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<li class="navelem"><b>ompl</b></li><li class="navelem"><b>geometric</b></li><li class="navelem"><b>planners</b></li><li class="navelem"><b>cforest</b></li><li class="navelem"><b>src</b></li> </ul>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*********************************************************************</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment"> *</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> * Copyright (c) 2014, Rice University</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> * All rights reserved.</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> *</span></div>
<div class="line"><a id="l00007" 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 id="l00008" 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 id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * are met:</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> *</span></div>
<div class="line"><a id="l00011" 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 id="l00012" 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 id="l00013" 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 id="l00014" 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 id="l00015" 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 id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment"> * with the distribution.</span></div>
<div class="line"><a id="l00017" 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 id="l00018" 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 id="l00019" 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 id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment"> *</span></div>
<div class="line"><a id="l00021" 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 id="l00022" 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 id="l00023" 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 id="l00024" 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 id="l00025" 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 id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a id="l00027" 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 id="l00028" 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 id="l00029" 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 id="l00030" 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 id="l00031" 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 id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="comment"> *********************************************************************/</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
<div class="line"><a id="l00035" 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 id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include "ompl/geometric/planners/cforest/CForest.h"</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include "ompl/geometric/planners/rrt/RRTstar.h"</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include "ompl/base/objectives/PathLengthOptimizationObjective.h"</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include "ompl/util/String.h"</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include <thread></span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span>ompl::geometric::CForest::CForest(<span class="keyword">const</span> base::SpaceInformationPtr &si) : <a class="code hl_namespace" href="namespaceompl_1_1base.html">base</a>::Planner(si, <span class="stringliteral">"CForest"</span>)</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span>{</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> specs_.optimizingPaths = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> specs_.multithreaded = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> numThreads_ = std::max(std::thread::hardware_concurrency(), 2u);</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> Planner::declareParam<bool>(<span class="stringliteral">"focus_search"</span>, <span class="keyword">this</span>, &CForest::setFocusSearch, &CForest::getFocusSearch, <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> Planner::declareParam<unsigned int>(<span class="stringliteral">"num_threads"</span>, <span class="keyword">this</span>, &CForest::setNumThreads, &CForest::getNumThreads, <span class="stringliteral">"0:64"</span>);</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> </div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> addPlannerProgressProperty(<span class="stringliteral">"best cost REAL"</span>, [<span class="keyword">this</span>] { <span class="keywordflow">return</span> getBestCost(); });</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> addPlannerProgressProperty(<span class="stringliteral">"shared paths INTEGER"</span>, [<span class="keyword">this</span>] { <span class="keywordflow">return</span> getNumPathsShared(); });</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> addPlannerProgressProperty(<span class="stringliteral">"shared states INTEGER"</span>, [<span class="keyword">this</span>] { <span class="keywordflow">return</span> getNumStatesShared(); });</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span>}</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> </div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span>ompl::geometric::CForest::~CForest() = <span class="keywordflow">default</span>;</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> </div>
<div class="foldopen" id="foldopen00059" data-start="{" data-end="}">
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#a8afa358915bfa89765f78fce46b0595f"> 59</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1CForest.html#a8afa358915bfa89765f78fce46b0595f">ompl::geometric::CForest::setNumThreads</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numThreads)</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span>{</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a0c4118c49564c89c7e42c556115cb9b2">numThreads_</a> = numThreads != 0u ? numThreads : std::max(std::thread::hardware_concurrency(), 2u);</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span>}</div>
</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> </div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span><span class="keywordtype">void</span> ompl::geometric::CForest::addPlannerInstanceInternal(<span class="keyword">const</span> base::PlannerPtr &planner)</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span>{</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="keywordflow">if</span> (!planner->getSpecs().canReportIntermediateSolutions)</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"%s cannot report intermediate solutions, not added as CForest planner."</span>, planner->getName().c_str());</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> {</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> planner->setProblemDefinition(pdef_);</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="keywordflow">if</span> (planner->params().hasParam(<span class="stringliteral">"focus_search"</span>))</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> planner->params()[<span class="stringliteral">"focus_search"</span>] = focusSearch_;</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"%s does not appear to support search focusing."</span>, planner->getName().c_str());</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> </div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> planners_.push_back(planner);</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> }</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span>}</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> </div>
<div class="foldopen" id="foldopen00080" data-start="{" data-end="}">
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#aca48982e4c0177b867fdcef87c90be9f"> 80</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1CForest.html#aca48982e4c0177b867fdcef87c90be9f">ompl::geometric::CForest::getPlannerData</a>(<a class="code hl_class" href="classompl_1_1base_1_1PlannerData.html">base::PlannerData</a> &data)<span class="keyword"> const</span></div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> Planner::getPlannerData(data);</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> <span class="keywordflow">for</span> (std::size_t i = 0; i < <a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a26984b385802c484d2444c0f61e46fe4">planners_</a>.size(); ++i)</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> {</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerData.html">base::PlannerData</a> pd(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>);</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a26984b385802c484d2444c0f61e46fe4">planners_</a>[i]->getPlannerData(pd);</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> </div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0; j < pd.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#a877a673801134168cba0581b277cae79">numVertices</a>(); ++j)</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> {</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerDataVertex.html">base::PlannerDataVertex</a> &v = pd.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#abebe83e30a20d7d79e26f18bf228e8bb">getVertex</a>(j);</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> </div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> v.<a class="code hl_function" href="classompl_1_1base_1_1PlannerDataVertex.html#a4e6d6a6ecf6fdff4c4c74410be5c3596">setTag</a>(i);</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> std::vector<unsigned int> edgeList;</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numEdges = pd.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#a81695127ac273368325eb61bd2b9b2ca">getIncomingEdges</a>(j, edgeList);</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < numEdges; ++k)</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> {</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">base::Cost</a> edgeWeight;</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerDataVertex.html">base::PlannerDataVertex</a> &w = pd.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#abebe83e30a20d7d79e26f18bf228e8bb">getVertex</a>(edgeList[k]);</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> </div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> w.<a class="code hl_function" href="classompl_1_1base_1_1PlannerDataVertex.html#a4e6d6a6ecf6fdff4c4c74410be5c3596">setTag</a>(i);</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> pd.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#a0457d193b3297e8e90ee28bbe651d07e">getEdgeWeight</a>(j, k, &edgeWeight);</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> data.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#ac09c21494a8c7db500ef1a66bbbb1aa7">addEdge</a>(v, w, pd.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#ab1702251b05069848409efade85a3605">getEdge</a>(j, k), edgeWeight);</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> }</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> }</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> </div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0; j < pd.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#acc1145957cc29ef8e8328b8f31b9216a">numGoalVertices</a>(); ++j)</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> data.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#a7772ac307d153831c0e7ecfc4fb1c18b">markGoalState</a>(pd.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#acc67731741c9990a749307fd558161c1">getGoalVertex</a>(j).<a class="code hl_function" href="classompl_1_1base_1_1PlannerDataVertex.html#aad885cb3f2098279bd372b816003efd1">getState</a>());</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> </div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0; j < pd.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#a9b7c83a71e59cc10492b96c52990124d">numStartVertices</a>(); ++j)</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> data.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#a48ebd34b6da9efd9ec7647155f9173c9">markStartState</a>(pd.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#ab2e140727e79440c47c275a52bfd0604">getStartVertex</a>(j).<a class="code hl_function" href="classompl_1_1base_1_1PlannerDataVertex.html#aad885cb3f2098279bd372b816003efd1">getState</a>());</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> }</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span>}</div>
</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> </div>
<div class="foldopen" id="foldopen00115" data-start="{" data-end="}">
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#a8fcd2cdd4956e01b20015b8c6d0a95a9"> 115</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1CForest.html#a8fcd2cdd4956e01b20015b8c6d0a95a9">ompl::geometric::CForest::clear</a>()</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span>{</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> Planner::clear();</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &planner : <a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a26984b385802c484d2444c0f61e46fe4">planners_</a>)</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> planner->clear();</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> </div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a26caf4e8b3d20b8e2b0b245d1faa7afa">bestCost_</a> = <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">base::Cost</a>(std::numeric_limits<double>::quiet_NaN());</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a8da0b7ee06c5009bdef0fdf9100522b5">numPathsShared_</a> = 0;</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#aff4bc36cb2c7cbf006a59c4a809a192b">numStatesShared_</a> = 0;</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> </div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> std::vector<base::StateSamplerPtr> samplers;</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> samplers.reserve(<a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a0cd9f52782a607c696649a18b879ae16">samplers_</a>.size());</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &sampler : <a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a0cd9f52782a607c696649a18b879ae16">samplers_</a>)</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keywordflow">if</span> (sampler.use_count() > 1)</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> samplers.push_back(sampler);</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a0cd9f52782a607c696649a18b879ae16">samplers_</a>.swap(samplers);</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span>}</div>
</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> </div>
<div class="foldopen" id="foldopen00133" data-start="{" data-end="}">
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#af750a426c2d555de19705ac111a2437e"> 133</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1CForest.html#af750a426c2d555de19705ac111a2437e">ompl::geometric::CForest::setup</a>()</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span>{</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> Planner::setup();</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->hasOptimizationObjective())</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a2b25a59faa0fabbb99d9a540ab252303">opt_</a> = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->getOptimizationObjective();</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> {</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: No optimization objective specified. Defaulting to optimizing path length for the allowed "</span></div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="stringliteral">"planning time."</span>,</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a2b25a59faa0fabbb99d9a540ab252303">opt_</a> = std::make_shared<base::PathLengthOptimizationObjective>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>);</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> }</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> </div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a26caf4e8b3d20b8e2b0b245d1faa7afa">bestCost_</a> = <a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a2b25a59faa0fabbb99d9a540ab252303">opt_</a>->infiniteCost();</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> </div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a26984b385802c484d2444c0f61e46fe4">planners_</a>.empty())</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> {</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: Number and type of instances not specified. Defaulting to %d instances of RRTstar."</span>,</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str(), <a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a0c4118c49564c89c7e42c556115cb9b2">numThreads_</a>);</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <a class="code hl_function" href="classompl_1_1geometric_1_1CForest.html#a72a520063706be6efa62e68cf1f7c179">addPlannerInstances<RRTstar></a>(<a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a0c4118c49564c89c7e42c556115cb9b2">numThreads_</a>);</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> }</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> </div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &planner : <a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a26984b385802c484d2444c0f61e46fe4">planners_</a>)</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keywordflow">if</span> (!planner->isSetup())</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> planner->setup();</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> </div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="comment">// This call is needed to make sure the ParamSet is up to date after changes induced by the planner setup calls</span></div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="comment">// above, via the state space wrappers for CForest.</span></div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->setup();</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span>}</div>
</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> </div>
<div class="foldopen" id="foldopen00164" data-start="{" data-end="}">
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#ac2c809faf24daaaef1789517f0dfe013"> 164</a></span><a class="code hl_struct" href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a> <a class="code hl_function" href="classompl_1_1geometric_1_1CForest.html#ac2c809faf24daaaef1789517f0dfe013">ompl::geometric::CForest::solve</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc)</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span>{</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#ab416900477cf4499139c01f35663dffb">checkValidity</a>();</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> </div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <a class="code hl_typedef" href="namespaceompl_1_1time.html#a217fd988fc9b3192af36c37613d51a39">time::point</a> start = <a class="code hl_function" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>();</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> std::vector<std::thread *> threads(<a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a26984b385802c484d2444c0f61e46fe4">planners_</a>.size());</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespaceompl_1_1base.html#aadbabfad049bccef66d04a2fecfa8ad4">base::ReportIntermediateSolutionFn</a> prevSolutionCallback =</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a342fc12280631fd4cc7be46c97827250">getProblemDefinition</a>()->getIntermediateSolutionCallback();</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> </div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keywordflow">if</span> (prevSolutionCallback)</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"Cannot use previously set intermediate solution callback with %s"</span>, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> </div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->setIntermediateSolutionCallback(</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> [<span class="keyword">this</span>](<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1Planner.html">base::Planner</a> *planner, <span class="keyword">const</span> std::vector<const base::State *> &states, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">base::Cost</a> cost)</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> { <span class="keywordflow">return</span> newSolutionFound(planner, states, cost); });</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a26caf4e8b3d20b8e2b0b245d1faa7afa">bestCost_</a> = <a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a2b25a59faa0fabbb99d9a540ab252303">opt_</a>->infiniteCost();</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> </div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="comment">// run each planner in its own thread, with the same ptc.</span></div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keywordflow">for</span> (std::size_t i = 0; i < threads.size(); ++i)</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> {</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> <a class="code hl_class" href="classompl_1_1base_1_1Planner.html">base::Planner</a> *planner = <a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a26984b385802c484d2444c0f61e46fe4">planners_</a>[i].get();</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> threads[i] = <span class="keyword">new</span> std::thread([<span class="keyword">this</span>, planner, &ptc] { <span class="keywordflow">return</span> <a class="code hl_function" href="classompl_1_1geometric_1_1CForest.html#ac2c809faf24daaaef1789517f0dfe013">solve</a>(planner, ptc); });</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> }</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> </div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &thread : threads)</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> {</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> thread->join();</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keyword">delete</span> thread;</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> }</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> </div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <span class="comment">// restore callback</span></div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a342fc12280631fd4cc7be46c97827250">getProblemDefinition</a>()->setIntermediateSolutionCallback(prevSolutionCallback);</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Solution found in %f seconds"</span>, <a class="code hl_function" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1">time::seconds</a>(<a class="code hl_function" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>() - start));</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> <span class="keywordflow">return</span> {<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->hasSolution(), <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->hasApproximateSolution()};</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span>}</div>
</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> </div>
<div class="foldopen" id="foldopen00200" data-start="{" data-end="}">
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#a3a60889fc4c3ceb4ceb5a0ebbba7f0d4"> 200</a></span>std::string <a class="code hl_function" href="classompl_1_1geometric_1_1CForest.html#a3a60889fc4c3ceb4ceb5a0ebbba7f0d4">ompl::geometric::CForest::getBestCost</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="keywordflow">return</span> <a class="code hl_function" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(<a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a26caf4e8b3d20b8e2b0b245d1faa7afa">bestCost_</a>.value());</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span>}</div>
</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> </div>
<div class="foldopen" id="foldopen00205" data-start="{" data-end="}">
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#aa95d986076fd931412f644ce950ce092"> 205</a></span>std::string <a class="code hl_function" href="classompl_1_1geometric_1_1CForest.html#aa95d986076fd931412f644ce950ce092">ompl::geometric::CForest::getNumPathsShared</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="keywordflow">return</span> std::to_string(<a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#a8da0b7ee06c5009bdef0fdf9100522b5">numPathsShared_</a>);</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span>}</div>
</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> </div>
<div class="foldopen" id="foldopen00210" data-start="{" data-end="}">
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#aad41acab72d201f0852ee34ac4b888e3"> 210</a></span>std::string <a class="code hl_function" href="classompl_1_1geometric_1_1CForest.html#aad41acab72d201f0852ee34ac4b888e3">ompl::geometric::CForest::getNumStatesShared</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keywordflow">return</span> std::to_string(<a class="code hl_variable" href="classompl_1_1geometric_1_1CForest.html#aff4bc36cb2c7cbf006a59c4a809a192b">numStatesShared_</a>);</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span>}</div>
</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> </div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span><span class="keywordtype">void</span> ompl::geometric::CForest::newSolutionFound(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1Planner.html">base::Planner</a> *planner,</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keyword">const</span> std::vector<const base::State *> &states, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">base::Cost</a> cost)</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span>{</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> <span class="keywordtype">bool</span> change = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> std::vector<const base::State *> statesToShare;</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> newSolutionFoundMutex_.lock();</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> <span class="keywordflow">if</span> (opt_->isCostBetterThan(cost, bestCost_))</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> {</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> ++numPathsShared_;</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> bestCost_ = cost;</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> change = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> </div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="comment">// Filtering the states to add only those not already added.</span></div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> statesToShare.reserve(states.size());</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> state : states)</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> {</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> <span class="keywordflow">if</span> (statesShared_.find(state) == statesShared_.end())</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> {</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> statesShared_.insert(state);</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> statesToShare.push_back(state);</div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> ++numStatesShared_;</div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> }</div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> }</div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> }</div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> newSolutionFoundMutex_.unlock();</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> </div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> <span class="keywordflow">if</span> (!change || statesToShare.empty())</div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> <span class="keywordflow">return</span>;</div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> </div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &i : samplers_)</div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> {</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> <span class="keyword">auto</span> *sampler = <span class="keyword">static_cast<</span>base::CForestStateSampler *<span class="keyword">></span>(i.get());</div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> <span class="keyword">const</span> <span class="keyword">auto</span> *space = <span class="keyword">static_cast<</span><span class="keyword">const </span>base::CForestStateSpaceWrapper *<span class="keyword">></span>(sampler->getStateSpace());</div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> <span class="keyword">const</span> base::Planner *cfplanner = space->getPlanner();</div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="keywordflow">if</span> (cfplanner != planner)</div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> sampler->setStatesToSample(statesToShare);</div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> }</div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span>}</div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> </div>
<div class="foldopen" id="foldopen00254" data-start="{" data-end="}">
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1CForest.html#a185bafe7c4cd4297efc87bfefb9737f3"> 254</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1CForest.html#ac2c809faf24daaaef1789517f0dfe013">ompl::geometric::CForest::solve</a>(<a class="code hl_class" href="classompl_1_1base_1_1Planner.html">base::Planner</a> *planner, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc)</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span>{</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> <a class="code hl_define" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Starting %s"</span>, planner-><a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> <a class="code hl_typedef" href="namespaceompl_1_1time.html#a217fd988fc9b3192af36c37613d51a39">time::point</a> start = <a class="code hl_function" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>();</div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> <span class="keywordflow">try</span></div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> {</div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> <span class="keywordflow">if</span> (planner-><a class="code hl_function" href="classompl_1_1base_1_1Planner.html#aea8c56d18a0326b10fd111872ebd674a">solve</a>(ptc))</div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> {</div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <span class="keywordtype">double</span> duration = <a class="code hl_function" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1">time::seconds</a>(<a class="code hl_function" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>() - start);</div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> <a class="code hl_define" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Solution found by %s in %lf seconds"</span>, planner-><a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str(), duration);</div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> }</div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> }</div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> <span class="keywordflow">catch</span> (<a class="code hl_class" href="classompl_1_1Exception.html">ompl::Exception</a> &e)</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> {</div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Exception thrown during CForest::solve: %s"</span>, e.what());</div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> }</div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span>}</div>
</div>
<div class="ttc" id="aclassompl_1_1Exception_html"><div class="ttname"><a href="classompl_1_1Exception.html">ompl::Exception</a></div><div class="ttdoc">The exception type for ompl.</div><div class="ttdef"><b>Definition</b> <a href="Exception_8h_source.html#l00046">Exception.h:47</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#l00047">Cost.h:48</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerDataVertex_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerDataVertex.html">ompl::base::PlannerDataVertex</a></div><div class="ttdoc">Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...</div><div class="ttdef"><b>Definition</b> <a href="base_2PlannerData_8h_source.html#l00058">PlannerData.h:59</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerDataVertex_html_a4e6d6a6ecf6fdff4c4c74410be5c3596"><div class="ttname"><a href="classompl_1_1base_1_1PlannerDataVertex.html#a4e6d6a6ecf6fdff4c4c74410be5c3596">ompl::base::PlannerDataVertex::setTag</a></div><div class="ttdeci">virtual void setTag(int tag)</div><div class="ttdoc">Set the integer tag associated with this vertex.</div><div class="ttdef"><b>Definition</b> <a href="base_2PlannerData_8h_source.html#l00075">PlannerData.h:75</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerDataVertex_html_aad885cb3f2098279bd372b816003efd1"><div class="ttname"><a href="classompl_1_1base_1_1PlannerDataVertex.html#aad885cb3f2098279bd372b816003efd1">ompl::base::PlannerDataVertex::getState</a></div><div class="ttdeci">virtual const State * getState() const</div><div class="ttdoc">Retrieve the state associated with this vertex.</div><div class="ttdef"><b>Definition</b> <a href="base_2PlannerData_8h_source.html#l00080">PlannerData.h:80</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a></div><div class="ttdoc">Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...</div><div class="ttdef"><b>Definition</b> <a href="base_2PlannerData_8h_source.html#l00174">PlannerData.h:175</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_a0457d193b3297e8e90ee28bbe651d07e"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#a0457d193b3297e8e90ee28bbe651d07e">ompl::base::PlannerData::getEdgeWeight</a></div><div class="ttdeci">bool getEdgeWeight(unsigned int v1, unsigned int v2, Cost *weight) const</div><div class="ttdoc">Returns the weight of the edge between the given vertex indices. If there exists an edge between v1 a...</div><div class="ttdef"><b>Definition</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00155">PlannerData.cpp:155</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_a48ebd34b6da9efd9ec7647155f9173c9"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#a48ebd34b6da9efd9ec7647155f9173c9">ompl::base::PlannerData::markStartState</a></div><div class="ttdeci">bool markStartState(const State *st)</div><div class="ttdoc">Mark the given state as a start vertex. If the given state does not exist in a vertex,...</div><div class="ttdef"><b>Definition</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00572">PlannerData.cpp:572</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_a7772ac307d153831c0e7ecfc4fb1c18b"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#a7772ac307d153831c0e7ecfc4fb1c18b">ompl::base::PlannerData::markGoalState</a></div><div class="ttdeci">bool markGoalState(const State *st)</div><div class="ttdoc">Mark the given state as a goal vertex. If the given state does not exist in a vertex,...</div><div class="ttdef"><b>Definition</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00589">PlannerData.cpp:589</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_a81695127ac273368325eb61bd2b9b2ca"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#a81695127ac273368325eb61bd2b9b2ca">ompl::base::PlannerData::getIncomingEdges</a></div><div class="ttdeci">unsigned int getIncomingEdges(unsigned int v, std::vector< unsigned int > &edgeList) const</div><div class="ttdoc">Returns a list of vertices with outgoing edges to the vertex with index v. The number of edges connec...</div><div class="ttdef"><b>Definition</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00129">PlannerData.cpp:129</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_a877a673801134168cba0581b277cae79"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#a877a673801134168cba0581b277cae79">ompl::base::PlannerData::numVertices</a></div><div class="ttdeci">unsigned int numVertices() const</div><div class="ttdoc">Retrieve the number of vertices in this structure.</div><div class="ttdef"><b>Definition</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00200">PlannerData.cpp:200</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_a9b7c83a71e59cc10492b96c52990124d"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#a9b7c83a71e59cc10492b96c52990124d">ompl::base::PlannerData::numStartVertices</a></div><div class="ttdeci">unsigned int numStartVertices() const</div><div class="ttdoc">Returns the number of start vertices.</div><div class="ttdef"><b>Definition</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00315">PlannerData.cpp:315</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_ab1702251b05069848409efade85a3605"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#ab1702251b05069848409efade85a3605">ompl::base::PlannerData::getEdge</a></div><div class="ttdeci">const PlannerDataEdge & getEdge(unsigned int v1, unsigned int v2) const</div><div class="ttdoc">Retrieve a reference to the edge object connecting vertices with indexes v1 and v2....</div><div class="ttdef"><b>Definition</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00228">PlannerData.cpp:228</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_ab2e140727e79440c47c275a52bfd0604"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#ab2e140727e79440c47c275a52bfd0604">ompl::base::PlannerData::getStartVertex</a></div><div class="ttdeci">const PlannerDataVertex & getStartVertex(unsigned int i) const</div><div class="ttdoc">Retrieve a reference to the ith start vertex object. If i is greater than the number of start vertice...</div><div class="ttdef"><b>Definition</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00351">PlannerData.cpp:351</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_abebe83e30a20d7d79e26f18bf228e8bb"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#abebe83e30a20d7d79e26f18bf228e8bb">ompl::base::PlannerData::getVertex</a></div><div class="ttdeci">const PlannerDataVertex & getVertex(unsigned int index) const</div><div class="ttdoc">Retrieve a reference to the vertex object with the given index. If this vertex does not exist,...</div><div class="ttdef"><b>Definition</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00210">PlannerData.cpp:210</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_ac09c21494a8c7db500ef1a66bbbb1aa7"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#ac09c21494a8c7db500ef1a66bbbb1aa7">ompl::base::PlannerData::addEdge</a></div><div class="ttdeci">virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0))</div><div class="ttdoc">Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...</div><div class="ttdef"><b>Definition</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00424">PlannerData.cpp:424</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_acc1145957cc29ef8e8328b8f31b9216a"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#acc1145957cc29ef8e8328b8f31b9216a">ompl::base::PlannerData::numGoalVertices</a></div><div class="ttdeci">unsigned int numGoalVertices() const</div><div class="ttdoc">Returns the number of goal vertices.</div><div class="ttdef"><b>Definition</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00320">PlannerData.cpp:320</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_acc67731741c9990a749307fd558161c1"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#acc67731741c9990a749307fd558161c1">ompl::base::PlannerData::getGoalVertex</a></div><div class="ttdeci">const PlannerDataVertex & getGoalVertex(unsigned int i) const</div><div class="ttdoc">Retrieve a reference to the ith goal vertex object. If i is greater than the number of goal vertices,...</div><div class="ttdef"><b>Definition</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00367">PlannerData.cpp:367</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#l00063">PlannerTerminationCondition.h:64</a></div></div>
<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#l00215">Planner.h:216</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_a342fc12280631fd4cc7be46c97827250"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#a342fc12280631fd4cc7be46c97827250">ompl::base::Planner::getProblemDefinition</a></div><div class="ttdeci">const ProblemDefinitionPtr & getProblemDefinition() const</div><div class="ttdoc">Get the problem definition the planner is trying to solve.</div><div class="ttdef"><b>Definition</b> <a href="Planner_8cpp_source.html#l00071">Planner.cpp:71</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_a6bbb3dcc3d1604977e319d52c16ef7e5"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">ompl::base::Planner::pdef_</a></div><div class="ttdeci">ProblemDefinitionPtr pdef_</div><div class="ttdoc">The user set problem definition.</div><div class="ttdef"><b>Definition</b> <a href="Planner_8h_source.html#l00404">Planner.h:404</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_a9bdea814a817637bd8e6f959c65ceaf9"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">ompl::base::Planner::getName</a></div><div class="ttdeci">const std::string & getName() const</div><div class="ttdoc">Get the name of the planner.</div><div class="ttdef"><b>Definition</b> <a href="Planner_8cpp_source.html#l00056">Planner.cpp:56</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#l00401">Planner.h:401</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_ab416900477cf4499139c01f35663dffb"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#ab416900477cf4499139c01f35663dffb">ompl::base::Planner::checkValidity</a></div><div class="ttdeci">virtual void checkValidity()</div><div class="ttdoc">Check to see if the planner is in a working state (setup has been called, a goal was set,...</div><div class="ttdef"><b>Definition</b> <a href="Planner_8cpp_source.html#l00106">Planner.cpp:106</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_aea8c56d18a0326b10fd111872ebd674a"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#aea8c56d18a0326b10fd111872ebd674a">ompl::base::Planner::solve</a></div><div class="ttdeci">virtual PlannerStatus solve(const PlannerTerminationCondition &ptc)=0</div><div class="ttdoc">Function that can solve the motion planning problem. This function can be called multiple times on th...</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#l00208">CForest.h:208</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#l00184">CForest.h:184</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#l00181">CForest.h:181</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#l00190">CForest.h:190</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#l00178">CForest.h:178</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="#l00200">CForest.cpp:200</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#l00103">CForest.h:103</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="#l00059">CForest.cpp:59</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#l00193">CForest.h:193</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="#l00115">CForest.cpp:115</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="#l00205">CForest.cpp:205</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="#l00210">CForest.cpp:210</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="#l00164">CForest.cpp:164</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="#l00080">CForest.cpp:80</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="#l00133">CForest.cpp:133</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#l00196">CForest.h:196</a></div></div>
<div class="ttc" id="agroup__logging_html_ga04bc36d1b8c57ad7e13a8a48451a3a05"><div class="ttname"><a href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a></div><div class="ttdeci">#define OMPL_INFORM(fmt,...)</div><div class="ttdoc">Log a formatted information string.</div><div class="ttdef"><b>Definition</b> <a href="Console_8h_source.html#l00068">Console.h:68</a></div></div>
<div class="ttc" id="agroup__logging_html_ga05ad3ae88188e7f248748785afd2b882"><div class="ttname"><a href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a></div><div class="ttdeci">#define OMPL_ERROR(fmt,...)</div><div class="ttdoc">Log a formatted error string.</div><div class="ttdef"><b>Definition</b> <a href="Console_8h_source.html#l00064">Console.h:64</a></div></div>
<div class="ttc" id="agroup__logging_html_ga576d0bc79b521f19c5415f330e2b173d"><div class="ttname"><a href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a></div><div class="ttdeci">#define OMPL_DEBUG(fmt,...)</div><div class="ttdoc">Log a formatted debugging string.</div><div class="ttdef"><b>Definition</b> <a href="Console_8h_source.html#l00070">Console.h:70</a></div></div>
<div class="ttc" id="agroup__logging_html_gab76357dced39cb468d2061d3358f80a6"><div class="ttname"><a href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a></div><div class="ttdeci">#define OMPL_WARN(fmt,...)</div><div class="ttdoc">Log a formatted warning string.</div><div class="ttdef"><b>Definition</b> <a href="Console_8h_source.html#l00066">Console.h:66</a></div></div>
<div class="ttc" id="anamespaceompl_1_1base_html"><div class="ttname"><a href="namespaceompl_1_1base.html">ompl::base</a></div><div class="ttdoc">This namespace contains sampling based planning routines shared by both planning under geometric cons...</div><div class="ttdef"><b>Definition</b> <a href="ConstrainedSpaceInformation_8h_source.html#l00054">ConstrainedSpaceInformation.h:55</a></div></div>
<div class="ttc" id="anamespaceompl_1_1base_html_aadbabfad049bccef66d04a2fecfa8ad4"><div class="ttname"><a href="namespaceompl_1_1base.html#aadbabfad049bccef66d04a2fecfa8ad4">ompl::base::ReportIntermediateSolutionFn</a></div><div class="ttdeci">std::function< void(const Planner *, const std::vector< const base::State * > &, const Cost)> ReportIntermediateSolutionFn</div><div class="ttdoc">When a planner has an intermediate solution (e.g., optimizing planners), a function with this signatu...</div><div class="ttdef"><b>Definition</b> <a href="ProblemDefinition_8h_source.html#l00143">ProblemDefinition.h:143</a></div></div>
<div class="ttc" id="anamespaceompl_1_1time_html_a217fd988fc9b3192af36c37613d51a39"><div class="ttname"><a href="namespaceompl_1_1time.html#a217fd988fc9b3192af36c37613d51a39">ompl::time::point</a></div><div class="ttdeci">std::chrono::system_clock::time_point point</div><div class="ttdoc">Representation of a point in time.</div><div class="ttdef"><b>Definition</b> <a href="Time_8h_source.html#l00052">Time.h:52</a></div></div>
<div class="ttc" id="anamespaceompl_1_1time_html_a5da903c529cfbbce79900b7c1cbc6cc3"><div class="ttname"><a href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">ompl::time::now</a></div><div class="ttdeci">point now()</div><div class="ttdoc">Get the current time point.</div><div class="ttdef"><b>Definition</b> <a href="Time_8h_source.html#l00058">Time.h:58</a></div></div>
<div class="ttc" id="anamespaceompl_1_1time_html_acac374ab4374adb207edb38cedb7fbb1"><div class="ttname"><a href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1">ompl::time::seconds</a></div><div class="ttdeci">duration seconds(double sec)</div><div class="ttdoc">Return the time duration representing a given number of seconds.</div><div class="ttdef"><b>Definition</b> <a href="Time_8h_source.html#l00064">Time.h:64</a></div></div>
<div class="ttc" id="anamespaceompl_html_a6e6c38ce80fbb8f10d826bb19b64735a"><div class="ttname"><a href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a></div><div class="ttdeci">std::string toString(float val)</div><div class="ttdoc">convert float to string using classic "C" locale semantics</div><div class="ttdef"><b>Definition</b> <a href="String_8cpp_source.html#l00082">String.cpp:82</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a></div><div class="ttdoc">A class to store the exit status of Planner::solve().</div><div class="ttdef"><b>Definition</b> <a href="PlannerStatus_8h_source.html#l00048">PlannerStatus.h:49</a></div></div>
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