BITstar.h
std::function< std::string()> NameFunc
A utility functor for ImplicitGraph and SearchQueue.
Definition: BITstar.h:243
ompl::base::Cost bestCost() const
Retrieve the best exact-solution cost found.
Definition: BITstar.cpp:554
void setJustInTimeSampling(bool useJit)
Delay the generation of samples until they are necessary. This only works when using an r-disc connec...
Definition: BITstar.cpp:1215
std::pair< VertexConstPtr, VertexConstPtr > VertexConstPtrPair
A pair of const vertices, i.e., an edge.
Definition: BITstar.h:234
ompl::base::Cost getNextEdgeValueInQueue()
Get the value of the next edge to be processed. Causes vertices in the queue to be expanded (if neces...
Definition: BITstar.cpp:519
std::pair< const ompl::base::State *, const ompl::base::State * > getNextEdgeInQueue()
Get the next edge to be processed. Causes vertices in the queue to be expanded (if necessary) and the...
Definition: BITstar.cpp:495
unsigned int numIterations() const
Get the number of iterations completed.
Definition: BITstar.cpp:549
double getPruneThresholdFraction() const
Get the fractional change in the solution cost AND problem measure necessary for pruning to occur.
Definition: BITstar.cpp:1200
void setDropSamplesOnPrune(bool dropSamples)
Drop all unconnected samples when pruning, regardless of their heuristic value. This provides a metho...
Definition: BITstar.cpp:1225
void getVertexQueue(VertexConstPtrVector *verticesInQueue)
Get the whole set of vertices to be expanded. Expensive but helpful for some videos.
Definition: BITstar.cpp:544
bool getConsiderApproximateSolutions() const
Get whether BIT* is considering approximate solutions.
Definition: BITstar.cpp:1254
bool getStrictQueueOrdering() const
Get whether strict queue ordering is in use.
Definition: BITstar.cpp:1166
std::pair< VertexPtr, VertexPtr > VertexPtrPair
A pair of vertices, i.e., an edge.
Definition: BITstar.h:232
std::vector< VertexConstPtr > VertexConstPtrVector
A vector of shared const pointers.
Definition: BITstar.h:228
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:111
bool getUseKNearest() const
Get whether a k-nearest search is being used.
Definition: BITstar.cpp:1156
bool getStopOnSolnImprovement() const
Get whether BIT* stops each time a solution is found.
Definition: BITstar.cpp:1240
unsigned int getSamplesPerBatch() const
Get the number of samplers per batch.
Definition: BITstar.cpp:1132
std::vector< VertexConstPtrPair > VertexConstPtrPairVector
A vector of pairs of const vertices, i.e., a vector of edges.
Definition: BITstar.h:238
std::vector< VertexPtrPair > VertexPtrPairVector
A vector of pairs of vertices, i.e., a vector of edges.
Definition: BITstar.h:236
void setPruning(bool prune)
Enable pruning of vertices/samples that CANNOT improve the current solution. When a vertex in the gra...
Definition: BITstar.cpp:1171
void setNearestNeighbors()
Set a different nearest neighbours datastructure.
Definition: BITstar.cpp:1260
bool getJustInTimeSampling() const
Get whether we're using just-in-time sampling.
Definition: BITstar.cpp:1220
void setStopOnSolnImprovement(bool stopOnChange)
Stop the planner each time a solution improvement is found. Useful for examining the intermediate sol...
Definition: BITstar.cpp:1235
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Solve.
Definition: BITstar.cpp:390
void setConsiderApproximateSolutions(bool findApproximate)
Set BIT* to consider approximate solutions during its initial search.
Definition: BITstar.cpp:1245
bool getDelayRewiringUntilInitialSolution() const
Get whether BIT* is delaying rewiring until a solution is found.
Definition: BITstar.cpp:1210
std::shared_ptr< const Vertex > VertexConstPtr
A constant vertex shared pointer.
Definition: BITstar.h:222
void setStrictQueueOrdering(bool beStrict)
Enable "strict sorting" of the edge queue. Rewirings can change the position in the queue of an edge....
Definition: BITstar.cpp:1161
void setUseKNearest(bool useKNearest)
Enable a k-nearest search for instead of an r-disc search.
Definition: BITstar.cpp:1137
void setDelayRewiringUntilInitialSolution(bool delayRewiring)
Delay the consideration of rewiring edges until an initial solution is found. When multiple batches a...
Definition: BITstar.cpp:1205
void getEdgeQueue(VertexConstPtrPairVector *edgesInQueue)
Get the whole messy set of edges in the queue. Expensive but helpful for some videos.
Definition: BITstar.cpp:539
std::shared_ptr< NearestNeighbors< VertexPtr > > VertexPtrNNPtr
The OMPL::NearestNeighbors structure.
Definition: BITstar.h:240
BITstar(const base::SpaceInformationPtr &si, const std::string &name="BITstar")
Construct!
Definition: BITstar.cpp:148
void setSamplesPerBatch(unsigned int n)
Set the number of samplers per batch.
Definition: BITstar.cpp:1127
unsigned int numBatches() const
Retrieve the number of batches processed as the raw data. (numBatches_)
Definition: BITstar.cpp:559
void setPruneThresholdFraction(double fractionalChange)
Set the fractional change in the solution cost AND problem measure necessary for pruning to occur.
Definition: BITstar.cpp:1190
void setRewireFactor(double rewireFactor)
Set the rewiring scale factor, s, such that r_rrg = s \times r_rrg*.
Definition: BITstar.cpp:1117
Main namespace. Contains everything in this library.
Definition: ConstrainedSpaceInformation.h:52
bool getDropSamplesOnPrune() const
Get whether unconnected samples are dropped on pruning.
Definition: BITstar.cpp:1230