</span> {</div>
<divclass="line"><aid="l00238" name="l00238"></a><spanclass="lineno"> 238</span> mpath1.push_back(solution);</div>
<divclass="line"><aid="l00239" name="l00239"></a><spanclass="lineno"> 239</span> solution = solution-&gt;<aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html#abc41a0888e0d444ea20283bcc3d28a66">parent</a>;</div>
<divclass="line"><aid="l00240" name="l00240"></a><spanclass="lineno"> 240</span> }</div>
<divclass="line"><aid="l00241" name="l00241"></a><spanclass="lineno"> 241</span></div>
<divclass="line"><aid="l00242" name="l00242"></a><spanclass="lineno"> 242</span> solution = goalMotion;</div>
<divclass="line"><aid="l00243" name="l00243"></a><spanclass="lineno"> 243</span> std::vector&lt;Motion *&gt; mpath2;</div>
<divclass="line"><aid="l00244" name="l00244"></a><spanclass="lineno"> 244</span><spanclass="keywordflow">while</span> (solution != <spanclass="keyword">nullptr</span>)</div>
<divclass="line"><aid="l00245" name="l00245"></a><spanclass="lineno"> 245</span> {</div>
<divclass="line"><aid="l00246" name="l00246"></a><spanclass="lineno"> 246</span> mpath2.push_back(solution);</div>
<divclass="line"><aid="l00247" name="l00247"></a><spanclass="lineno"> 247</span> solution = solution-&gt;<aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html#abc41a0888e0d444ea20283bcc3d28a66">parent</a>;</div>
<divclass="line"><aid="l00248" name="l00248"></a><spanclass="lineno"> 248</span> }</div>
<divclass="line"><aid="l00249" name="l00249"></a><spanclass="lineno"> 249</span></div>
<divclass="line"><aid="l00250" name="l00250"></a><spanclass="lineno"> 250</span><spanclass="keyword">auto</span> path(std::make_shared&lt;PathGeometric&gt;(<aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>));</div>
<divclass="line"><aid="l00251" name="l00251"></a><spanclass="lineno"> 251</span> path-&gt;getStates().reserve(mpath1.size() + mpath2.size());</div>
<divclass="line"><aid="l00252" name="l00252"></a><spanclass="lineno"> 252</span><spanclass="keywordflow">for</span> (<spanclass="keywordtype">int</span> i = mpath1.size() - 1; i &gt;= 0; --i)</div>
<divclass="line"><aid="l00253" name="l00253"></a><spanclass="lineno"> 253</span> path-&gt;append(mpath1[i]-&gt;state);</div>
<divclass="line"><aid="l00254" name="l00254"></a><spanclass="lineno"> 254</span><spanclass="keywordflow">for</span> (<spanclass="keyword">auto</span> &amp;i : mpath2)</div>
<divclass="line"><aid="l00255" name="l00255"></a><spanclass="lineno"> 255</span> path-&gt;append(i-&gt;state);</div>
<divclass="line"><aid="l00256" name="l00256"></a><spanclass="lineno"> 256</span></div>
<divclass="line"><aid="l00257" name="l00257"></a><spanclass="lineno"> 257</span><aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>-&gt;addSolutionPath(path, <spanclass="keyword">false</span>, 0.0, <aclass="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>());</div>
<divclass="line"><aid="l00258" name="l00258"></a><spanclass="lineno"> 258</span> solved = <spanclass="keyword">true</span>;</div>
<divclass="line"><aid="l00259" name="l00259"></a><spanclass="lineno"> 259</span> }</div>
<divclass="line"><aid="l00260" name="l00260"></a><spanclass="lineno"> 260</span> }</div>
<divclass="line"><aid="l00261" name="l00261"></a><spanclass="lineno"> 261</span> }</div>
<divclass="line"><aid="l00262" name="l00262"></a><spanclass="lineno"> 262</span></div>
<divclass="line"><aid="l00263" name="l00263"></a><spanclass="lineno"> 263</span><spanclass="comment">// swap trees for next iteration</span></div>
<divclass="line"><aid="l00264" name="l00264"></a><spanclass="lineno"> 264</span> startTree = !startTree;</div>
<divclass="line"><aid="l00265" name="l00265"></a><spanclass="lineno"> 265</span> }</div>
<divclass="line"><aid="l00266" name="l00266"></a><spanclass="lineno"> 266</span></div>
<divclass="line"><aid="l00267" name="l00267"></a><spanclass="lineno"> 267</span><aclass="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>-&gt;freeState(xstate);</div>
<divclass="line"><aid="l00268" name="l00268"></a><spanclass="lineno"> 268</span><spanclass="keyword">delete</span> xmotion;</div>
<divclass="line"><aid="l00269" name="l00269"></a><spanclass="lineno"> 269</span></div>
<divclass="line"><aid="l00270" name="l00270"></a><spanclass="lineno"> 270</span><aclass="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<spanclass="stringliteral">&quot;%s: Created %u states (%u start + %u goal)&quot;</span>, <aclass="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str(),</div>
<divclass="line"><aid="l00271" name="l00271"></a><spanclass="lineno"> 271</span><aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a7379a61f62527f15da424f725e1484b9">startMotions_</a>.size() + goalMotions_.size(), <aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a7379a61f62527f15da424f725e1484b9">startMotions_</a>.size(), goalMotions_.size());</div>
<divclass="line"><aid="l00272" name="l00272"></a><spanclass="lineno"> 272</span><spanclass="keywordflow">return</span> solved ? <aclass="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28">base::PlannerStatus::EXACT_SOLUTION</a> : status;</div>
<divclass="line"><aid="l00273" name="l00273"></a><spanclass="lineno"> 273</span>}</div>
</div>
<divclass="line"><aid="l00274" name="l00274"></a><spanclass="lineno"> 274</span></div>
<divclass="foldopen" id="foldopen00275" data-start="{" data-end="}">
<divclass="line"><aid="l00275" name="l00275"></a><spanclass="lineno"><aclass="line" href="classompl_1_1geometric_1_1BiEST.html#a1d0bf3ea5c8ef2393fceeb628216ebac"> 275</a></span><spanclass="keywordtype">void</span><aclass="code hl_function" href="classompl_1_1geometric_1_1BiEST.html#a1d0bf3ea5c8ef2393fceeb628216ebac">ompl::geometric::BiEST::addMotion</a>(<aclass="code hl_class" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html">Motion</a> *motion, std::vector&lt;Motion *&gt; &amp;motions, <aclass="code hl_class" href="classompl_1_1PDF.html">PDF&lt;Motion *&gt;</a> &amp;pdf,</div>
<divclass="line"><aid="l00276" name="l00276"></a><spanclass="lineno"> 276</span><spanclass="keyword">const</span> std::shared_ptr&lt;<aclass="code hl_class" href="classompl_1_1NearestNeighbors.html">NearestNeighbors&lt;Motion *&gt;</a>&gt; &amp;nn,</div>
<divclass="line"><aid="l00277" name="l00277"></a><spanclass="lineno"> 277</span><spanclass="keyword">const</span> std::vector&lt;Motion *&gt; &amp;neighbors)</div>
<divclass="line"><aid="l00278" name="l00278"></a><spanclass="lineno"> 278</span>{</div>
<divclass="line"><aid="l00279" name="l00279"></a><spanclass="lineno"> 279</span><spanclass="comment">// Updating neighborhood size counts</span></div>
<divclass="line"><aid="l00280" name="l00280"></a><spanclass="lineno"> 280</span><spanclass="keywordflow">for</span> (<spanclass="keyword">auto</span> neighbor : neighbors)</div>
<divclass="line"><aid="l00281" name="l00281"></a><spanclass="lineno"> 281</span> {</div>
<divclass="line"><aid="l00282" name="l00282"></a><spanclass="lineno"> 282</span><aclass="code hl_class" href="classompl_1_1PDF_1_1Element.html">PDF&lt;Motion *&gt;::Element</a> *elem = neighbor-&gt;element;</div>
<divclass="line"><aid="l00283" name="l00283"></a><spanclass="lineno"> 283</span><spanclass="keywordtype">double</span> w = pdf.<aclass="code hl_function" href="classompl_1_1PDF.html#a298671738fdadeecf4c5aa4ba3c947ab">getWeight</a>(elem);</div>
<divclass="line"><aid="l00284" name="l00284"></a><spanclass="lineno"> 284</span> pdf.<aclass="code hl_function" href="classompl_1_1PDF.html#a5a6869bcc93cf5b5483048cd26dcb635">update</a>(elem, w / (w + 1.));</div>
<divclass="line"><aid="l00285" name="l00285"></a><spanclass="lineno"> 285</span> }</div>
<divclass="line"><aid="l00286" name="l00286"></a><spanclass="lineno"> 286</span></div>
<divclass="line"><aid="l00287" name="l00287"></a><spanclass="lineno"> 287</span> motion-&gt;<aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST_1_1Motion.html#ac63617b085ed09981db13da281cf2639">element</a> = pdf.<aclass="code hl_function" href="classompl_1_1PDF.html#a41ae87da48831975e4de487c6a0d103e">add</a>(motion, 1. / (neighbors.size() + 1.)); <spanclass="comment">// +1 for self</span></div>
<divclass="line"><aid="l00288" name="l00288"></a><spanclass="lineno"> 288</span> motions.push_back(motion);</div>
<divclass="line"><aid="l00289" name="l00289"></a><spanclass="lineno"> 289</span> nn-&gt;add(motion);</div>
<divclass="line"><aid="l00290" name="l00290"></a><spanclass="lineno"> 290</span>}</div>
</div>
<divclass="line"><aid="l00291" name="l00291"></a><spanclass="lineno"> 291</span></div>
<divclass="foldopen" id="foldopen00292" data-start="{" data-end="}">
<divclass="line"><aid="l00292" name="l00292"></a><spanclass="lineno"><aclass="line" href="classompl_1_1geometric_1_1BiEST.html#ad8b26ac151b78f6d21e6e2fbf89d0a68"> 292</a></span><spanclass="keywordtype">void</span><aclass="code hl_function" href="classompl_1_1geometric_1_1BiEST.html#ad8b26ac151b78f6d21e6e2fbf89d0a68">ompl::geometric::BiEST::getPlannerData</a>(<aclass="code hl_class" href="classompl_1_1base_1_1PlannerData.html">base::PlannerData</a> &amp;data)<spanclass="keyword"> const</span></div>
<divclass="line"><aid="l00293" name="l00293"></a><spanclass="lineno"> 293</span><spanclass="keyword"></span>{</div>
<divclass="line"><aid="l00294" name="l00294"></a><spanclass="lineno"> 294</span> Planner::getPlannerData(data);</div>
<divclass="line"><aid="l00295" name="l00295"></a><spanclass="lineno"> 295</span></div>
<divclass="line"><aid="l00296" name="l00296"></a><spanclass="lineno"> 296</span><spanclass="keywordflow">for</span> (<spanclass="keyword">auto</span> startMotion : <aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#a7379a61f62527f15da424f725e1484b9">startMotions_</a>)</div>
<divclass="line"><aid="l00297" name="l00297"></a><spanclass="lineno"> 297</span> {</div>
<divclass="line"><aid="l00298" name="l00298"></a><spanclass="lineno"> 298</span><spanclass="keywordflow">if</span> (startMotion-&gt;parent == <spanclass="keyword">nullptr</span>)</div>
<divclass="line"><aid="l00299" name="l00299"></a><spanclass="lineno"> 299</span> data.<aclass="code hl_function" href="classompl_1_1base_1_1PlannerData.html#a2eea84456784452486aa0065af391f47">addStartVertex</a>(<aclass="code hl_class" href="classompl_1_1base_1_1PlannerDataVertex.html">base::PlannerDataVertex</a>(startMotion-&gt;state, 1));</div>
<divclass="line"><aid="l00300" name="l00300"></a><spanclass="lineno"> 300</span><spanclass="keywordflow">else</span></div>
<divclass="line"><aid="l00301" name="l00301"></a><spanclass="lineno"> 301</span> data.<aclass="code hl_function" href="classompl_1_1base_1_1PlannerData.html#ac09c21494a8c7db500ef1a66bbbb1aa7">addEdge</a>(<aclass="code hl_class" href="classompl_1_1base_1_1PlannerDataVertex.html">base::PlannerDataVertex</a>(startMotion-&gt;parent-&gt;state, 1),</div>
<divclass="line"><aid="l00302" name="l00302"></a><spanclass="lineno"> 302</span><aclass="code hl_class" href="classompl_1_1base_1_1PlannerDataVertex.html">base::PlannerDataVertex</a>(startMotion-&gt;state, 1));</div>
<divclass="line"><aid="l00303" name="l00303"></a><spanclass="lineno"> 303</span> }</div>
<divclass="line"><aid="l00304" name="l00304"></a><spanclass="lineno"> 304</span></div>
<divclass="line"><aid="l00305" name="l00305"></a><spanclass="lineno"> 305</span><spanclass="keywordflow">for</span> (<spanclass="keyword">auto</span> goalMotion : goalMotions_)</div>
<divclass="line"><aid="l00306" name="l00306"></a><spanclass="lineno"> 306</span> {</div>
<divclass="line"><aid="l00307" name="l00307"></a><spanclass="lineno"> 307</span><spanclass="keywordflow">if</span> (goalMotion-&gt;parent == <spanclass="keyword">nullptr</span>)</div>
<divclass="line"><aid="l00308" name="l00308"></a><spanclass="lineno"> 308</span> data.<aclass="code hl_function" href="classompl_1_1base_1_1PlannerData.html#a3604cb85b0402b09b319c5f1df02b12e">addGoalVertex</a>(<aclass="code hl_class" href="classompl_1_1base_1_1PlannerDataVertex.html">base::PlannerDataVertex</a>(goalMotion-&gt;state, 2));</div>
<divclass="line"><aid="l00309" name="l00309"></a><spanclass="lineno"> 309</span><spanclass="keywordflow">else</span></div>
<divclass="line"><aid="l00310" name="l00310"></a><spanclass="lineno"> 310</span><spanclass="comment">// The edges in the goal tree are reversed to be consistent with start tree</span></div>
<divclass="line"><aid="l00311" name="l00311"></a><spanclass="lineno"> 311</span> data.<aclass="code hl_function" href="classompl_1_1base_1_1PlannerData.html#ac09c21494a8c7db500ef1a66bbbb1aa7">addEdge</a>(<aclass="code hl_class" href="classompl_1_1base_1_1PlannerDataVertex.html">base::PlannerDataVertex</a>(goalMotion-&gt;state, 2),</div>
<divclass="line"><aid="l00312" name="l00312"></a><spanclass="lineno"> 312</span><aclass="code hl_class" href="classompl_1_1base_1_1PlannerDataVertex.html">base::PlannerDataVertex</a>(goalMotion-&gt;parent-&gt;state, 2));</div>
<divclass="line"><aid="l00313" name="l00313"></a><spanclass="lineno"> 313</span> }</div>
<divclass="line"><aid="l00314" name="l00314"></a><spanclass="lineno"> 314</span></div>
<divclass="line"><aid="l00315" name="l00315"></a><spanclass="lineno"> 315</span><spanclass="comment">// Add the edge connecting the two trees</span></div>
<divclass="line"><aid="l00316" name="l00316"></a><spanclass="lineno"> 316</span> data.<aclass="code hl_function" href="classompl_1_1base_1_1PlannerData.html#ac09c21494a8c7db500ef1a66bbbb1aa7">addEdge</a>(data.<aclass="code hl_function" href="classompl_1_1base_1_1PlannerData.html#a06792592713e6463c4b9814f2a715b4c">vertexIndex</a>(<aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#ae94d6567e4ae0f7808169d4f871857c2">connectionPoint_</a>.first), data.<aclass="code hl_function" href="classompl_1_1base_1_1PlannerData.html#a06792592713e6463c4b9814f2a715b4c">vertexIndex</a>(<aclass="code hl_variable" href="classompl_1_1geometric_1_1BiEST.html#ae94d6567e4ae0f7808169d4f871857c2">connectionPoint_</a>.second));</div>
<divclass="line"><aid="l00317" name="l00317"></a><spanclass="lineno"> 317</span>}</div>
</div>
<divclass="ttc" id="aclassompl_1_1NearestNeighbors_html"><divclass="ttname"><ahref="classompl_1_1NearestNeighbors.html">ompl::NearestNeighbors</a></div><divclass="ttdoc">Abstract representation of a container that can perform nearest neighbors queries.</div><divclass="ttdef"><b>Definition</b><ahref="NearestNeighbors_8h_source.html#l00047">NearestNeighbors.h:48</a></div></div>
<divclass="ttc" id="aclassompl_1_1PDF_1_1Element_html"><divclass="ttname"><ahref="classompl_1_1PDF_1_1Element.html">ompl::PDF::Element</a></div><divclass="ttdoc">A class that will hold data contained in the PDF.</div><divclass="ttdef"><b>Definition</b><ahref="PDF_8h_source.html#l00052">PDF.h:53</a></div></div>
<divclass="ttc" id="aclassompl_1_1PDF_html"><divclass="ttname"><ahref="classompl_1_1PDF.html">ompl::PDF</a></div><divclass="ttdoc">A container that supports probabilistic sampling over weighted data.</div><divclass="ttdef"><b>Definition</b><ahref="PDF_8h_source.html#l00048">PDF.h:49</a></div></div>
<divclass="ttc" id="aclassompl_1_1PDF_html_a298671738fdadeecf4c5aa4ba3c947ab"><divclass="ttname"><ahref="classompl_1_1PDF.html#a298671738fdadeecf4c5aa4ba3c947ab">ompl::PDF::getWeight</a></div><divclass="ttdeci">double getWeight(const Element *elem) const</div><divclass="ttdoc">Returns the current weight of the given Element.</div><divclass="ttdef"><b>Definition</b><ahref="PDF_8h_source.html#l00171">PDF.h:171</a></div></div>
<divclass="ttc" id="aclassompl_1_1PDF_html_a40256a8cdbb6ef743e9767c04230d6bb"><divclass="ttname"><ahref="classompl_1_1PDF.html#a40256a8cdbb6ef743e9767c04230d6bb">ompl::PDF::sample</a></div><divclass="ttdeci">_T &amp; sample(double r) const</div><divclass="ttdoc">Returns a piece of data from the PDF according to the input sampling value, which must be between 0 a...</div><divclass="ttdef"><b>Definition</b><ahref="PDF_8h_source.html#l00132">PDF.h:132</a></div></div>
<divclass="ttc" id="aclassompl_1_1PDF_html_a41ae87da48831975e4de487c6a0d103e"><divclass="ttname"><ahref="classompl_1_1PDF.html#a41ae87da48831975e4de487c6a0d103e">ompl::PDF::add</a></div><divclass="ttdeci">Element * add(const _T &amp;d, const double w)</div><divclass="ttdoc">Adds a piece of data with a given weight to the PDF. Returns a corresponding Element,...</div><divclass="ttdef"><b>Definition</b><ahref="PDF_8h_source.html#l00097">PDF.h:97</a></div></div>
<divclass="ttc" id="aclassompl_1_1PDF_html_a5a6869bcc93cf5b5483048cd26dcb635"><divclass="ttname"><ahref="classompl_1_1PDF.html#a5a6869bcc93cf5b5483048cd26dcb635">ompl::PDF::update</a></div><divclass="ttdeci">void update(Element *elem, const double w)</div><divclass="ttdoc">Updates the data in the given Element with a new weight value.</div><divclass="ttdef"><b>Definition</b><ahref="PDF_8h_source.html#l00155">PDF.h:155</a></div></div>
<divclass="ttc" id="aclassompl_1_1base_1_1GoalSampleableRegion_html"><divclass="ttname"><ahref="classompl_1_1base_1_1GoalSampleableRegion.html">ompl::base::GoalSampleableRegion</a></div><divclass="ttdoc">Abstract definition of a goal region that can be sampled.</div><divclass="ttdef"><b>Definition</b><ahref="GoalSampleableRegion_8h_source.html#l00047">GoalSampleableRegion.h:48</a></div></div>
<divclass="ttc" id="aclassompl_1_1base_1_1PlannerDataVertex_html"><divclass="ttname"><ahref="classompl_1_1base_1_1PlannerDataVertex.html">ompl::base::PlannerDataVertex</a></div><divclass="ttdoc">Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...</div><divclass="ttdef"><b>Definition</b><ahref="base_2PlannerData_8h_source.html#l00058">PlannerData.h:59</a></div></div>
<divclass="ttc" id="aclassompl_1_1base_1_1PlannerData_html"><divclass="ttname"><ahref="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a></div><divclass="ttdoc">Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...</div><divclass="ttdef"><b>Definition</b><ahref="base_2PlannerData_8h_source.html#l00174">PlannerData.h:175</a></div></div>
<divclass="ttc" id="aclassompl_1_1base_1_1PlannerData_html_a06792592713e6463c4b9814f2a715b4c"><divclass="ttname"><ahref="classompl_1_1base_1_1PlannerData.html#a06792592713e6463c4b9814f2a715b4c">ompl::base::PlannerData::vertexIndex</a></div><divclass="ttdeci">unsigned int vertexIndex(const PlannerDataVertex &amp;v) const</div><divclass="ttdoc">Return the index for the vertex associated with the given data. INVALID_INDEX is returned if this ver...</div><divclass="ttdef"><b>Definition</b><ahref="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00307">PlannerData.cpp:307</a></div></div>
<divclass="ttc" id="aclassompl_1_1base_1_1PlannerData_html_a2eea84456784452486aa0065af391f47"><divclass="ttname"><ahref="classompl_1_1base_1_1PlannerData.html#a2eea84456784452486aa0065af391f47">ompl::base::PlannerData::addStartVertex</a></div><divclass="ttdeci">unsigned int addStartVertex(const PlannerDataVertex &amp;v)</div><divclass="ttdoc">Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...</div><divclass="ttdef"><b>Definition</b><ahref="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00405">PlannerData.cpp:405</a></div></div>
<divclass="ttc" id="aclassompl_1_1base_1_1PlannerData_html_a3604cb85b0402b09b319c5f1df02b12e"><divclass="ttname"><ahref="classompl_1_1base_1_1PlannerData.html#a3604cb85b0402b09b319c5f1df02b12e">ompl::base::PlannerData::addGoalVertex</a></div><divclass="ttdeci">unsigned int addGoalVertex(const PlannerDataVertex &amp;v)</div><divclass="ttdoc">Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...</div><divclass="ttdef"><b>Definition</b><ahref="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00414">PlannerData.cpp:414</a></div></div>
<divclass="ttc" id="aclassompl_1_1base_1_1PlannerData_html_ac09c21494a8c7db500ef1a66bbbb1aa7"><divclass="ttname"><ahref="classompl_1_1base_1_1PlannerData.html#ac09c21494a8c7db500ef1a66bbbb1aa7">ompl::base::PlannerData::addEdge</a></div><divclass="ttdeci">virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &amp;edge=PlannerDataEdge(), Cost weight=Cost(1.0))</div><divclass="ttdoc">Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...</div><divclass="ttdef"><b>Definition</b><ahref="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00424">PlannerData.cpp:424</a></div></div>
<divclass="ttc" id="aclassompl_1_1base_1_1PlannerTerminationCondition_html"><divclass="ttname"><ahref="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a></div><divclass="ttdoc">Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...</div><divclass="ttdef"><b>Definition</b><ahref="PlannerTerminationCondition_8h_source.html#l00063">PlannerTerminationCondition.h:64</a></div></div>
<divclass="ttc" id="aclassompl_1_1base_1_1Planner_html_a1c6ac45d44026aae6df87f3295d67436"><divclass="ttname"><ahref="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">ompl::base::Planner::pis_</a></div><divclass="ttdeci">PlannerInputStates pis_</div><divclass="ttdoc">Utility class to extract valid input states.</div><divclass="ttdef"><b>Definition</b><ahref="Planner_8h_source.html#l00407">Planner.h:407</a></div></div>
<divclass="ttc" id="aclassompl_1_1base_1_1Planner_html_a4311ea7a0470f0e0f76cb1656d63e365"><divclass="ttname"><ahref="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365">ompl::base::Planner::specs_</a></div><divclass="ttdeci">PlannerSpecs specs_</div><divclass="ttdoc">The specifications of the planner (its capabilities).</div><divclass="ttdef"><b>Definition</b><ahref="Planner_8h_source.html#l00413">Planner.h:413</a></div></div>
<divclass="ttc" id="aclassompl_1_1base_1_1Planner_html_a6bbb3dcc3d1604977e319d52c16ef7e5"><divclass="ttname"><ahref="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">ompl::base::Planner::pdef_</a></div><divclass="ttdeci">ProblemDefinitionPtr pdef_</div><divclass="ttdoc">The user set problem definition.</div><divclass="ttdef"><b>Definition</b><ahref="Planner_8h_source.html#l00404">Planner.h:404</a></div></div>
<divclass="ttc" id="aclassompl_1_1base_1_1Planner_html_a9bdea814a817637bd8e6f959c65ceaf9"><divclass="ttname"><ahref="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">ompl::base::Planner::getName</a></div><divclass="ttdeci">const std::string &amp; getName() const</div><divclass="ttdoc">Get the name of the planner.</div><divclass="ttdef"><b>Definition</b><ahref="Planner_8cpp_source.html#l00056">Planner.cpp:56</a></div></div>
<divclass="ttc" id="aclassompl_1_1base_1_1Planner_html_aa3ceb9471163b6c96f6eeadbcfd3694e"><divclass="ttname"><ahref="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">ompl::base::Planner::si_</a></div><divclass="ttdeci">SpaceInformationPtr si_</div><divclass="ttdoc">The space information for which planning is done.</div><divclass="ttdef"><b>Definition</b><ahref="Planner_8h_source.html#l00401">Planner.h:401</a></div></div>
<divclass="ttc" id="aclassompl_1_1base_1_1Planner_html_ab416900477cf4499139c01f35663dffb"><divclass="ttname"><ahref="classompl_1_1base_1_1Planner.html#ab416900477cf4499139c01f35663dffb">ompl::base::Planner::checkValidity</a></div><divclass="ttdeci">virtual void checkValidity()</div><divclass="ttdoc">Check to see if the planner is in a working state (setup has been called, a goal was set,...</div><divclass="ttdef"><b>Definition</b><ahref="Planner_8cpp_source.html#l00106">Planner.cpp:106</a></div></div>
<divclass="ttc" id="aclassompl_1_1base_1_1State_html"><divclass="ttname"><ahref="classompl_1_1base_1_1State.html">ompl::base::State</a></div><divclass="ttdoc">Definition of an abstract state.</div><divclass="ttdef"><b>Definition</b><ahref="base_2State_8h_source.html#l00049">State.h:50</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_1_1Motion_html"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST_1_1Motion.html">ompl::geometric::BiEST::Motion</a></div><divclass="ttdoc">The definition of a motion.</div><divclass="ttdef"><b>Definition</b><ahref="BiEST_8h_source.html#l00103">BiEST.h:104</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_1_1Motion_html_a257cfeec9c27bed50015933f54608ddf"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST_1_1Motion.html#a257cfeec9c27bed50015933f54608ddf">ompl::geometric::BiEST::Motion::state</a></div><divclass="ttdeci">base::State * state</div><divclass="ttdoc">The state contained by the motion.</div><divclass="ttdef"><b>Definition</b><ahref="BiEST_8h_source.html#l00116">BiEST.h:116</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_1_1Motion_html_a4ec4127f810cf3364c386349c95c2292"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST_1_1Motion.html#a4ec4127f810cf3364c386349c95c2292">ompl::geometric::BiEST::Motion::root</a></div><divclass="ttdeci">const base::State * root</div><divclass="ttdoc">The root node of the tree this motion is in.</div><divclass="ttdef"><b>Definition</b><ahref="BiEST_8h_source.html#l00125">BiEST.h:125</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_1_1Motion_html_abc41a0888e0d444ea20283bcc3d28a66"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST_1_1Motion.html#abc41a0888e0d444ea20283bcc3d28a66">ompl::geometric::BiEST::Motion::parent</a></div><divclass="ttdeci">Motion * parent</div><divclass="ttdoc">The parent motion in the exploration tree.</div><divclass="ttdef"><b>Definition</b><ahref="BiEST_8h_source.html#l00119">BiEST.h:119</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_1_1Motion_html_ac63617b085ed09981db13da281cf2639"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST_1_1Motion.html#ac63617b085ed09981db13da281cf2639">ompl::geometric::BiEST::Motion::element</a></div><divclass="ttdeci">PDF&lt; Motion * &gt;::Element * element</div><divclass="ttdoc">A pointer to the corresponding element in the probability distribution function.</div><divclass="ttdef"><b>Definition</b><ahref="BiEST_8h_source.html#l00122">BiEST.h:122</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_html_a04e975094b3061b1b03aa9a4274f935b"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST.html#a04e975094b3061b1b03aa9a4274f935b">ompl::geometric::BiEST::sampler_</a></div><divclass="ttdeci">base::ValidStateSamplerPtr sampler_</div><divclass="ttdoc">Valid state sampler.</div><divclass="ttdef"><b>Definition</b><ahref="BiEST_8h_source.html#l00155">BiEST.h:155</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_html_a1ab64d956622fd9bb05ad44b1cea7604"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST.html#a1ab64d956622fd9bb05ad44b1cea7604">ompl::geometric::BiEST::startPdf_</a></div><divclass="ttdeci">PDF&lt; Motion * &gt; startPdf_</div><divclass="ttdoc">The probability distribution function over states in each tree.</div><divclass="ttdef"><b>Definition</b><ahref="BiEST_8h_source.html#l00143">BiEST.h:143</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_html_a1d0bf3ea5c8ef2393fceeb628216ebac"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST.html#a1d0bf3ea5c8ef2393fceeb628216ebac">ompl::geometric::BiEST::addMotion</a></div><divclass="ttdeci">void addMotion(Motion *motion, std::vector&lt; Motion * &gt; &amp;motions, PDF&lt; Motion * &gt; &amp;pdf, const std::shared_ptr&lt; NearestNeighbors&lt; Motion * &gt; &gt; &amp;nn, const std::vector&lt; Motion * &gt; &amp;neighbors)</div><divclass="ttdoc">Add a motion to the exploration tree.</div><divclass="ttdef"><b>Definition</b><ahref="#l00275">BiEST.cpp:275</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_html_a1e04a922f474387b538c920d7e4f50a0"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST.html#a1e04a922f474387b538c920d7e4f50a0">ompl::geometric::BiEST::freeMemory</a></div><divclass="ttdeci">void freeMemory()</div><divclass="ttdoc">Free the memory allocated by this planner.</div><divclass="ttdef"><b>Definition</b><ahref="#l00094">BiEST.cpp:94</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_html_a216a39f7f917ea9751dedc81965a8aa3"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST.html#a216a39f7f917ea9751dedc81965a8aa3">ompl::geometric::BiEST::setup</a></div><divclass="ttdeci">void setup() override</div><divclass="ttdoc">Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...</div><divclass="ttdef"><b>Definition</b><ahref="#l00056">BiEST.cpp:56</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_html_a2b1969192468946aec6c55a212d024cc"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST.html#a2b1969192468946aec6c55a212d024cc">ompl::geometric::BiEST::solve</a></div><divclass="ttdeci">base::PlannerStatus solve(const base::PlannerTerminationCondition &amp;ptc) override</div><divclass="ttdoc">Function that can solve the motion planning problem. This function can be called multiple times on th...</div><divclass="ttdef"><b>Definition</b><ahref="#l00111">BiEST.cpp:111</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_html_a38a9f84eafe8593f0f59db4a97bf923c"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST.html#a38a9f84eafe8593f0f59db4a97bf923c">ompl::geometric::BiEST::getRange</a></div><divclass="ttdeci">double getRange() const</div><divclass="ttdoc">Get the range the planner is using.</div><divclass="ttdef"><b>Definition</b><ahref="BiEST_8h_source.html#l00092">BiEST.h:92</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_html_a3a84ea128ca195c78dba20afdee2af78"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST.html#a3a84ea128ca195c78dba20afdee2af78">ompl::geometric::BiEST::nbrhoodRadius_</a></div><divclass="ttdeci">double nbrhoodRadius_</div><divclass="ttdoc">The radius considered for neighborhood.</div><divclass="ttdef"><b>Definition</b><ahref="BiEST_8h_source.html#l00161">BiEST.h:161</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_html_a3f7d12fa0cf61b2a51ddf387e1b57cee"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST.html#a3f7d12fa0cf61b2a51ddf387e1b57cee">ompl::geometric::BiEST::nnStart_</a></div><divclass="ttdeci">std::shared_ptr&lt; NearestNeighbors&lt; Motion * &gt; &gt; nnStart_</div><divclass="ttdoc">A nearest-neighbors datastructure containing the tree of motions.</div><divclass="ttdef"><b>Definition</b><ahref="BiEST_8h_source.html#l00135">BiEST.h:135</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_html_a408336528629d3cbc78e1ccf836100af"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST.html#a408336528629d3cbc78e1ccf836100af">ompl::geometric::BiEST::rng_</a></div><divclass="ttdeci">RNG rng_</div><divclass="ttdoc">The random number generator.</div><divclass="ttdef"><b>Definition</b><ahref="BiEST_8h_source.html#l00164">BiEST.h:164</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_html_a4f6debd19df3b75fb191cfd4568a8cd2"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST.html#a4f6debd19df3b75fb191cfd4568a8cd2">ompl::geometric::BiEST::clear</a></div><divclass="ttdeci">void clear() override</div><divclass="ttdoc">Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...</div><divclass="ttdef"><b>Definition</b><ahref="#l00075">BiEST.cpp:75</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_html_a5971ef305f4c66d1f3329495b8304d15"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST.html#a5971ef305f4c66d1f3329495b8304d15">ompl::geometric::BiEST::maxDistance_</a></div><divclass="ttdeci">double maxDistance_</div><divclass="ttdoc">The maximum length of a motion to be added to a tree.</div><divclass="ttdef"><b>Definition</b><ahref="BiEST_8h_source.html#l00158">BiEST.h:158</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_html_a72d99dedaa6f82f033f7131e703acaab"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST.html#a72d99dedaa6f82f033f7131e703acaab">ompl::geometric::BiEST::BiEST</a></div><divclass="ttdeci">BiEST(const base::SpaceInformationPtr &amp;si)</div><divclass="ttdoc">Constructor.</div><divclass="ttdef"><b>Definition</b><ahref="#l00043">BiEST.cpp:43</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_html_a7379a61f62527f15da424f725e1484b9"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST.html#a7379a61f62527f15da424f725e1484b9">ompl::geometric::BiEST::startMotions_</a></div><divclass="ttdeci">std::vector&lt; Motion * &gt; startMotions_</div><divclass="ttdoc">The set of all states in the start tree.</div><divclass="ttdef"><b>Definition</b><ahref="BiEST_8h_source.html#l00139">BiEST.h:139</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_html_a9d0c2d6131257d38d80323bc1a0fa3fa"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST.html#a9d0c2d6131257d38d80323bc1a0fa3fa">ompl::geometric::BiEST::setRange</a></div><divclass="ttdeci">void setRange(double distance)</div><divclass="ttdoc">Set the range the planner is supposed to use.</div><divclass="ttdef"><b>Definition</b><ahref="BiEST_8h_source.html#l00082">BiEST.h:82</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_html_ad8b26ac151b78f6d21e6e2fbf89d0a68"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST.html#ad8b26ac151b78f6d21e6e2fbf89d0a68">ompl::geometric::BiEST::getPlannerData</a></div><divclass="ttdeci">void getPlannerData(base::PlannerData &amp;data) const override</div><divclass="ttdoc">Get information about the current run of the motion planner. Repeated calls to this function will upd...</div><divclass="ttdef"><b>Definition</b><ahref="#l00292">BiEST.cpp:292</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_html_ae94d6567e4ae0f7808169d4f871857c2"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST.html#ae94d6567e4ae0f7808169d4f871857c2">ompl::geometric::BiEST::connectionPoint_</a></div><divclass="ttdeci">std::pair&lt; base::State *, base::State * &gt; connectionPoint_</div><divclass="ttdoc">The pair of states in each tree connected during planning. Used for PlannerData computation.</div><divclass="ttdef"><b>Definition</b><ahref="BiEST_8h_source.html#l00167">BiEST.h:167</a></div></div>
<divclass="ttc" id="aclassompl_1_1geometric_1_1BiEST_html_aebb1a5cb966992266f4a383b2eed7db9"><divclass="ttname"><ahref="classompl_1_1geometric_1_1BiEST.html#aebb1a5cb966992266f4a383b2eed7db9">ompl::geometric::BiEST::distanceFunction</a></div><divclass="ttdeci">double distanceFunction(const Motion *a, const Motion *b) const</div><divclass="ttdoc">Compute distance between motions (actually distance between contained states).</div><divclass="ttdef"><b>Definition</b><ahref="BiEST_8h_source.html#l00129">BiEST.h:129</a></div></div>
<divclass="ttc" id="aclassompl_1_1tools_1_1SelfConfig_html"><divclass="ttname"><ahref="classompl_1_1tools_1_1SelfConfig.html">ompl::tools::SelfConfig</a></div><divclass="ttdoc">This class contains methods that automatically configure various parameters for motion planning....</div><divclass="ttdef"><b>Definition</b><ahref="SelfConfig_8h_source.html#l00058">SelfConfig.h:59</a></div></div>
<divclass="ttc" id="aclassompl_1_1tools_1_1SelfConfig_html_a23f1fef30af80542eeb4709465a06148"><divclass="ttname"><ahref="classompl_1_1tools_1_1SelfConfig.html#a23f1fef30af80542eeb4709465a06148">ompl::tools::SelfConfig::getDefaultNearestNeighbors</a></div><divclass="ttdeci">static NearestNeighbors&lt; _T &gt; * getDefaultNearestNeighbors(const base::Planner *planner)</div><divclass="ttdoc">Select a default nearest neighbor datastructure for the given space.</div><divclass="ttdef"><b>Definition</b><ahref="SelfConfig_8h_source.html#l00105">SelfConfig.h:105</a></div></div>
<divclass="ttc" id="aclassompl_1_1tools_1_1SelfConfig_html_a65bff53ea4bc6f158342a856175ab9a6"><divclass="ttname"><ahref="classompl_1_1tools_1_1SelfConfig.html#a65bff53ea4bc6f158342a856175ab9a6">ompl::tools::SelfConfig::configurePlannerRange</a></div><divclass="ttdeci">void configurePlannerRange(double &amp;range)</div><divclass="ttdoc">Compute what a good length for motion segments is.</div><divclass="ttdef"><b>Definition</b><ahref="SelfConfig_8cpp_source.html#l00225">SelfConfig.cpp:225</a></div></div>
<divclass="ttc" id="agroup__logging_html_ga04bc36d1b8c57ad7e13a8a48451a3a05"><divclass="ttname"><ahref="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a></div><divclass="ttdeci">#define OMPL_INFORM(fmt,...)</div><divclass="ttdoc">Log a formatted information string.</div><divclass="ttdef"><b>Definition</b><ahref="Console_8h_source.html#l00068">Console.h:68</a></div></div>
<divclass="ttc" id="agroup__logging_html_ga05ad3ae88188e7f248748785afd2b882"><divclass="ttname"><ahref="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a></div><divclass="ttdeci">#define OMPL_ERROR(fmt,...)</div><divclass="ttdoc">Log a formatted error string.</div><divclass="ttdef"><b>Definition</b><ahref="Console_8h_source.html#l00064">Console.h:64</a></div></div>
<divclass="ttc" id="anamespaceompl_1_1base_html"><divclass="ttname"><ahref="namespaceompl_1_1base.html">ompl::base</a></div><divclass="ttdoc">This namespace contains sampling based planning routines shared by both planning under geometric cons...</div><divclass="ttdef"><b>Definition</b><ahref="ConstrainedSpaceInformation_8h_source.html#l00054">ConstrainedSpaceInformation.h:55</a></div></div>
<divclass="ttc" id="anamespaceompl_1_1base_html_a1620a159019faf720c550eeca5723f55a6fb685fa51055688c4e130094225b7f9"><divclass="ttname"><ahref="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a6fb685fa51055688c4e130094225b7f9">ompl::base::GOAL_SAMPLEABLE_REGION</a></div><divclass="ttdeci">@ GOAL_SAMPLEABLE_REGION</div><divclass="ttdoc">This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible.</div><divclass="ttdef"><b>Definition</b><ahref="GoalTypes_8h_source.html#l00056">GoalTypes.h:56</a></div></div>
<divclass="ttc" id="astructompl_1_1base_1_1PlannerStatus_html"><divclass="ttname"><ahref="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a></div><divclass="ttdoc">A class to store the exit status of Planner::solve().</div><divclass="ttdef"><b>Definition</b><ahref="PlannerStatus_8h_source.html#l00048">PlannerStatus.h:49</a></div></div>
<divclass="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4"><divclass="ttname"><ahref="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4">ompl::base::PlannerStatus::StatusType</a></div><divclass="ttdeci">StatusType</div><divclass="ttdoc">The possible values of the status returned by a planner.</div><divclass="ttdef"><b>Definition</b><ahref="PlannerStatus_8h_source.html#l00051">PlannerStatus.h:52</a></div></div>
<divclass="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a1f20d012b563fc223902e24a8bcd7547"><divclass="ttname"><ahref="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a1f20d012b563fc223902e24a8bcd7547">ompl::base::PlannerStatus::INVALID_START</a></div><divclass="ttdeci">@ INVALID_START</div><divclass="ttdoc">Invalid start state or no start state specified.</div><divclass="ttdef"><b>Definition</b><ahref="PlannerStatus_8h_source.html#l00056">PlannerStatus.h:56</a></div></div>
<divclass="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28"><divclass="ttname"><ahref="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28">ompl::base::PlannerStatus::EXACT_SOLUTION</a></div><divclass="ttdeci">@ EXACT_SOLUTION</div><divclass="ttdoc">The planner found an exact solution.</div><divclass="ttdef"><b>Definition</b><ahref="PlannerStatus_8h_source.html#l00066">PlannerStatus.h:66</a></div></div>
<divclass="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a2e2b2b7e02900c4417af0ecea272c637"><divclass="ttname"><ahref="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a2e2b2b7e02900c4417af0ecea272c637">ompl::base::PlannerStatus::INVALID_GOAL</a></div><divclass="ttdeci">@ INVALID_GOAL</div><divclass="ttdoc">Invalid goal state.</div><divclass="ttdef"><b>Definition</b><ahref="PlannerStatus_8h_source.html#l00058">PlannerStatus.h:58</a></div></div>
<divclass="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a47d769205044efa345184a640bd863ff"><divclass="ttname"><ahref="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a47d769205044efa345184a640bd863ff">ompl::base::PlannerStatus::UNRECOGNIZED_GOAL_TYPE</a></div><divclass="ttdeci">@ UNRECOGNIZED_GOAL_TYPE</div><divclass="ttdoc">The goal is of a type that a planner does not recognize.</div><divclass="ttdef"><b>Definition</b><ahref="PlannerStatus_8h_source.html#l00060">PlannerStatus.h:60</a></div></div>
<divclass="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a620a03eebe49aa307140d6a4763278fd"><divclass="ttname"><ahref="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a620a03eebe49aa307140d6a4763278fd">ompl::base::PlannerStatus::TIMEOUT</a></div><divclass="ttdeci">@ TIMEOUT</div><divclass="ttdoc">The planner failed to find a solution.</div><divclass="ttdef"><b>Definition</b><ahref="PlannerStatus_8h_source.html#l00062">PlannerStatus.h:62</a></div></div>
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