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QRRTImpl.h
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35
36/* Author: Andreas Orthey */
37
38#ifndef OMPL_MULTILEVEL_PLANNERS_BundleSpace_QRRTIMPL_
39#define OMPL_MULTILEVEL_PLANNERS_BundleSpace_QRRTIMPL_
40#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
41#include <ompl/datastructures/PDF.h>
42
43namespace ompl
44{
45 namespace base
46 {
47 OMPL_CLASS_FORWARD(OptimizationObjective);
48 }
49 namespace multilevel
50 {
52 class QRRTImpl : public ompl::multilevel::BundleSpaceGraph
53 {
54 using BaseT = BundleSpaceGraph;
55
56 public:
57 QRRTImpl(const ompl::base::SpaceInformationPtr &si, BundleSpace *parent_);
58 virtual ~QRRTImpl() override;
59
61 virtual void grow() override;
62 };
63 } // namespace multilevel
64} // namespace ompl
65
66#endif
Abstract definition of optimization objectives.
A graph on a Bundle-space.
A single Bundle-space.
Definition BundleSpace.h:64
virtual void grow() override
One iteration of RRT with adjusted sampling function.
Definition QRRTImpl.cpp:57
This namespace contains sampling based planning routines shared by both planning under geometric cons...
This namespace contains datastructures and planners to exploit multilevel abstractions,...
Main namespace. Contains everything in this library.