QRRTImpl.h

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/* Author: Andreas Orthey */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_QUOTIENTSPACE_QRRTIMPL_
#define OMPL_GEOMETRIC_PLANNERS_QUOTIENTSPACE_QRRTIMPL_
#include <ompl/geometric/planners/quotientspace/datastructures/QuotientSpaceGraph.h>
#include <ompl/datastructures/PDF.h>
 
namespace ompl
{
    namespace base
    {
        OMPL_CLASS_FORWARD(OptimizationObjective);
    }
    namespace geometric
    {
        class QRRTImpl : public ompl::geometric::QuotientSpaceGraph
        {
            using BaseT = QuotientSpaceGraph;
 
        public:
            QRRTImpl(const ompl::base::SpaceInformationPtr &si, QuotientSpace *parent_);
            virtual ~QRRTImpl() override;
            virtual void grow() override;
            virtual bool getSolution(ompl::base::PathPtr &solution) override;
            double getImportance() const override;
            virtual bool sample(ompl::base::State *q_random) override;
            virtual bool sampleQuotient(ompl::base::State *) override;
 
            virtual void setup() override;
            virtual void clear() override;
 
            void setGoalBias(double goalBias);
            double getGoalBias() const;
            void setRange(double distance);
            double getRange() const;
 
        protected:
            Configuration *qRandom_{nullptr};
            std::vector<Vertex> shortestPathVertices_;
 
            double maxDistance_{.0};
            double goalBias_{.05};
 
            ompl::base::Goal *goal_;
        };
    }  // namespace geometric
}  // namespace ompl
 
#endif