-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathCForest_8h_source.html
371 lines (369 loc) · 52 KB
/
CForest_8h_source.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
<meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. Kavraki">
<meta name="generator" content="Doxygen 1.8.17"/>
<title>ompl/geometric/planners/cforest/CForest.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script src="jquery.js"></script>
<script src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function() { init_search(); });
/* @license-end */
</script>
<script type="text/x-mathjax-config">
MathJax.Hub.Config({
extensions: ["tex2jax.js", "TeX/AMSmath.js", "TeX/AMSsymbols.js"],
jax: ["input/TeX","output/HTML-CSS"],
});
</script>
<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/MathJax.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
<link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/css/bootstrap.min.css" integrity="sha384-ggOyR0iXCbMQv3Xipma34MD+dH/1fQ784/j6cY/iJTQUOhcWr7x9JvoRxT2MZw1T" crossorigin="anonymous">
<link href="ompl.css" rel="stylesheet">
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<nav class="navbar navbar-expand-md fixed-top navbar-dark">
<a class="navbar-brand" href="./index.html">OMPL</a>
<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbar">
<span class="navbar-toggler-icon"></span>
</button>
<div class="collapse navbar-collapse" id="navbar">
<ul class="navbar-nav mr-auto">
<li class="nav-item"><a class="nav-link" href="download.html">Download</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="docDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Documentation</a>
<div class="dropdown-menu" aria-labelledby="docDropdown">
<a class="dropdown-item" href="https://ompl.kavrakilab.org/OMPL_Primer.pdf">Primer</a>
<a class="dropdown-item" href="installation.html">Installation</a>
<a class="dropdown-item" href="tutorials.html">Tutorials</a>
<a class="dropdown-item" href="group__demos.html">Demos</a>
<a class="dropdown-item omplapp" href="gui.html">OMPL.app GUI</a>
<a class="dropdown-item omplapp" href="webapp.html">OMPL web app</a>
<a class="dropdown-item" href="python.html">Python Bindings</a>
<a class="dropdown-item" href="planners.html">Available Planners</a>
<a class="dropdown-item" href="plannerTerminationConditions.html">Planner Termination Conditions</a>
<a class="dropdown-item" href="benchmark.html">Benchmarking Planners</a>
<a class="dropdown-item" href="spaces.html">Available State Spaces</a>
<a class="dropdown-item" href="optimalPlanning.html">Optimal Planning</a>
<a class="dropdown-item" href="constrainedPlanning.html">Constrained Planning</a>
<a class="dropdown-item" href="multiLevelPlanning.html">Multilevel Planning</a>
<a class="dropdown-item" href="FAQ.html">FAQ</a>
<div class="dropdown-divider"></div>
<div class="dropdown-header">External links</div>
<a class="dropdown-item" href="http://moveit.ros.org">MoveIt</a>
<a class="dropdown-item" href="http://plannerarena.org">Planner Arena</a>
<a class="dropdown-item" href="https://moveit.ros.org//moveit!/ros/2013/05/07/icra-motion-planning-tutorial.html">ICRA 2013 Tutorial</a>
<a class="dropdown-item" href="http://kavrakilab.org/iros2011/">IROS 2011 Tutorial</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="gallery.html">Gallery</a></li>
<li class="nav-item"><a class="nav-link" href="integration.html">OMPL Integrations</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="codeDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Code</a>
<div class="dropdown-menu" aria-labelledby="codeDropdown">
<a class="dropdown-item" href="api_overview.html">API Overview</a>
<a class="dropdown-item" href="annotated.html">Classes</a>
<a class="dropdown-item" href="files.html">Files</a>
<a class="dropdown-item" href="styleGuide.html">Style Guide</a>
<div class="dropdown-divider"></div>
<div class="dropdown-header">Repositories</div>
<a class="dropdown-item" href="https://github.com/ompl/ompl">ompl on GitHub</a>
<a class="dropdown-item" href="https://github.com/ompl/omplapp">omplapp on GitHub</a>
<div class="dropdown-divider"></div>
<div class="dropdown-header">Continuous Integration</div>
<a class="dropdown-item" href="https://travis-ci.org/ompl/ompl">ompl on Travis CI (Linux/macOS)</a>
<a class="dropdown-item" href="https://travis-ci.org/ompl/omplapp">omplapp on Travis CI (Linux/macOS)</a>
<a class="dropdown-item" href="https://ci.appveyor.com/project/mamoll/ompl">ompl on AppVeyor CI (Windows)</a>
<a class="dropdown-item" href="https://ci.appveyor.com/project/mamoll/omplapp">omplapp on AppVeyor CI (Windows)</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="https://github.com/ompl/ompl/issues">Issues</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="communityDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Community</a>
<div class="dropdown-menu" aria-labelledby="communityDropdown">
<a class="dropdown-item" href="support.html">Get Support</a>
<a class="dropdown-item" href="developers.html">Developers/Contributors</a>
<a class="dropdown-item" href="contrib.html">Submit a Contribution</a>
<a class="dropdown-item" href="education.html">Education</a>
</div>
</li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="aboutDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">About</a>
<div class="dropdown-menu" aria-labelledby="aboutDropdown">
<a class="dropdown-item" href="license.html">License</a>
<a class="dropdown-item" href="citations.html">Citations</a>
<a class="dropdown-item" href="acknowledgements.html">Acknowledgments</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="https://ompl.kavrakilab.org/blog.html">Blog</a></li>
</ul>
<div id="MSearchBox" class="MSearchBoxInactive">
<span class="left">
<img id="MSearchSelect" src="search/mag_sel.png"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
alt=""/>
<input type="text" id="MSearchField" value="Search" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"
onkeyup="searchBox.OnSearchFieldChange(event)"/>
</span><span class="right">
<a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
</span>
</div>
</div>
</nav>
<div class="container" role="main">
<div>
<!-- Generated by Doxygen 1.8.17 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'Search');
/* @license-end */
</script>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0"
name="MSearchResults" id="MSearchResults">
</iframe>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="dir_efdc19d105c21b1223d5f8dc524071be.html">ompl</a></li><li class="navelem"><a class="el" href="dir_1f57d97647ebda1e28cc730ac7313960.html">geometric</a></li><li class="navelem"><a class="el" href="dir_955a6a93aceef09599971796437d173a.html">planners</a></li><li class="navelem"><a class="el" href="dir_c2f3b7f3982237541ef88a13e701f437.html">cforest</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle">
<div class="title">CForest.h</div> </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* Copyright (c) 2014, Rice University</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">*</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">* * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">* copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">* disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">* * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">* contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">* from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">*</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">*********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Authors: Javier V. Gómez, Ioan Sucan, Mark Moll */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#ifndef OMPL_GEOMETRIC_PLANNERS_CFOREST_CFOREST_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_CFOREST_CFOREST_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include "ompl/geometric/planners/cforest/CForestStateSpaceWrapper.h"</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include "ompl/geometric/planners/PlannerIncludes.h"</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include "ompl/tools/config/SelfConfig.h"</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <mutex></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#include <vector></span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> {</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keyword">namespace </span>geometric</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  {</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keyword">class </span>CForest : <span class="keyword">public</span> base::Planner</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  {</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  CForest(<span class="keyword">const</span> base::SpaceInformationPtr &si);</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  ~CForest() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#aca48982e4c0177b867fdcef87c90be9f">getPlannerData</a>(base::PlannerData &data) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  </div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#a8fcd2cdd4956e01b20015b8c6d0a95a9">clear</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  </div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#af28102f31f63b45c5230ec59335bff1b">addPlannerInstance</a>()</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  {</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keyword">auto</span> space(std::make_shared<base::CForestStateSpaceWrapper>(<span class="keyword">this</span>, <a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->getStateSpace().get()));</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keyword">auto</span> si(std::make_shared<base::SpaceInformation>(space));</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  si->setStateValidityChecker(<a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->getStateValidityChecker());</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  si->setMotionValidator(<a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->getMotionValidator());</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keyword">auto</span> planner(std::make_shared<T>(si));</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  space->setPlanner(planner.get());</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  addPlannerInstanceInternal(planner);</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  }</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  </div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#a72a520063706be6efa62e68cf1f7c179">addPlannerInstances</a>(std::size_t num = 2)</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  {</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <a class="code" href="classompl_1_1geometric_1_1CForest.html#a26984b385802c484d2444c0f61e46fe4">planners_</a>.reserve(<a class="code" href="classompl_1_1geometric_1_1CForest.html#a26984b385802c484d2444c0f61e46fe4">planners_</a>.size() + num);</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < num; ++i)</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  {</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  addPlannerInstance<T>();</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  }</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  }</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  </div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#aea227489f58d6fdda9ba4d0de82e88e4">clearPlannerInstances</a>()</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  {</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <a class="code" href="classompl_1_1geometric_1_1CForest.html#a26984b385802c484d2444c0f61e46fe4">planners_</a>.clear();</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  }</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  base::PlannerPtr &<a class="code" href="classompl_1_1geometric_1_1CForest.html#a07715853f17ce077692818f47ea654f5">getPlannerInstance</a>(<span class="keyword">const</span> std::size_t idx)</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  {</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#a26984b385802c484d2444c0f61e46fe4">planners_</a>[idx];</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  }</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  </div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#af750a426c2d555de19705ac111a2437e">setup</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  </div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  base::PlannerStatus <a class="code" href="classompl_1_1geometric_1_1CForest.html#ac2c809faf24daaaef1789517f0dfe013">solve</a>(<span class="keyword">const</span> base::PlannerTerminationCondition &ptc) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  </div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordtype">void</span> addSampler(<span class="keyword">const</span> base::StateSamplerPtr &sampler)</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  {</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <a class="code" href="classompl_1_1geometric_1_1CForest.html#a60fdfef9f1d1e9fee70dab618280ae81">addSamplerMutex_</a>.lock();</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <a class="code" href="classompl_1_1geometric_1_1CForest.html#a0cd9f52782a607c696649a18b879ae16">samplers_</a>.push_back(sampler);</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <a class="code" href="classompl_1_1geometric_1_1CForest.html#a60fdfef9f1d1e9fee70dab618280ae81">addSamplerMutex_</a>.unlock();</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  }</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  </div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#adaaa851a40d4e7ceecd4a7d6351f1f00">setFocusSearch</a>(<span class="keyword">const</span> <span class="keywordtype">bool</span> focus)</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  {</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <a class="code" href="classompl_1_1geometric_1_1CForest.html#ae523000e355ae5144669a57084efb1ba">focusSearch_</a> = focus;</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  }</div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html"> 139</a></span>  </div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#a770cb05a04b9639d69362624baa66adc">getFocusSearch</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#ae523000e355ae5144669a57084efb1ba">focusSearch_</a>;</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  }</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  </div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#a8afa358915bfa89765f78fce46b0595f">setNumThreads</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numThreads = 0);</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  </div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#a132f958ae097a3a1d71e9db49adfad36">getNumThreads</a>()</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  {</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#a0c4118c49564c89c7e42c556115cb9b2">numThreads_</a>;</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  }</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  </div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  std::string <a class="code" href="classompl_1_1geometric_1_1CForest.html#a3a60889fc4c3ceb4ceb5a0ebbba7f0d4">getBestCost</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  </div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  std::string <a class="code" href="classompl_1_1geometric_1_1CForest.html#aa95d986076fd931412f644ce950ce092">getNumPathsShared</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  </div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  std::string <a class="code" href="classompl_1_1geometric_1_1CForest.html#aad41acab72d201f0852ee34ac4b888e3">getNumStatesShared</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  </div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordtype">void</span> addPlannerInstanceInternal(<span class="keyword">const</span> base::PlannerPtr &planner);</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  </div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keywordtype">void</span> newSolutionFound(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1Planner.html">base::Planner</a> *planner, <span class="keyword">const</span> std::vector<const base::State *> &states,</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> cost);</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  </div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#ac2c809faf24daaaef1789517f0dfe013">solve</a>(<a class="code" href="classompl_1_1base_1_1Planner.html">base::Planner</a> *planner, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc);</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  </div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  base::OptimizationObjectivePtr <a class="code" href="classompl_1_1geometric_1_1CForest.html#a2b25a59faa0fabbb99d9a540ab252303">opt_</a>;</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  </div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  std::vector<base::PlannerPtr> <a class="code" href="classompl_1_1geometric_1_1CForest.html#a26984b385802c484d2444c0f61e46fe4">planners_</a>;</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  </div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#af28102f31f63b45c5230ec59335bff1b"> 184</a></span>  std::vector<base::StateSamplerPtr> <a class="code" href="classompl_1_1geometric_1_1CForest.html#a0cd9f52782a607c696649a18b879ae16">samplers_</a>;</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  </div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  std::unordered_set<const base::State *> <a class="code" href="classompl_1_1geometric_1_1CForest.html#a98df21465bd40a0ca381bf92328ce12e">statesShared_</a>;</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  </div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> <a class="code" href="classompl_1_1geometric_1_1CForest.html#a26caf4e8b3d20b8e2b0b245d1faa7afa">bestCost_</a>;</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  </div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#a8da0b7ee06c5009bdef0fdf9100522b5">numPathsShared_</a>{0u};</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  </div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#aff4bc36cb2c7cbf006a59c4a809a192b">numStatesShared_</a>{0u};</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  </div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#a72a520063706be6efa62e68cf1f7c179"> 199</a></span>  std::mutex <a class="code" href="classompl_1_1geometric_1_1CForest.html#ab6e764f914f8514eb92d1f77b2402373">newSolutionFoundMutex_</a>;</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  </div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  std::mutex <a class="code" href="classompl_1_1geometric_1_1CForest.html#a60fdfef9f1d1e9fee70dab618280ae81">addSamplerMutex_</a>;</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  </div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#ae523000e355ae5144669a57084efb1ba">focusSearch_</a>{<span class="keyword">true</span>};</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  </div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1CForest.html#a0c4118c49564c89c7e42c556115cb9b2">numThreads_</a>;</div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#aea227489f58d6fdda9ba4d0de82e88e4"> 209</a></span>  };</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  }</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> }</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  </div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html">ompl::base::Planner</a></div><div class="ttdoc">Base class for a planner.</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00279">Planner.h:279</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_adaaa851a40d4e7ceecd4a7d6351f1f00"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#adaaa851a40d4e7ceecd4a7d6351f1f00">ompl::geometric::CForest::setFocusSearch</a></div><div class="ttdeci">void setFocusSearch(const bool focus)</div><div class="ttdoc">Option to control whether the search is focused during the search.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8h_source.html#l00231">CForest.h:231</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_aff4bc36cb2c7cbf006a59c4a809a192b"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#aff4bc36cb2c7cbf006a59c4a809a192b">ompl::geometric::CForest::numStatesShared_</a></div><div class="ttdeci">unsigned int numStatesShared_</div><div class="ttdoc">Number of states shared among threads.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8h_source.html#l00292">CForest.h:292</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_aca48982e4c0177b867fdcef87c90be9f"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#aca48982e4c0177b867fdcef87c90be9f">ompl::geometric::CForest::getPlannerData</a></div><div class="ttdeci">void getPlannerData(base::PlannerData &data) const override</div><div class="ttdoc">Get information about the current run of the motion planner. Repeated calls to this function will upd...</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8cpp_source.html#l00089">CForest.cpp:89</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_af28102f31f63b45c5230ec59335bff1b"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#af28102f31f63b45c5230ec59335bff1b">ompl::geometric::CForest::addPlannerInstance</a></div><div class="ttdeci">void addPlannerInstance()</div><div class="ttdoc">Add an specific planner instance.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8h_source.html#l00184">CForest.h:184</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_a07715853f17ce077692818f47ea654f5"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#a07715853f17ce077692818f47ea654f5">ompl::geometric::CForest::getPlannerInstance</a></div><div class="ttdeci">base::PlannerPtr & getPlannerInstance(const std::size_t idx)</div><div class="ttdoc">Return an specific planner instance.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8h_source.html#l00214">CForest.h:214</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_a60fdfef9f1d1e9fee70dab618280ae81"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#a60fdfef9f1d1e9fee70dab618280ae81">ompl::geometric::CForest::addSamplerMutex_</a></div><div class="ttdeci">std::mutex addSamplerMutex_</div><div class="ttdoc">Mutex to control the access to samplers_.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8h_source.html#l00298">CForest.h:298</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Cost_html"><div class="ttname"><a href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a></div><div class="ttdoc">Definition of a cost value. Can represent the cost of a motion or the cost of a state.</div><div class="ttdef"><b>Definition:</b> <a href="Cost_8h_source.html#l00111">Cost.h:111</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_a26984b385802c484d2444c0f61e46fe4"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#a26984b385802c484d2444c0f61e46fe4">ompl::geometric::CForest::planners_</a></div><div class="ttdeci">std::vector< base::PlannerPtr > planners_</div><div class="ttdoc">The set of planners to be used.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8h_source.html#l00277">CForest.h:277</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_aa95d986076fd931412f644ce950ce092"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#aa95d986076fd931412f644ce950ce092">ompl::geometric::CForest::getNumPathsShared</a></div><div class="ttdeci">std::string getNumPathsShared() const</div><div class="ttdoc">Get number of paths shared by the algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8cpp_source.html#l00218">CForest.cpp:218</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_aea227489f58d6fdda9ba4d0de82e88e4"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#aea227489f58d6fdda9ba4d0de82e88e4">ompl::geometric::CForest::clearPlannerInstances</a></div><div class="ttdeci">void clearPlannerInstances()</div><div class="ttdoc">Remove all planner instances.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8h_source.html#l00209">CForest.h:209</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerTerminationCondition_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a></div><div class="ttdoc">Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...</div><div class="ttdef"><b>Definition:</b> <a href="PlannerTerminationCondition_8h_source.html#l00127">PlannerTerminationCondition.h:127</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_a0c4118c49564c89c7e42c556115cb9b2"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#a0c4118c49564c89c7e42c556115cb9b2">ompl::geometric::CForest::numThreads_</a></div><div class="ttdeci">unsigned int numThreads_</div><div class="ttdoc">Default number of threads to use when no planner instances are specified by the user.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8h_source.html#l00304">CForest.h:304</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_a770cb05a04b9639d69362624baa66adc"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#a770cb05a04b9639d69362624baa66adc">ompl::geometric::CForest::getFocusSearch</a></div><div class="ttdeci">bool getFocusSearch() const</div><div class="ttdoc">Get the state of the search focusing option.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8h_source.html#l00237">CForest.h:237</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_ab6e764f914f8514eb92d1f77b2402373"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#ab6e764f914f8514eb92d1f77b2402373">ompl::geometric::CForest::newSolutionFoundMutex_</a></div><div class="ttdeci">std::mutex newSolutionFoundMutex_</div><div class="ttdoc">Mutex to control the access to the newSolutionFound() method.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8h_source.html#l00295">CForest.h:295</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_a132f958ae097a3a1d71e9db49adfad36"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#a132f958ae097a3a1d71e9db49adfad36">ompl::geometric::CForest::getNumThreads</a></div><div class="ttdeci">unsigned int getNumThreads()</div><div class="ttdoc">Get default number of threads used by CForest when no planner instances are specified by the user.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8h_source.html#l00247">CForest.h:247</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_aad41acab72d201f0852ee34ac4b888e3"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#aad41acab72d201f0852ee34ac4b888e3">ompl::geometric::CForest::getNumStatesShared</a></div><div class="ttdeci">std::string getNumStatesShared() const</div><div class="ttdoc">Get number of states actually shared by the algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8cpp_source.html#l00223">CForest.cpp:223</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_a8da0b7ee06c5009bdef0fdf9100522b5"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#a8da0b7ee06c5009bdef0fdf9100522b5">ompl::geometric::CForest::numPathsShared_</a></div><div class="ttdeci">unsigned int numPathsShared_</div><div class="ttdoc">Number of paths shared among threads.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8h_source.html#l00289">CForest.h:289</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_a26caf4e8b3d20b8e2b0b245d1faa7afa"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#a26caf4e8b3d20b8e2b0b245d1faa7afa">ompl::geometric::CForest::bestCost_</a></div><div class="ttdeci">base::Cost bestCost_</div><div class="ttdoc">Cost of the best path found so far among planners.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8h_source.html#l00286">CForest.h:286</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_a8fcd2cdd4956e01b20015b8c6d0a95a9"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#a8fcd2cdd4956e01b20015b8c6d0a95a9">ompl::geometric::CForest::clear</a></div><div class="ttdeci">void clear() override</div><div class="ttdoc">Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8cpp_source.html#l00124">CForest.cpp:124</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_a8afa358915bfa89765f78fce46b0595f"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#a8afa358915bfa89765f78fce46b0595f">ompl::geometric::CForest::setNumThreads</a></div><div class="ttdeci">void setNumThreads(unsigned int numThreads=0)</div><div class="ttdoc">Set default number of threads to use when no planner instances are specified by the user.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8cpp_source.html#l00068">CForest.cpp:68</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_af750a426c2d555de19705ac111a2437e"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#af750a426c2d555de19705ac111a2437e">ompl::geometric::CForest::setup</a></div><div class="ttdeci">void setup() override</div><div class="ttdoc">Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8cpp_source.html#l00142">CForest.cpp:142</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_a0cd9f52782a607c696649a18b879ae16"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#a0cd9f52782a607c696649a18b879ae16">ompl::geometric::CForest::samplers_</a></div><div class="ttdeci">std::vector< base::StateSamplerPtr > samplers_</div><div class="ttdoc">The set of sampler allocated by the planners.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8h_source.html#l00280">CForest.h:280</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_a2b25a59faa0fabbb99d9a540ab252303"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#a2b25a59faa0fabbb99d9a540ab252303">ompl::geometric::CForest::opt_</a></div><div class="ttdeci">base::OptimizationObjectivePtr opt_</div><div class="ttdoc">Optimization objective taken into account when planning.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8h_source.html#l00274">CForest.h:274</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_a72a520063706be6efa62e68cf1f7c179"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#a72a520063706be6efa62e68cf1f7c179">ompl::geometric::CForest::addPlannerInstances</a></div><div class="ttdeci">void addPlannerInstances(std::size_t num=2)</div><div class="ttdoc">Add specific planner instances. CFOREST sets the planner's parameter named focus_search (if present) ...</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8h_source.html#l00199">CForest.h:199</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_aa3ceb9471163b6c96f6eeadbcfd3694e"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">ompl::base::Planner::si_</a></div><div class="ttdeci">SpaceInformationPtr si_</div><div class="ttdoc">The space information for which planning is done.</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00474">Planner.h:474</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_a98df21465bd40a0ca381bf92328ce12e"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#a98df21465bd40a0ca381bf92328ce12e">ompl::geometric::CForest::statesShared_</a></div><div class="ttdeci">std::unordered_set< const base::State * > statesShared_</div><div class="ttdoc">Stores the states already shared to check if a specific state has been shared.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8h_source.html#l00283">CForest.h:283</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_a3a60889fc4c3ceb4ceb5a0ebbba7f0d4"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#a3a60889fc4c3ceb4ceb5a0ebbba7f0d4">ompl::geometric::CForest::getBestCost</a></div><div class="ttdeci">std::string getBestCost() const</div><div class="ttdoc">Get best cost among all the planners.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8cpp_source.html#l00213">CForest.cpp:213</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_ac2c809faf24daaaef1789517f0dfe013"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#ac2c809faf24daaaef1789517f0dfe013">ompl::geometric::CForest::solve</a></div><div class="ttdeci">base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override</div><div class="ttdoc">Function that can solve the motion planning problem. This function can be called multiple times on th...</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8cpp_source.html#l00173">CForest.cpp:173</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1CForest_html_ae523000e355ae5144669a57084efb1ba"><div class="ttname"><a href="classompl_1_1geometric_1_1CForest.html#ae523000e355ae5144669a57084efb1ba">ompl::geometric::CForest::focusSearch_</a></div><div class="ttdeci">bool focusSearch_</div><div class="ttdoc">Flag to control whether the search is focused.</div><div class="ttdef"><b>Definition:</b> <a href="CForest_8h_source.html#l00301">CForest.h:301</a></div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00021">AppBase.h:21</a></div></div>
</div>
<footer class="footer">
<div class="container">
<a href="http://www.kavrakilab.org">Kavraki Lab</a> •
<a href="https://www.cs.rice.edu">Department of Computer Science</a> •
<a href="https://www.rice.edu">Rice University</a><br/>
Funded in part by the <a href="https://www.nsf.gov">National Science Foundation</a><br/>
Documentation generated by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.8.17
</div>
</footer>
<script>
(function(i,s,o,g,r,a,m){i['GoogleAnalyticsObject']=r;i[r]=i[r]||function(){
(i[r].q=i[r].q||[]).push(arguments)},i[r].l=1*new Date();a=s.createElement(o),
m=s.getElementsByTagName(o)[0];a.async=1;a.src=g;m.parentNode.insertBefore(a,m)
})(window,document,'script','//www.google-analytics.com/analytics.js','ga');
ga('create', 'UA-9156598-2', 'auto');
ga('send', 'pageview');
</script>
<script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.14.7/umd/popper.min.js" integrity="sha384-UO2eT0CpHqdSJQ6hJty5KVphtPhzWj9WO1clHTMGa3JDZwrnQq4sF86dIHNDz0W1" crossorigin="anonymous"></script>
<script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
</body>
</html>