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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>informedtrees</b></li><li class="navelem"><b>src</b></li> </ul>
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<div class="headertitle"><div class="title">BITstar.cpp</div></div>
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<div class="contents">
<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, University of Toronto</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 University of Toronto 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: Jonathan Gammell, Marlin Strub */</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/informedtrees/BITstar.h"</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include <sstream></span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include <iomanip></span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include <memory></span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="preprocessor">#include <boost/range/adaptor/reversed.hpp></span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="preprocessor">#include "<a class="code" href="Console_8h.html">ompl/util/Console.h</a>"</span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="preprocessor">#include "ompl/util/Exception.h"</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="preprocessor">#include "ompl/util/String.h"</span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="preprocessor">#include "ompl/geometric/PathGeometric.h"</span></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span><span class="preprocessor">#include "ompl/base/objectives/PathLengthOptimizationObjective.h"</span></div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="preprocessor">#include "ompl/geometric/planners/informedtrees/bitstar/HelperFunctions.h"</span></div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span><span class="preprocessor">#include "ompl/geometric/planners/informedtrees/bitstar/IdGenerator.h"</span></div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span><span class="preprocessor">#include "ompl/geometric/planners/informedtrees/bitstar/Vertex.h"</span></div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span><span class="preprocessor">#include "ompl/geometric/planners/informedtrees/bitstar/CostHelper.h"</span></div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span><span class="preprocessor">#include "ompl/geometric/planners/informedtrees/bitstar/ImplicitGraph.h"</span></div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span><span class="preprocessor">#include "ompl/geometric/planners/informedtrees/bitstar/SearchQueue.h"</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><span class="preprocessor">#ifdef BITSTAR_DEBUG</span></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span><span class="preprocessor">#warning Compiling BIT* with debug-level asserts.</span></div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span><span class="preprocessor">#endif </span><span class="comment">// BITSTAR_DEBUG</span></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><span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceompl.html">ompl</a></div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span>{</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceompl_1_1geometric.html">geometric</a></div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> {</div>
<div class="foldopen" id="foldopen00065" data-start="{" data-end="}">
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BITstar.html#aa0dc941b1746d8a412a81561296e8bdf"> 65</a></span> <a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#aa0dc941b1746d8a412a81561296e8bdf">BITstar::BITstar</a>(<span class="keyword">const</span> ompl::base::SpaceInformationPtr &si, <span class="keyword">const</span> std::string &name <span class="comment">/*= "BITstar"*/</span>)</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> : <a class="code hl_namespace" href="namespaceompl.html">ompl</a>::<a class="code hl_namespace" href="namespaceompl_1_1base.html">base</a>::Planner(si, name)</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> {</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span><span class="preprocessor">#ifdef BITSTAR_DEBUG</span></div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"%s: Compiled with debug-level asserts."</span>, Planner::getName().c_str());</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span><span class="preprocessor">#endif </span><span class="comment">// BITSTAR_DEBUG</span></div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> </div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="comment">// Allocate my helper classes, they hold settings and must never be deallocated. Give them a pointer to my</span></div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <span class="comment">// name, so they can output helpful error messages</span></div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> costHelpPtr_ = std::make_shared<CostHelper>();</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> graphPtr_ = std::make_shared<ImplicitGraph>([<span class="keyword">this</span>]() { <span class="keywordflow">return</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>(); });</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> queuePtr_ = std::make_shared<SearchQueue>([<span class="keyword">this</span>]() { <span class="keywordflow">return</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>(); });</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> <span class="comment">// Specify my planner specs:</span></div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> Planner::specs_.recognizedGoal = <a class="code hl_enumvalue" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a6fb685fa51055688c4e130094225b7f9">ompl::base::GOAL_SAMPLEABLE_REGION</a>;</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> Planner::specs_.multithreaded = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> <span class="comment">// Approximate solutions are supported but must be enabled with the appropriate configuration parameter.</span></div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> Planner::specs_.approximateSolutions = graphPtr_->getTrackApproximateSolutions();</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> Planner::specs_.optimizingPaths = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> Planner::specs_.directed = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> Planner::specs_.provingSolutionNonExistence = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> Planner::specs_.canReportIntermediateSolutions = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> </div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="comment">// Register my setting callbacks</span></div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> Planner::declareParam<double>(<span class="stringliteral">"rewire_factor"</span>, <span class="keyword">this</span>, &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#a36d6bfe6fc9972debf35a8798c082ba5">BITstar::setRewireFactor</a>, &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#a2953c826f125b14806507df841744308">BITstar::getRewireFactor</a>,</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="stringliteral">"1.0:0.01:3.0"</span>);</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> Planner::declareParam<unsigned int>(<span class="stringliteral">"samples_per_batch"</span>, <span class="keyword">this</span>, &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#a8b513410d75af41e532aabe486f3d962">BITstar::setSamplesPerBatch</a>,</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#a38da6dd6e65573fd9c69ffc939fcff87">BITstar::getSamplesPerBatch</a>, <span class="stringliteral">"1:1:1000000"</span>);</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> Planner::declareParam<bool>(<span class="stringliteral">"use_k_nearest"</span>, <span class="keyword">this</span>, &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#abd4379f27e55f1ef5b6026bf772316fb">BITstar::setUseKNearest</a>, &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#aefcfb0e16ffcec9e041e26531fd32779">BITstar::getUseKNearest</a>,</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="stringliteral">"0,"</span></div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="stringliteral">"1"</span>);</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> Planner::declareParam<bool>(<span class="stringliteral">"use_graph_pruning"</span>, <span class="keyword">this</span>, &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#a742fde56a552462b86ec5ae593141c2a">BITstar::setPruning</a>, &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#a06418ecfcc2236f7a42503799bed739b">BITstar::getPruning</a>,</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> <span class="stringliteral">"0,"</span></div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <span class="stringliteral">"1"</span>);</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> Planner::declareParam<double>(<span class="stringliteral">"prune_threshold_as_fractional_cost_change"</span>, <span class="keyword">this</span>,</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#ab7a52698a1d43a1858aec85dd21cabb9">BITstar::setPruneThresholdFraction</a>, &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#a23c1d41b65142f1cab9959db46e00123">BITstar::getPruneThresholdFraction</a>,</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="stringliteral">"0.0:0.01:1.0"</span>);</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> Planner::declareParam<bool>(<span class="stringliteral">"delay_rewiring_to_first_solution"</span>, <span class="keyword">this</span>,</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#ae4ecec0085a6485ffd5c67857d478e42">BITstar::setDelayRewiringUntilInitialSolution</a>,</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#aaac2dc73ed23702525583ef8f351d3f9">BITstar::getDelayRewiringUntilInitialSolution</a>, <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> Planner::declareParam<bool>(<span class="stringliteral">"use_just_in_time_sampling"</span>, <span class="keyword">this</span>, &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#a9e6ed621c5da68d0bda40195e5c31c78">BITstar::setJustInTimeSampling</a>,</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#a4d920a907409d94337c1cfc62a5e4476">BITstar::getJustInTimeSampling</a>, <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> Planner::declareParam<bool>(<span class="stringliteral">"drop_unconnected_samples_on_prune"</span>, <span class="keyword">this</span>, &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#a1f801a1305705a067da449fa92699d99">BITstar::setDropSamplesOnPrune</a>,</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#af1773a4902d58b78216ae1b5a73700dd">BITstar::getDropSamplesOnPrune</a>, <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> Planner::declareParam<bool>(<span class="stringliteral">"stop_on_each_solution_improvement"</span>, <span class="keyword">this</span>, &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#a1ddab1a9472e527a010615dbf107d7b0">BITstar::setStopOnSolnImprovement</a>,</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#a797f779fb9aec4ec1460f28d65faae81">BITstar::getStopOnSolnImprovement</a>, <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> Planner::declareParam<bool>(<span class="stringliteral">"use_strict_queue_ordering"</span>, <span class="keyword">this</span>, &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#a4c6ed74080a858a36e2bca01eed93073">BITstar::setStrictQueueOrdering</a>,</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#a210174d16947876725c5a902da1fb203">BITstar::getStrictQueueOrdering</a>, <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> Planner::declareParam<bool>(<span class="stringliteral">"find_approximate_solutions"</span>, <span class="keyword">this</span>, &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#ac18d340b00758c7089630e137697c8a2">BITstar::setConsiderApproximateSolutions</a>,</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> &<a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#ac5b006832ccf3da674408199809b3804">BITstar::getConsiderApproximateSolutions</a>, <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> </div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="comment">// Register my progress info:</span></div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a3dc481539fac465497ad158e1bdac91a">addPlannerProgressProperty</a>(<span class="stringliteral">"best cost DOUBLE"</span>, [<span class="keyword">this</span>] { <span class="keywordflow">return</span> bestCostProgressProperty(); });</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a3dc481539fac465497ad158e1bdac91a">addPlannerProgressProperty</a>(<span class="stringliteral">"number of segments in solution path INTEGER"</span>,</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> [<span class="keyword">this</span>] { <span class="keywordflow">return</span> bestLengthProgressProperty(); });</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a3dc481539fac465497ad158e1bdac91a">addPlannerProgressProperty</a>(<span class="stringliteral">"state collision checks INTEGER"</span>,</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> [<span class="keyword">this</span>] { <span class="keywordflow">return</span> stateCollisionCheckProgressProperty(); });</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a3dc481539fac465497ad158e1bdac91a">addPlannerProgressProperty</a>(<span class="stringliteral">"edge collision checks INTEGER"</span>,</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> [<span class="keyword">this</span>] { <span class="keywordflow">return</span> edgeCollisionCheckProgressProperty(); });</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a3dc481539fac465497ad158e1bdac91a">addPlannerProgressProperty</a>(<span class="stringliteral">"nearest neighbour calls INTEGER"</span>,</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> [<span class="keyword">this</span>] { <span class="keywordflow">return</span> nearestNeighbourProgressProperty(); });</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> </div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="comment">// Extra progress info that aren't necessary for every day use. Uncomment if desired.</span></div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="comment">/*</span></div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span><span class="comment"> addPlannerProgressProperty("edge queue size INTEGER", [this]</span></div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span><span class="comment"> {</span></div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span><span class="comment"> return edgeQueueSizeProgressProperty();</span></div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span><span class="comment"> });</span></div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span><span class="comment"> addPlannerProgressProperty("iterations INTEGER", [this]</span></div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span><span class="comment"> {</span></div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span><span class="comment"> return iterationProgressProperty();</span></div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span><span class="comment"> });</span></div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span><span class="comment"> addPlannerProgressProperty("batches INTEGER", [this]</span></div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span><span class="comment"> {</span></div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span><span class="comment"> return batchesProgressProperty();</span></div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span><span class="comment"> });</span></div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span><span class="comment"> addPlannerProgressProperty("graph prunings INTEGER", [this]</span></div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span><span class="comment"> {</span></div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span><span class="comment"> return pruningProgressProperty();</span></div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span><span class="comment"> });</span></div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span><span class="comment"> addPlannerProgressProperty("total states generated INTEGER", [this]</span></div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span><span class="comment"> {</span></div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span><span class="comment"> return totalStatesCreatedProgressProperty();</span></div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span><span class="comment"> });</span></div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span><span class="comment"> addPlannerProgressProperty("vertices constructed INTEGER", [this]</span></div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span><span class="comment"> {</span></div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span><span class="comment"> return verticesConstructedProgressProperty();</span></div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span><span class="comment"> });</span></div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span><span class="comment"> addPlannerProgressProperty("states pruned INTEGER", [this]</span></div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span><span class="comment"> {</span></div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span><span class="comment"> return statesPrunedProgressProperty();</span></div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span><span class="comment"> });</span></div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span><span class="comment"> addPlannerProgressProperty("graph vertices disconnected INTEGER", [this]</span></div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span><span class="comment"> {</span></div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span><span class="comment"> return verticesDisconnectedProgressProperty();</span></div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span><span class="comment"> });</span></div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span><span class="comment"> addPlannerProgressProperty("rewiring edges INTEGER", [this]</span></div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span><span class="comment"> {</span></div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span><span class="comment"> return rewiringProgressProperty();</span></div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span><span class="comment"> });</span></div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span><span class="comment"> */</span></div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> }</div>
</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> </div>
<div class="foldopen" id="foldopen00168" data-start="{" data-end="}">
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BITstar.html#aa2da7cea603e0dc641a45ad353ff522e"> 168</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#aa2da7cea603e0dc641a45ad353ff522e">BITstar::setup</a>()</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> {</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="comment">// Call the base class setup. Marks Planner::setup_ as true.</span></div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> Planner::setup();</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="comment">// Check if we have a problem definition</span></div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keywordflow">if</span> (<span class="keyword">static_cast<</span><span class="keywordtype">bool</span><span class="keyword">></span>(Planner::pdef_))</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> <span class="comment">// We do, do some initialization work.</span></div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <span class="comment">// See if we have an optimization objective</span></div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <span class="keywordflow">if</span> (!Planner::pdef_->hasOptimizationObjective())</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> {</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</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."</span>,</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> Planner::getName().c_str());</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> Planner::pdef_->setOptimizationObjective(</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> std::make_shared<base::PathLengthOptimizationObjective>(Planner::si_));</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> }</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> <span class="comment">// No else, we were given one.</span></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> <span class="comment">// Initialize the best cost found so far to be infinite.</span></div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> bestCost_ = Planner::pdef_->getOptimizationObjective()->infiniteCost();</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> <span class="comment">// If the problem definition *has* a goal, make sure it is of appropriate type</span></div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keywordflow">if</span> (<span class="keyword">static_cast<</span><span class="keywordtype">bool</span><span class="keyword">></span>(Planner::pdef_->getGoal()))</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> <span class="keywordflow">if</span> (!Planner::pdef_->getGoal()->hasType(<a class="code hl_enumvalue" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a6fb685fa51055688c4e130094225b7f9">ompl::base::GOAL_SAMPLEABLE_REGION</a>))</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> {</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s::setup() BIT* currently only supports goals that can be cast to a sampleable "</span></div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <span class="stringliteral">"goal region."</span>,</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> Planner::getName().c_str());</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> <span class="comment">// Mark as not setup:</span></div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> Planner::setup_ = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> <span class="keywordflow">return</span>;</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> }</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="comment">// No else, of correct type.</span></div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> }</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="comment">// No else, called without a goal. Is this MoveIt?</span></div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> </div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> <span class="comment">// Setup the CostHelper, it provides everything I need from optimization objective plus some frills</span></div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> costHelpPtr_->setup(Planner::pdef_->getOptimizationObjective(), graphPtr_.get());</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> </div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="comment">// Setup the queue</span></div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> queuePtr_->setup(costHelpPtr_.get(), graphPtr_.get());</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> </div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="comment">// Setup the graph, it does not hold a copy of this or Planner::pis_, but uses them to create a NN</span></div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <span class="comment">// struct and check for starts/goals, respectively.</span></div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> graphPtr_->setup(Planner::si_, Planner::pdef_, costHelpPtr_.get(), queuePtr_.get(), <span class="keyword">this</span>,</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> Planner::pis_);</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> graphPtr_->setPruning(isPruningEnabled_);</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="comment">// Set the best and pruned costs to the proper objective-based values:</span></div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> bestCost_ = costHelpPtr_->infiniteCost();</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> prunedCost_ = costHelpPtr_->infiniteCost();</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> </div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <span class="comment">// Get the measure of the problem</span></div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> prunedMeasure_ = Planner::si_->getSpaceMeasure();</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> </div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="comment">// If the planner is default named, we change it:</span></div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keywordflow">if</span> (!graphPtr_->getUseKNearest() && Planner::getName() == <span class="stringliteral">"kBITstar"</span>)</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> {</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="comment">// It's current the default k-nearest BIT* name, and we're toggling, so set to the default r-disc</span></div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"BIT*: An r-disc version of BIT* can not be named 'kBITstar', as this name is reserved "</span></div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="stringliteral">"for the k-nearest version. Changing the name to 'BITstar'."</span>);</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> Planner::setName(<span class="stringliteral">"BITstar"</span>);</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> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (graphPtr_->getUseKNearest() && Planner::getName() == <span class="stringliteral">"BITstar"</span>)</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> {</div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> <span class="comment">// It's current the default r-disc BIT* name, and we're toggling, so set to the default k-nearest</span></div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"BIT*: A k-nearest version of BIT* can not be named 'BITstar', as this name is reserved "</span></div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="stringliteral">"for the r-disc version. Changing the name to 'kBITstar'."</span>);</div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> Planner::setName(<span class="stringliteral">"kBITstar"</span>);</div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> }</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!graphPtr_->getUseKNearest() && Planner::getName() == <span class="stringliteral">"kABITstar"</span>)</div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> {</div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> <span class="comment">// It's current the default k-nearest ABIT* name, and we're toggling, so set to the default r-disc</span></div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"ABIT*: An r-disc version of ABIT* can not be named 'kABITstar', as this name is "</span></div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <span class="stringliteral">"reserved for the k-nearest version. Changing the name to 'ABITstar'."</span>);</div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> Planner::setName(<span class="stringliteral">"ABITstar"</span>);</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> }</div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (graphPtr_->getUseKNearest() && Planner::getName() == <span class="stringliteral">"ABITstar"</span>)</div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> {</div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="comment">// It's current the default r-disc ABIT* name, and we're toggling, so set to the default k-nearest</span></div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"ABIT*: A k-nearest version of ABIT* can not be named 'ABITstar', as this name is "</span></div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> <span class="stringliteral">"reserved for the r-disc version. Changing the name to 'kABITstar'."</span>);</div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> Planner::setName(<span class="stringliteral">"kABITstar"</span>);</div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> }</div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <span class="comment">// It's not default named, don't change it</span></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> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> {</div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> <span class="comment">// We don't, so we can't setup. Make sure that is explicit.</span></div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> Planner::setup_ = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> }</div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> }</div>
</div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> </div>
<div class="foldopen" id="foldopen00263" data-start="{" data-end="}">
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BITstar.html#aa028529f177f630c61bacaf3f80c966a"> 263</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#aa028529f177f630c61bacaf3f80c966a">BITstar::clear</a>()</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> <span class="comment">// Clear all the variables.</span></div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> <span class="comment">// Keep this in the order of the constructors:</span></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> <span class="comment">// The various helper classes. DO NOT reset the pointers, they hold configuration parameters:</span></div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> costHelpPtr_->reset();</div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> graphPtr_->reset();</div>
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> queuePtr_->reset();</div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> </div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> <span class="comment">// Reset the various calculations and convenience containers. Will be recalculated on setup</span></div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> curGoalVertex_.reset();</div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> bestCost_ = <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a>(std::numeric_limits<double>::infinity());</div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> bestLength_ = 0u;</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> prunedCost_ = <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a>(std::numeric_limits<double>::infinity());</div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> prunedMeasure_ = 0.0;</div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> hasExactSolution_ = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> stopLoop_ = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> numBatches_ = 0u;</div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> numPrunings_ = 0u;</div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> numIterations_ = 0u;</div>
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> numEdgeCollisionChecks_ = 0u;</div>
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> numRewirings_ = 0u;</div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> </div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> <span class="comment">// DO NOT reset the configuration parameters:</span></div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> <span class="comment">// samplesPerBatch_</span></div>
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> <span class="comment">// usePruning_</span></div>
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> <span class="comment">// pruneFraction_</span></div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> <span class="comment">// stopOnSolnChange_</span></div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> </div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> <span class="comment">// Mark as not setup:</span></div>
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> Planner::setup_ = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> </div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span> <span class="comment">// Call my base clear:</span></div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> Planner::clear();</div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> }</div>
</div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> </div>
<div class="foldopen" id="foldopen00300" data-start="{" data-end="}">
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BITstar.html#ac830346ee0fe7e8cc475d715e2990b40"> 300</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_1BITstar.html#ac830346ee0fe7e8cc475d715e2990b40">BITstar::solve</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a> &ptc)</div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> {</div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> <span class="comment">// Check that Planner::setup_ is true, if not call this->setup()</span></div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> Planner::checkValidity();</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> </div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <span class="comment">// Assert setup succeeded</span></div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> <span class="keywordflow">if</span> (!Planner::setup_)</div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> {</div>
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <span class="keywordflow">throw</span> <a class="code hl_class" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"%s::solve() failed to set up the planner. Has a problem definition been set?"</span>,</div>
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> Planner::getName().c_str());</div>
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> }</div>
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> <span class="comment">// No else</span></div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> </div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: Searching for a solution to the given planning problem."</span>, Planner::getName().c_str());</div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> </div>
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> <span class="comment">// Reset the manual stop to the iteration loop:</span></div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> stopLoop_ = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> </div>
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> <span class="comment">// If we don't have a goal yet, recall updateStartAndGoalStates, but wait for the first goal (or until the</span></div>
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> <span class="comment">// PTC comes true and we give up):</span></div>
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <span class="keywordflow">if</span> (!graphPtr_->hasAGoal())</div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> {</div>
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> graphPtr_->updateStartAndGoalStates(Planner::pis_, ptc);</div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> }</div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> </div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> <span class="comment">// Warn if we are missing a start</span></div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> <span class="keywordflow">if</span> (!graphPtr_->hasAStart())</div>
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> {</div>
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> <span class="comment">// We don't have a start, since there's no way to wait for one to appear, so we will not be solving this</span></div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> <span class="comment">// "problem" today</span></div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"%s: A solution cannot be found as no valid start states are available."</span>,</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> Planner::getName().c_str());</div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> }</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> <span class="comment">// No else, it's a start</span></div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> </div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> <span class="comment">// Warn if we are missing a goal</span></div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> <span class="keywordflow">if</span> (!graphPtr_->hasAGoal())</div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> {</div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> <span class="comment">// We don't have a goal (and we waited as long as ptc allowed us for one to appear), so we will not be</span></div>
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> <span class="comment">// solving this "problem" today</span></div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"%s: A solution cannot be found as no valid goal states are available."</span>,</div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> Planner::getName().c_str());</div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> }</div>
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <span class="comment">// No else, there's a goal to all of this</span></div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> </div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> <span class="comment">// Insert the outgoing edges of the start vertices.</span></div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> <span class="keywordflow">if</span> (numIterations_ == 0u)</div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> {</div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> queuePtr_->insertOutgoingEdgesOfStartVertices();</div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> }</div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> </div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> <span class="comment">/* Iterate as long as:</span></div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span><span class="comment"> - We're allowed (ptc == false && stopLoop_ == false), AND</span></div>
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span><span class="comment"> - We haven't found a good enough solution (costHelpPtr_->isSatisfied(bestCost) == false),</span></div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span><span class="comment"> - AND</span></div>
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span><span class="comment"> - There is a theoretically better solution (costHelpPtr_->isCostBetterThan(graphPtr_->minCost(),</span></div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span><span class="comment"> bestCost_) == true), OR</span></div>
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span><span class="comment"> - There is are start/goal states we've yet to consider (pis_.haveMoreStartStates() == true ||</span></div>
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span><span class="comment"> pis_.haveMoreGoalStates() == true)</span></div>
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span><span class="comment"> */</span></div>
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> <span class="keywordflow">while</span> (!ptc && !stopLoop_ && !costHelpPtr_->isSatisfied(bestCost_) &&</div>
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> (costHelpPtr_->isCostBetterThan(graphPtr_->minCost(), bestCost_) ||</div>
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> Planner::pis_.haveMoreStartStates() || Planner::pis_.haveMoreGoalStates()))</div>
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> {</div>
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span> this->iterate();</div>
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span> }</div>
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> </div>
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span> <span class="comment">// Announce</span></div>
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span> <span class="keywordflow">if</span> (hasExactSolution_)</div>
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> {</div>
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span> this->endSuccessMessage();</div>
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> }</div>
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> {</div>
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> this->endFailureMessage();</div>
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> }</div>
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> </div>
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> <span class="comment">// Publish</span></div>
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> <span class="keywordflow">if</span> (hasExactSolution_ || graphPtr_->getTrackApproximateSolutions())</div>
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span> {</div>
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span> <span class="comment">// Any solution</span></div>
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> this->publishSolution();</div>
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> }</div>
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> <span class="comment">// No else, no solution to publish</span></div>
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> </div>
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> <span class="comment">// From OMPL's point-of-view, BIT* can always have an approximate solution, so mark solution true if either</span></div>
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> <span class="comment">// we have an exact solution or are finding approximate ones.</span></div>
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> <span class="comment">// Our returned solution will only be approximate if it is not exact and we are finding approximate</span></div>
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> <span class="comment">// solutions.</span></div>
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> <span class="comment">// PlannerStatus(addedSolution, approximate)</span></div>
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> <span class="keywordflow">return</span> {hasExactSolution_ || graphPtr_->getTrackApproximateSolutions(),</div>
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> !hasExactSolution_ && graphPtr_->getTrackApproximateSolutions()};</div>
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> }</div>
</div>
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> </div>
<div class="foldopen" id="foldopen00394" data-start="{" data-end="}">
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BITstar.html#a5f6f7f012a594c2294cda637395f93e9"> 394</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#a5f6f7f012a594c2294cda637395f93e9">BITstar::getPlannerData</a>(<a class="code hl_class" href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a> &data)<span class="keyword"> const</span></div>
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> <span class="comment">// Get the base planner class data:</span></div>
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> Planner::getPlannerData(data);</div>
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> </div>
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> <span class="comment">// Add the samples (the graph)</span></div>
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> graphPtr_->getGraphAsPlannerData(data);</div>
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> </div>
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> <span class="comment">// Did we find a solution?</span></div>
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> <span class="keywordflow">if</span> (hasExactSolution_)</div>
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span> {</div>
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> <span class="comment">// Exact solution</span></div>
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span> data.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#a7772ac307d153831c0e7ecfc4fb1c18b">markGoalState</a>(curGoalVertex_->state());</div>
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> }</div>
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!hasExactSolution_ && graphPtr_->getTrackApproximateSolutions())</div>
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span> {</div>
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> <span class="comment">// Approximate solution</span></div>
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> data.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#a7772ac307d153831c0e7ecfc4fb1c18b">markGoalState</a>(graphPtr_->closestVertexToGoal()->state());</div>
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span> }</div>
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> <span class="comment">// No else, no solution</span></div>
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span> }</div>
</div>
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> </div>
<div class="foldopen" id="foldopen00416" data-start="{" data-end="}">
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BITstar.html#af38417dd67de2b6cee9d1ee09e501c68"> 416</a></span> std::pair<ompl::base::State const *, ompl::base::State const *> <a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#af38417dd67de2b6cee9d1ee09e501c68">BITstar::getNextEdgeInQueue</a>()</div>
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span> {</div>
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> <span class="comment">// Variable:</span></div>
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> <span class="comment">// The next edge as a basic pair of states</span></div>
<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span> std::pair<ompl::base::State const *, ompl::base::State const *> nextEdge;</div>
<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span> </div>
<div class="line"><a id="l00422" name="l00422"></a><span class="lineno"> 422</span> <span class="keywordflow">if</span> (!queuePtr_->isEmpty())</div>
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span> {</div>
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> <span class="comment">// Variable</span></div>
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> <span class="comment">// The edge in the front of the queue</span></div>
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> <a class="code hl_typedef" href="classompl_1_1geometric_1_1BITstar.html#a82784a5cbc1a9c9c81be04a4a4f478a5">VertexConstPtrPair</a> frontEdge = queuePtr_->getFrontEdge();</div>
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> </div>
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> <span class="comment">// The next edge in the queue:</span></div>
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> nextEdge = std::make_pair(frontEdge.first->state(), frontEdge.second->state());</div>
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> }</div>
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</span> {</div>
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"> 433</span> <span class="comment">// An empty edge:</span></div>
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> nextEdge = std::make_pair<ompl::base::State *, ompl::base::State *>(<span class="keyword">nullptr</span>, <span class="keyword">nullptr</span>);</div>
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span> }</div>
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span> </div>
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> <span class="keywordflow">return</span> nextEdge;</div>
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> }</div>
</div>
<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> </div>
<div class="foldopen" id="foldopen00440" data-start="{" data-end="}">
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BITstar.html#a9441e73fbec5789e481fbcee9c76d4b1"> 440</a></span> <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> <a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#a9441e73fbec5789e481fbcee9c76d4b1">BITstar::getNextEdgeValueInQueue</a>()</div>
<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> {</div>
<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> <span class="comment">// Variable</span></div>
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> <span class="comment">// The cost of the next edge</span></div>
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> nextCost;</div>
<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"> 445</span> </div>
<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"> 446</span> <span class="keywordflow">if</span> (!queuePtr_->isEmpty())</div>
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"> 447</span> {</div>
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> <span class="comment">// The next cost in the queue:</span></div>
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span> nextCost = queuePtr_->getFrontEdgeValue().at(0u);</div>
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> }</div>
<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"> 452</span> {</div>
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> <span class="comment">// An infinite cost:</span></div>
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"> 454</span> nextCost = costHelpPtr_->infiniteCost();</div>
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> }</div>
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span> </div>
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> <span class="keywordflow">return</span> nextCost;</div>
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> }</div>
</div>
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> </div>
<div class="foldopen" id="foldopen00460" data-start="{" data-end="}">
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BITstar.html#a13d6b414a6cf05d37e7c37d3931ccb38"> 460</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#a13d6b414a6cf05d37e7c37d3931ccb38">BITstar::getEdgeQueue</a>(<a class="code hl_typedef" href="classompl_1_1geometric_1_1BITstar.html#ac50cb6283e7b208cd90d52fd7b063911">VertexConstPtrPairVector</a> *edgesInQueue)</div>
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> {</div>
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> queuePtr_->getEdges(edgesInQueue);</div>
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> }</div>
</div>
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> </div>
<div class="foldopen" id="foldopen00465" data-start="{" data-end="}">
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BITstar.html#a6849d38db6c966e12fbc2ae575acd98f"> 465</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#a6849d38db6c966e12fbc2ae575acd98f">BITstar::numIterations</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span> <span class="keywordflow">return</span> numIterations_;</div>
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> }</div>
</div>
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span> </div>
<div class="foldopen" id="foldopen00470" data-start="{" data-end="}">
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BITstar.html#a0b681699d607545e82b922138899e41e"> 470</a></span> <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> <a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#a0b681699d607545e82b922138899e41e">BITstar::bestCost</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"> 471</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"> 472</span> <span class="keywordflow">return</span> bestCost_;</div>
<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span> }</div>
</div>
<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"> 474</span> </div>
<div class="foldopen" id="foldopen00475" data-start="{" data-end="}">
<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BITstar.html#adbd5197b394d63359c072d3e1d6e9339"> 475</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BITstar.html#adbd5197b394d63359c072d3e1d6e9339">BITstar::numBatches</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"> 476</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span> <span class="keywordflow">return</span> numBatches_;</div>
<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"> 478</span> }</div>
</div>
<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"> 479</span></div>
<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span></div>
<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span> <span class="comment">// Protected functions:</span></div>
<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span> <span class="keywordtype">void</span> BITstar::iterate()</div>
<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span> {</div>
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"> 485</span> <span class="comment">// Keep track of how many iterations we've performed.</span></div>
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> ++numIterations_;</div>
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"> 487</span> </div>
<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span> <span class="comment">// If the search is done or the queue is empty, we need to populate the queue.</span></div>
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> <span class="keywordflow">if</span> (isSearchDone_ || queuePtr_->isEmpty())</div>
<div class="line"><a id="l00490" name="l00490"></a><span class="lineno"> 490</span> {</div>
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> <span class="comment">// Check whether we've exhausted the current approximation.</span></div>
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> <span class="keywordflow">if</span> (isFinalSearchOnBatch_ || !hasExactSolution_)</div>
<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"> 493</span> {</div>
<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span> <span class="comment">// Prune the graph if enabled.</span></div>
<div class="line"><a id="l00495" name="l00495"></a><span class="lineno"> 495</span> <span class="keywordflow">if</span> (isPruningEnabled_)</div>
<div class="line"><a id="l00496" name="l00496"></a><span class="lineno"> 496</span> {</div>
<div class="line"><a id="l00497" name="l00497"></a><span class="lineno"> 497</span> this->prune();</div>
<div class="line"><a id="l00498" name="l00498"></a><span class="lineno"> 498</span> }</div>
<div class="line"><a id="l00499" name="l00499"></a><span class="lineno"> 499</span> </div>
<div class="line"><a id="l00500" name="l00500"></a><span class="lineno"> 500</span> <span class="comment">// Add a new batch.</span></div>
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> this->newBatch();</div>
<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span> </div>
<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"> 503</span> <span class="comment">// Set the inflation factor to an initial value.</span></div>
<div class="line"><a id="l00504" name="l00504"></a><span class="lineno"> 504</span> queuePtr_->setInflationFactor(initialInflationFactor_);</div>
<div class="line"><a id="l00505" name="l00505"></a><span class="lineno"> 505</span> </div>
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span> <span class="comment">// Clear the search queue.</span></div>
<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> queuePtr_->clear();</div>
<div class="line"><a id="l00508" name="l00508"></a><span class="lineno"> 508</span> </div>
<div class="line"><a id="l00509" name="l00509"></a><span class="lineno"> 509</span> <span class="comment">// Restart the queue, adding the outgoing edges of the start vertices to the queue.</span></div>
<div class="line"><a id="l00510" name="l00510"></a><span class="lineno"> 510</span> queuePtr_->insertOutgoingEdgesOfStartVertices();</div>
<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"> 511</span> </div>
<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> <span class="comment">// Set flag to false.</span></div>
<div class="line"><a id="l00513" name="l00513"></a><span class="lineno"> 513</span> isFinalSearchOnBatch_ = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00514" name="l00514"></a><span class="lineno"> 514</span> </div>
<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"> 515</span> <span class="comment">// Set the new truncation factor.</span></div>
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span> truncationFactor_ =</div>
<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> 1.0 + truncationScalingParameter_ /</div>
<div class="line"><a id="l00518" name="l00518"></a><span class="lineno"> 518</span> (<span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span>(graphPtr_->numVertices() + graphPtr_->numSamples()));</div>
<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"> 519</span> }</div>
<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span> {</div>
<div class="line"><a id="l00522" name="l00522"></a><span class="lineno"> 522</span> <span class="comment">// Exhaust the current approximation by performing an uninflated search.</span></div>
<div class="line"><a id="l00523" name="l00523"></a><span class="lineno"> 523</span> queuePtr_->setInflationFactor(</div>
<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span> 1.0 + inflationScalingParameter_ /</div>
<div class="line"><a id="l00525" name="l00525"></a><span class="lineno"> 525</span> (<span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span>(graphPtr_->numVertices() + graphPtr_->numSamples())));</div>
<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"> 526</span> queuePtr_->rebuildEdgeQueue();</div>
<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"> 527</span> queuePtr_->insertOutgoingEdgesOfInconsistentVertices();</div>
<div class="line"><a id="l00528" name="l00528"></a><span class="lineno"> 528</span> queuePtr_->clearInconsistentSet();</div>
<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"> 529</span> isFinalSearchOnBatch_ = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00530" name="l00530"></a><span class="lineno"> 530</span> }</div>
<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"> 531</span> </div>
<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"> 532</span> isSearchDone_ = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00533" name="l00533"></a><span class="lineno"> 533</span> }</div>
<div class="line"><a id="l00534" name="l00534"></a><span class="lineno"> 534</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00535" name="l00535"></a><span class="lineno"> 535</span> {</div>
<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"> 536</span> <span class="comment">// Get the most promising edge.</span></div>
<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"> 537</span> <a class="code hl_typedef" href="classompl_1_1geometric_1_1BITstar.html#a85f2f074b60a176d939867e33d17fc9e">VertexPtrPair</a> edge = queuePtr_->popFrontEdge();</div>
<div class="line"><a id="l00538" name="l00538"></a><span class="lineno"> 538</span> </div>
<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span> <span class="comment">// If this edge is already part of the search tree it's a freebie.</span></div>
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> <span class="keywordflow">if</span> (edge.second->hasParent() && edge.second->getParent()->getId() == edge.first->getId())</div>
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> {</div>
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> <span class="keywordflow">if</span> (!edge.first->isExpandedOnCurrentSearch())</div>
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> {</div>
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> edge.first->registerExpansion();</div>
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> }</div>
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> queuePtr_->insertOutgoingEdges(edge.second);</div>
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> }</div>
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span> <span class="comment">// In the best case, can this edge improve our solution given the current graph?</span></div>
<div class="line"><a id="l00549" name="l00549"></a><span class="lineno"> 549</span> <span class="comment">// g_t(v) + c_hat(v,x) + h_hat(x) < g_t(x_g)?</span></div>
<div class="line"><a id="l00550" name="l00550"></a><span class="lineno"> 550</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (costHelpPtr_->isCostBetterThan(</div>
<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"> 551</span> costHelpPtr_->inflateCost(costHelpPtr_->currentHeuristicEdge(edge), truncationFactor_),</div>
<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> bestCost_))</div>
<div class="line"><a id="l00553" name="l00553"></a><span class="lineno"> 553</span> {</div>
<div class="line"><a id="l00554" name="l00554"></a><span class="lineno"> 554</span> <span class="comment">// What about improving the current graph?</span></div>
<div class="line"><a id="l00555" name="l00555"></a><span class="lineno"> 555</span> <span class="comment">// g_t(v) + c_hat(v,x) < g_t(x)?</span></div>
<div class="line"><a id="l00556" name="l00556"></a><span class="lineno"> 556</span> <span class="keywordflow">if</span> (costHelpPtr_->isCostBetterThan(costHelpPtr_->currentHeuristicToTarget(edge),</div>
<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span> edge.second->getCost()))</div>
<div class="line"><a id="l00558" name="l00558"></a><span class="lineno"> 558</span> {</div>
<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span> <span class="comment">// Ok, so it *could* be a useful edge. Do the work of calculating its cost for real</span></div>
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span> </div>
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> <span class="comment">// Get the true cost of the edge</span></div>
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> ompl::base::Cost trueEdgeCost = costHelpPtr_->trueEdgeCost(edge);</div>
<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"> 563</span> </div>
<div class="line"><a id="l00564" name="l00564"></a><span class="lineno"> 564</span> <span class="comment">// Can this actual edge ever improve our solution?</span></div>
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"> 565</span> <span class="comment">// g_hat(v) + c(v,x) + h_hat(x) < g_t(x_g)?</span></div>
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> <span class="keywordflow">if</span> (costHelpPtr_->isCostBetterThan(</div>
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span> costHelpPtr_->combineCosts(costHelpPtr_->costToComeHeuristic(edge.first), trueEdgeCost,</div>
<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"> 568</span> costHelpPtr_->costToGoHeuristic(edge.second)),</div>
<div class="line"><a id="l00569" name="l00569"></a><span class="lineno"> 569</span> bestCost_))</div>
<div class="line"><a id="l00570" name="l00570"></a><span class="lineno"> 570</span> {</div>
<div class="line"><a id="l00571" name="l00571"></a><span class="lineno"> 571</span> <span class="comment">// Does this edge have a collision?</span></div>
<div class="line"><a id="l00572" name="l00572"></a><span class="lineno"> 572</span> <span class="keywordflow">if</span> (this->checkEdge(edge))</div>
<div class="line"><a id="l00573" name="l00573"></a><span class="lineno"> 573</span> {</div>
<div class="line"><a id="l00574" name="l00574"></a><span class="lineno"> 574</span> <span class="comment">// Remember that this edge has passed the collision checks.</span></div>
<div class="line"><a id="l00575" name="l00575"></a><span class="lineno"> 575</span> this->whitelistEdge(edge);</div>
<div class="line"><a id="l00576" name="l00576"></a><span class="lineno"> 576</span> </div>
<div class="line"><a id="l00577" name="l00577"></a><span class="lineno"> 577</span> <span class="comment">// Does the current edge improve our graph?</span></div>
<div class="line"><a id="l00578" name="l00578"></a><span class="lineno"> 578</span> <span class="comment">// g_t(v) + c(v,x) < g_t(x)?</span></div>
<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"> 579</span> <span class="keywordflow">if</span> (costHelpPtr_->isCostBetterThan(</div>
<div class="line"><a id="l00580" name="l00580"></a><span class="lineno"> 580</span> costHelpPtr_->combineCosts(edge.first->getCost(), trueEdgeCost),</div>
<div class="line"><a id="l00581" name="l00581"></a><span class="lineno"> 581</span> edge.second->getCost()))</div>
<div class="line"><a id="l00582" name="l00582"></a><span class="lineno"> 582</span> {</div>
<div class="line"><a id="l00583" name="l00583"></a><span class="lineno"> 583</span> <span class="comment">// YAAAAH. Add the edge! Allowing for the sample to be removed from free if it is</span></div>
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"> 584</span> <span class="comment">// not currently connected and otherwise propagate cost updates to descendants.</span></div>
<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span> <span class="comment">// addEdge will update the queue and handle the extra work that occurs if this edge</span></div>
<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"> 586</span> <span class="comment">// improves the solution.</span></div>
<div class="line"><a id="l00587" name="l00587"></a><span class="lineno"> 587</span> this->addEdge(edge, trueEdgeCost);</div>
<div class="line"><a id="l00588" name="l00588"></a><span class="lineno"> 588</span> </div>
<div class="line"><a id="l00589" name="l00589"></a><span class="lineno"> 589</span> <span class="comment">// If the path to the goal has changed, we will need to update the cached info about</span></div>
<div class="line"><a id="l00590" name="l00590"></a><span class="lineno"> 590</span> <span class="comment">// the solution cost or solution length:</span></div>
<div class="line"><a id="l00591" name="l00591"></a><span class="lineno"> 591</span> this->updateGoalVertex();</div>
<div class="line"><a id="l00592" name="l00592"></a><span class="lineno"> 592</span> </div>
<div class="line"><a id="l00593" name="l00593"></a><span class="lineno"> 593</span> <span class="comment">// If this is the first edge that's being expanded in the current search, remember</span></div>
<div class="line"><a id="l00594" name="l00594"></a><span class="lineno"> 594</span> <span class="comment">// the cost-to-come and the search / approximation ids.</span></div>
<div class="line"><a id="l00595" name="l00595"></a><span class="lineno"> 595</span> <span class="keywordflow">if</span> (!edge.first->isExpandedOnCurrentSearch())</div>
<div class="line"><a id="l00596" name="l00596"></a><span class="lineno"> 596</span> {</div>
<div class="line"><a id="l00597" name="l00597"></a><span class="lineno"> 597</span> edge.first->registerExpansion();</div>
<div class="line"><a id="l00598" name="l00598"></a><span class="lineno"> 598</span> }</div>
<div class="line"><a id="l00599" name="l00599"></a><span class="lineno"> 599</span> }</div>
<div class="line"><a id="l00600" name="l00600"></a><span class="lineno"> 600</span> <span class="comment">// No else, this edge may be useful at some later date.</span></div>
<div class="line"><a id="l00601" name="l00601"></a><span class="lineno"> 601</span> }</div>
<div class="line"><a id="l00602" name="l00602"></a><span class="lineno"> 602</span> <span class="keywordflow">else</span> <span class="comment">// Remember that this edge is in collision.</span></div>
<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"> 603</span> {</div>
<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> this->blacklistEdge(edge);</div>
<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"> 605</span> }</div>
<div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span> }</div>
<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"> 607</span> <span class="comment">// No else, we failed</span></div>
<div class="line"><a id="l00608" name="l00608"></a><span class="lineno"> 608</span> }</div>
<div class="line"><a id="l00609" name="l00609"></a><span class="lineno"> 609</span> <span class="comment">// No else, we failed</span></div>
<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"> 610</span> }</div>
<div class="line"><a id="l00611" name="l00611"></a><span class="lineno"> 611</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00612" name="l00612"></a><span class="lineno"> 612</span> {</div>
<div class="line"><a id="l00613" name="l00613"></a><span class="lineno"> 613</span> isSearchDone_ = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00614" name="l00614"></a><span class="lineno"> 614</span> }</div>
<div class="line"><a id="l00615" name="l00615"></a><span class="lineno"> 615</span> } <span class="comment">// Search queue not empty.</span></div>
<div class="line"><a id="l00616" name="l00616"></a><span class="lineno"> 616</span> }</div>
<div class="line"><a id="l00617" name="l00617"></a><span class="lineno"> 617</span> </div>
<div class="line"><a id="l00618" name="l00618"></a><span class="lineno"> 618</span> <span class="keywordtype">void</span> BITstar::newBatch()</div>
<div class="line"><a id="l00619" name="l00619"></a><span class="lineno"> 619</span> {</div>
<div class="line"><a id="l00620" name="l00620"></a><span class="lineno"> 620</span> <span class="comment">// Increment the batch counter.</span></div>
<div class="line"><a id="l00621" name="l00621"></a><span class="lineno"> 621</span> ++numBatches_;</div>
<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"> 622</span> </div>
<div class="line"><a id="l00623" name="l00623"></a><span class="lineno"> 623</span> <span class="comment">// Do we need to update our starts or goals?</span></div>
<div class="line"><a id="l00624" name="l00624"></a><span class="lineno"> 624</span> <span class="keywordflow">if</span> (Planner::pis_.haveMoreStartStates() || Planner::pis_.haveMoreGoalStates())</div>
<div class="line"><a id="l00625" name="l00625"></a><span class="lineno"> 625</span> {</div>
<div class="line"><a id="l00626" name="l00626"></a><span class="lineno"> 626</span> <span class="comment">// There are new starts/goals to get.</span></div>
<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"> 627</span> graphPtr_->updateStartAndGoalStates(Planner::pis_, <a class="code hl_function" href="namespaceompl_1_1base.html#a1125deb13109d3f27b3acab34d79c09c">ompl::base::plannerAlwaysTerminatingCondition</a>());</div>
<div class="line"><a id="l00628" name="l00628"></a><span class="lineno"> 628</span> }</div>
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"> 629</span> <span class="comment">// No else, we have enough of a problem to do some work, and everything's up to date.</span></div>
<div class="line"><a id="l00630" name="l00630"></a><span class="lineno"> 630</span> </div>
<div class="line"><a id="l00631" name="l00631"></a><span class="lineno"> 631</span> <span class="comment">// Add a new batch of samples.</span></div>
<div class="line"><a id="l00632" name="l00632"></a><span class="lineno"> 632</span> graphPtr_->addNewSamples(samplesPerBatch_);</div>
<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"> 633</span> }</div>
<div class="line"><a id="l00634" name="l00634"></a><span class="lineno"> 634</span> </div>
<div class="line"><a id="l00635" name="l00635"></a><span class="lineno"> 635</span> <span class="keywordtype">void</span> BITstar::prune()</div>
<div class="line"><a id="l00636" name="l00636"></a><span class="lineno"> 636</span> {</div>
<div class="line"><a id="l00637" name="l00637"></a><span class="lineno"> 637</span><span class="preprocessor">#ifdef BITSTAR_DEBUG</span></div>
<div class="line"><a id="l00638" name="l00638"></a><span class="lineno"> 638</span> <span class="keywordflow">if</span> (!isPruningEnabled_)</div>
<div class="line"><a id="l00639" name="l00639"></a><span class="lineno"> 639</span> {</div>
<div class="line"><a id="l00640" name="l00640"></a><span class="lineno"> 640</span> <span class="keywordflow">throw</span> ompl::Exception(<span class="stringliteral">"Pruning is not enabled, but prune() is called nonetheless."</span>);</div>
<div class="line"><a id="l00641" name="l00641"></a><span class="lineno"> 641</span> }</div>
<div class="line"><a id="l00642" name="l00642"></a><span class="lineno"> 642</span><span class="preprocessor">#endif </span><span class="comment">// BITSTAR_DEBUG</span></div>
<div class="line"><a id="l00643" name="l00643"></a><span class="lineno"> 643</span> </div>
<div class="line"><a id="l00644" name="l00644"></a><span class="lineno"> 644</span> <span class="comment">// If we don't have an exact solution, we can't prune sensibly.</span></div>
<div class="line"><a id="l00645" name="l00645"></a><span class="lineno"> 645</span> <span class="keywordflow">if</span> (hasExactSolution_)</div>
<div class="line"><a id="l00646" name="l00646"></a><span class="lineno"> 646</span> {</div>
<div class="line"><a id="l00647" name="l00647"></a><span class="lineno"> 647</span> <span class="comment">/* Profiling reveals that pruning is very expensive, mainly because the nearest neighbour structure of</span></div>
<div class="line"><a id="l00648" name="l00648"></a><span class="lineno"> 648</span><span class="comment"> * the samples has to be updated. On the other hand, nearest neighbour lookup gets more expensive the</span></div>
<div class="line"><a id="l00649" name="l00649"></a><span class="lineno"> 649</span><span class="comment"> * bigger the structure, so it's a tradeoff. Pruning on every cost update seems insensible, but so does</span></div>
<div class="line"><a id="l00650" name="l00650"></a><span class="lineno"> 650</span><span class="comment"> * never pruning at all. The criteria to prune should depend on how many vertices/samples there are and</span></div>
<div class="line"><a id="l00651" name="l00651"></a><span class="lineno"> 651</span><span class="comment"> * how many of them could be pruned, as the decrease in cost associated with nearest neighbour lookup</span></div>
<div class="line"><a id="l00652" name="l00652"></a><span class="lineno"> 652</span><span class="comment"> * for fewer samples must justify the cost of pruning. It turns out that counting is affordable, so we</span></div>
<div class="line"><a id="l00653" name="l00653"></a><span class="lineno"> 653</span><span class="comment"> * don't need to use any proxy here. */</span></div>
<div class="line"><a id="l00654" name="l00654"></a><span class="lineno"> 654</span> </div>
<div class="line"><a id="l00655" name="l00655"></a><span class="lineno"> 655</span> <span class="comment">// Count the number of samples that could be pruned.</span></div>
<div class="line"><a id="l00656" name="l00656"></a><span class="lineno"> 656</span> <span class="keyword">auto</span> samples = graphPtr_->getCopyOfSamples();</div>
<div class="line"><a id="l00657" name="l00657"></a><span class="lineno"> 657</span> <span class="keyword">auto</span> numSamplesThatCouldBePruned =</div>
<div class="line"><a id="l00658" name="l00658"></a><span class="lineno"> 658</span> std::count_if(samples.begin(), samples.end(),</div>
<div class="line"><a id="l00659" name="l00659"></a><span class="lineno"> 659</span> [<span class="keyword">this</span>](<span class="keyword">const</span> <span class="keyword">auto</span> &sample) { return graphPtr_->canSampleBePruned(sample); });</div>
<div class="line"><a id="l00660" name="l00660"></a><span class="lineno"> 660</span> </div>
<div class="line"><a id="l00661" name="l00661"></a><span class="lineno"> 661</span> <span class="comment">// Only prune if the decrease in number of samples and the associated decrease in nearest neighbour</span></div>
<div class="line"><a id="l00662" name="l00662"></a><span class="lineno"> 662</span> <span class="comment">// lookup cost justifies the cost of pruning. There has to be a way to make this more formal, and less</span></div>
<div class="line"><a id="l00663" name="l00663"></a><span class="lineno"> 663</span> <span class="comment">// knob-turney, right?</span></div>
<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"> 664</span> <span class="keywordflow">if</span> (<span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span>(numSamplesThatCouldBePruned) /</div>
<div class="line"><a id="l00665" name="l00665"></a><span class="lineno"> 665</span> <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span>(graphPtr_->numSamples() + graphPtr_->numVertices()) >=</div>
<div class="line"><a id="l00666" name="l00666"></a><span class="lineno"> 666</span> pruneFraction_)</div>
<div class="line"><a id="l00667" name="l00667"></a><span class="lineno"> 667</span> {</div>
<div class="line"><a id="l00668" name="l00668"></a><span class="lineno"> 668</span> <span class="comment">// Get the current informed measure of the problem space.</span></div>
<div class="line"><a id="l00669" name="l00669"></a><span class="lineno"> 669</span> <span class="keywordtype">double</span> informedMeasure = graphPtr_->getInformedMeasure(bestCost_);</div>
<div class="line"><a id="l00670" name="l00670"></a><span class="lineno"> 670</span> </div>
<div class="line"><a id="l00671" name="l00671"></a><span class="lineno"> 671</span> <span class="comment">// Increment the pruning counter:</span></div>
<div class="line"><a id="l00672" name="l00672"></a><span class="lineno"> 672</span> ++numPrunings_;</div>
<div class="line"><a id="l00673" name="l00673"></a><span class="lineno"> 673</span> </div>
<div class="line"><a id="l00674" name="l00674"></a><span class="lineno"> 674</span> <span class="comment">// Prune the graph.</span></div>
<div class="line"><a id="l00675" name="l00675"></a><span class="lineno"> 675</span> std::pair<unsigned int, unsigned int> numPruned = graphPtr_->prune(informedMeasure);</div>
<div class="line"><a id="l00676" name="l00676"></a><span class="lineno"> 676</span> </div>
<div class="line"><a id="l00677" name="l00677"></a><span class="lineno"> 677</span> <span class="comment">// Store the cost at which we pruned:</span></div>
<div class="line"><a id="l00678" name="l00678"></a><span class="lineno"> 678</span> prunedCost_ = bestCost_;</div>
<div class="line"><a id="l00679" name="l00679"></a><span class="lineno"> 679</span> </div>
<div class="line"><a id="l00680" name="l00680"></a><span class="lineno"> 680</span> <span class="comment">// Also store the measure.</span></div>
<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"> 681</span> prunedMeasure_ = informedMeasure;</div>
<div class="line"><a id="l00682" name="l00682"></a><span class="lineno"> 682</span> </div>
<div class="line"><a id="l00683" name="l00683"></a><span class="lineno"> 683</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: Pruning disconnected %d vertices from the tree and completely removed %d samples."</span>,</div>
<div class="line"><a id="l00684" name="l00684"></a><span class="lineno"> 684</span> Planner::getName().c_str(), numPruned.first, numPruned.second);</div>
<div class="line"><a id="l00685" name="l00685"></a><span class="lineno"> 685</span> }</div>
<div class="line"><a id="l00686" name="l00686"></a><span class="lineno"> 686</span> }</div>
<div class="line"><a id="l00687" name="l00687"></a><span class="lineno"> 687</span> <span class="comment">// No else.</span></div>
<div class="line"><a id="l00688" name="l00688"></a><span class="lineno"> 688</span> }</div>
<div class="line"><a id="l00689" name="l00689"></a><span class="lineno"> 689</span> </div>
<div class="line"><a id="l00690" name="l00690"></a><span class="lineno"> 690</span> <span class="keywordtype">void</span> BITstar::blacklistEdge(<span class="keyword">const</span> VertexPtrPair &edge)<span class="keyword"> const</span></div>
<div class="line"><a id="l00691" name="l00691"></a><span class="lineno"> 691</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00692" name="l00692"></a><span class="lineno"> 692</span> <span class="comment">// We store the actual blacklist with the parent vertex for efficient lookup.</span></div>
<div class="line"><a id="l00693" name="l00693"></a><span class="lineno"> 693</span> edge.first->blacklistChild(edge.second);</div>
<div class="line"><a id="l00694" name="l00694"></a><span class="lineno"> 694</span> }</div>
<div class="line"><a id="l00695" name="l00695"></a><span class="lineno"> 695</span> </div>
<div class="line"><a id="l00696" name="l00696"></a><span class="lineno"> 696</span> <span class="keywordtype">void</span> BITstar::whitelistEdge(<span class="keyword">const</span> VertexPtrPair &edge)<span class="keyword"> const</span></div>
<div class="line"><a id="l00697" name="l00697"></a><span class="lineno"> 697</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00698" name="l00698"></a><span class="lineno"> 698</span> <span class="comment">// We store the actual whitelist with the parent vertex for efficient lookup.</span></div>
<div class="line"><a id="l00699" name="l00699"></a><span class="lineno"> 699</span> edge.first->whitelistChild(edge.second);</div>
<div class="line"><a id="l00700" name="l00700"></a><span class="lineno"> 700</span> }</div>
<div class="line"><a id="l00701" name="l00701"></a><span class="lineno"> 701</span> </div>
<div class="line"><a id="l00702" name="l00702"></a><span class="lineno"> 702</span> <span class="keywordtype">void</span> BITstar::publishSolution()</div>
<div class="line"><a id="l00703" name="l00703"></a><span class="lineno"> 703</span> {</div>
<div class="line"><a id="l00704" name="l00704"></a><span class="lineno"> 704</span> <span class="comment">// Variable</span></div>
<div class="line"><a id="l00705" name="l00705"></a><span class="lineno"> 705</span> <span class="comment">// The reverse path of state pointers</span></div>
<div class="line"><a id="l00706" name="l00706"></a><span class="lineno"> 706</span> std::vector<const ompl::base::State *> reversePath;</div>
<div class="line"><a id="l00707" name="l00707"></a><span class="lineno"> 707</span> <span class="comment">// Allocate a path geometric</span></div>
<div class="line"><a id="l00708" name="l00708"></a><span class="lineno"> 708</span> <span class="keyword">auto</span> pathGeoPtr = std::make_shared<ompl::geometric::PathGeometric>(Planner::si_);</div>
<div class="line"><a id="l00709" name="l00709"></a><span class="lineno"> 709</span> </div>
<div class="line"><a id="l00710" name="l00710"></a><span class="lineno"> 710</span> <span class="comment">// Get the reversed path</span></div>
<div class="line"><a id="l00711" name="l00711"></a><span class="lineno"> 711</span> reversePath = this->bestPathFromGoalToStart();</div>
<div class="line"><a id="l00712" name="l00712"></a><span class="lineno"> 712</span> </div>
<div class="line"><a id="l00713" name="l00713"></a><span class="lineno"> 713</span> <span class="comment">// Now iterate that vector in reverse, putting the states into the path geometric</span></div>
<div class="line"><a id="l00714" name="l00714"></a><span class="lineno"> 714</span> <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &solnState : boost::adaptors::reverse(reversePath))</div>
<div class="line"><a id="l00715" name="l00715"></a><span class="lineno"> 715</span> {</div>
<div class="line"><a id="l00716" name="l00716"></a><span class="lineno"> 716</span> pathGeoPtr->append(solnState);</div>
<div class="line"><a id="l00717" name="l00717"></a><span class="lineno"> 717</span> }</div>
<div class="line"><a id="l00718" name="l00718"></a><span class="lineno"> 718</span> </div>
<div class="line"><a id="l00719" name="l00719"></a><span class="lineno"> 719</span> <span class="comment">// Now create the solution</span></div>
<div class="line"><a id="l00720" name="l00720"></a><span class="lineno"> 720</span> ompl::base::PlannerSolution soln(pathGeoPtr);</div>
<div class="line"><a id="l00721" name="l00721"></a><span class="lineno"> 721</span> </div>
<div class="line"><a id="l00722" name="l00722"></a><span class="lineno"> 722</span> <span class="comment">// Mark the name:</span></div>
<div class="line"><a id="l00723" name="l00723"></a><span class="lineno"> 723</span> soln.setPlannerName(Planner::getName());</div>
<div class="line"><a id="l00724" name="l00724"></a><span class="lineno"> 724</span> </div>
<div class="line"><a id="l00725" name="l00725"></a><span class="lineno"> 725</span> <span class="comment">// Mark as approximate if not exact:</span></div>
<div class="line"><a id="l00726" name="l00726"></a><span class="lineno"> 726</span> <span class="keywordflow">if</span> (!hasExactSolution_ && graphPtr_->getTrackApproximateSolutions())</div>
<div class="line"><a id="l00727" name="l00727"></a><span class="lineno"> 727</span> {</div>
<div class="line"><a id="l00728" name="l00728"></a><span class="lineno"> 728</span> soln.setApproximate(graphPtr_->smallestDistanceToGoal());</div>
<div class="line"><a id="l00729" name="l00729"></a><span class="lineno"> 729</span> }</div>
<div class="line"><a id="l00730" name="l00730"></a><span class="lineno"> 730</span> </div>
<div class="line"><a id="l00731" name="l00731"></a><span class="lineno"> 731</span> <span class="comment">// Mark whether the solution met the optimization objective:</span></div>
<div class="line"><a id="l00732" name="l00732"></a><span class="lineno"> 732</span> soln.setOptimized(Planner::pdef_->getOptimizationObjective(), bestCost_,</div>
<div class="line"><a id="l00733" name="l00733"></a><span class="lineno"> 733</span> Planner::pdef_->getOptimizationObjective()->isSatisfied(bestCost_));</div>
<div class="line"><a id="l00734" name="l00734"></a><span class="lineno"> 734</span> </div>
<div class="line"><a id="l00735" name="l00735"></a><span class="lineno"> 735</span> <span class="comment">// Add the solution to the Problem Definition:</span></div>
<div class="line"><a id="l00736" name="l00736"></a><span class="lineno"> 736</span> Planner::pdef_->addSolutionPath(soln);</div>
<div class="line"><a id="l00737" name="l00737"></a><span class="lineno"> 737</span> }</div>
<div class="line"><a id="l00738" name="l00738"></a><span class="lineno"> 738</span> </div>
<div class="line"><a id="l00739" name="l00739"></a><span class="lineno"> 739</span> std::vector<const ompl::base::State *> BITstar::bestPathFromGoalToStart()<span class="keyword"> const</span></div>
<div class="line"><a id="l00740" name="l00740"></a><span class="lineno"> 740</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00741" name="l00741"></a><span class="lineno"> 741</span> <span class="comment">// Variables:</span></div>
<div class="line"><a id="l00742" name="l00742"></a><span class="lineno"> 742</span> <span class="comment">// A vector of states from goal->start:</span></div>
<div class="line"><a id="l00743" name="l00743"></a><span class="lineno"> 743</span> std::vector<const ompl::base::State *> reversePath;</div>
<div class="line"><a id="l00744" name="l00744"></a><span class="lineno"> 744</span> <span class="comment">// The vertex used to ascend up from the goal:</span></div>
<div class="line"><a id="l00745" name="l00745"></a><span class="lineno"> 745</span> <a class="code hl_typedef" href="classompl_1_1geometric_1_1BITstar.html#a8a2c2f01236fd3977dd42e1776b17e48">VertexConstPtr</a> curVertex;</div>
<div class="line"><a id="l00746" name="l00746"></a><span class="lineno"> 746</span> </div>
<div class="line"><a id="l00747" name="l00747"></a><span class="lineno"> 747</span> <span class="comment">// Iterate up the chain from the goal, creating a backwards vector:</span></div>
<div class="line"><a id="l00748" name="l00748"></a><span class="lineno"> 748</span> <span class="keywordflow">if</span> (hasExactSolution_)</div>
<div class="line"><a id="l00749" name="l00749"></a><span class="lineno"> 749</span> {</div>
<div class="line"><a id="l00750" name="l00750"></a><span class="lineno"> 750</span> <span class="comment">// Start at vertex in the goal</span></div>
<div class="line"><a id="l00751" name="l00751"></a><span class="lineno"> 751</span> curVertex = curGoalVertex_;</div>
<div class="line"><a id="l00752" name="l00752"></a><span class="lineno"> 752</span> }</div>
<div class="line"><a id="l00753" name="l00753"></a><span class="lineno"> 753</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!hasExactSolution_ && graphPtr_->getTrackApproximateSolutions())</div>
<div class="line"><a id="l00754" name="l00754"></a><span class="lineno"> 754</span> {</div>
<div class="line"><a id="l00755" name="l00755"></a><span class="lineno"> 755</span> <span class="comment">// Start at the vertex closest to the goal</span></div>
<div class="line"><a id="l00756" name="l00756"></a><span class="lineno"> 756</span> curVertex = graphPtr_->closestVertexToGoal();</div>
<div class="line"><a id="l00757" name="l00757"></a><span class="lineno"> 757</span> }</div>
<div class="line"><a id="l00758" name="l00758"></a><span class="lineno"> 758</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00759" name="l00759"></a><span class="lineno"> 759</span> {</div>
<div class="line"><a id="l00760" name="l00760"></a><span class="lineno"> 760</span> <span class="keywordflow">throw</span> ompl::Exception(<span class="stringliteral">"bestPathFromGoalToStart called without an exact or approximate solution."</span>);</div>
<div class="line"><a id="l00761" name="l00761"></a><span class="lineno"> 761</span> }</div>
<div class="line"><a id="l00762" name="l00762"></a><span class="lineno"> 762</span> </div>
<div class="line"><a id="l00763" name="l00763"></a><span class="lineno"> 763</span> <span class="comment">// Insert the goal into the path</span></div>
<div class="line"><a id="l00764" name="l00764"></a><span class="lineno"> 764</span> reversePath.push_back(curVertex->state());</div>
<div class="line"><a id="l00765" name="l00765"></a><span class="lineno"> 765</span> </div>
<div class="line"><a id="l00766" name="l00766"></a><span class="lineno"> 766</span> <span class="comment">// Then, use the vertex pointer like an iterator. Starting at the goal, we iterate up the chain pushing the</span></div>
<div class="line"><a id="l00767" name="l00767"></a><span class="lineno"> 767</span> <span class="comment">// *parent* of the iterator into the vector until the vertex has no parent.</span></div>
<div class="line"><a id="l00768" name="l00768"></a><span class="lineno"> 768</span> <span class="comment">// This will allows us to add the start (as the parent of the first child) and then stop when we get to the</span></div>
<div class="line"><a id="l00769" name="l00769"></a><span class="lineno"> 769</span> <span class="comment">// start itself, avoiding trying to find its nonexistent child</span></div>
<div class="line"><a id="l00770" name="l00770"></a><span class="lineno"> 770</span> <span class="keywordflow">for</span> (<span class="comment">/*Already allocated & initialized*/</span>; !curVertex->isRoot(); curVertex = curVertex->getParent())</div>
<div class="line"><a id="l00771" name="l00771"></a><span class="lineno"> 771</span> {</div>
<div class="line"><a id="l00772" name="l00772"></a><span class="lineno"> 772</span><span class="preprocessor">#ifdef BITSTAR_DEBUG</span></div>
<div class="line"><a id="l00773" name="l00773"></a><span class="lineno"> 773</span> <span class="comment">// Check the case where the chain ends incorrectly.</span></div>
<div class="line"><a id="l00774" name="l00774"></a><span class="lineno"> 774</span> <span class="keywordflow">if</span> (curVertex->hasParent() == <span class="keyword">false</span>)</div>
<div class="line"><a id="l00775" name="l00775"></a><span class="lineno"> 775</span> {</div>
<div class="line"><a id="l00776" name="l00776"></a><span class="lineno"> 776</span> <span class="keywordflow">throw</span> ompl::Exception(<span class="stringliteral">"The path to the goal does not originate at a start state. Something went "</span></div>
<div class="line"><a id="l00777" name="l00777"></a><span class="lineno"> 777</span> <span class="stringliteral">"wrong."</span>);</div>
<div class="line"><a id="l00778" name="l00778"></a><span class="lineno"> 778</span> }</div>
<div class="line"><a id="l00779" name="l00779"></a><span class="lineno"> 779</span><span class="preprocessor">#endif </span><span class="comment">// BITSTAR_DEBUG</span></div>
<div class="line"><a id="l00780" name="l00780"></a><span class="lineno"> 780</span> </div>
<div class="line"><a id="l00781" name="l00781"></a><span class="lineno"> 781</span> <span class="comment">// Push back the parent into the vector as a state pointer:</span></div>
<div class="line"><a id="l00782" name="l00782"></a><span class="lineno"> 782</span> reversePath.push_back(curVertex->getParent()->state());</div>
<div class="line"><a id="l00783" name="l00783"></a><span class="lineno"> 783</span> }</div>
<div class="line"><a id="l00784" name="l00784"></a><span class="lineno"> 784</span> <span class="keywordflow">return</span> reversePath;</div>
<div class="line"><a id="l00785" name="l00785"></a><span class="lineno"> 785</span> }</div>
<div class="line"><a id="l00786" name="l00786"></a><span class="lineno"> 786</span> </div>
<div class="line"><a id="l00787" name="l00787"></a><span class="lineno"> 787</span> <span class="keywordtype">bool</span> BITstar::checkEdge(<span class="keyword">const</span> VertexConstPtrPair &edge)</div>
<div class="line"><a id="l00788" name="l00788"></a><span class="lineno"> 788</span> {</div>
<div class="line"><a id="l00789" name="l00789"></a><span class="lineno"> 789</span><span class="preprocessor">#ifdef BITSTAR_DEBUG</span></div>
<div class="line"><a id="l00790" name="l00790"></a><span class="lineno"> 790</span> <span class="keywordflow">if</span> (edge.first->isBlacklistedAsChild(edge.second))</div>
<div class="line"><a id="l00791" name="l00791"></a><span class="lineno"> 791</span> {</div>
<div class="line"><a id="l00792" name="l00792"></a><span class="lineno"> 792</span> <span class="keywordflow">throw</span> ompl::Exception(<span class="stringliteral">"A blacklisted edge made it into the edge queue."</span>);</div>
<div class="line"><a id="l00793" name="l00793"></a><span class="lineno"> 793</span> }</div>
<div class="line"><a id="l00794" name="l00794"></a><span class="lineno"> 794</span><span class="preprocessor">#endif </span><span class="comment">// BITSTAR_DEBUG</span></div>
<div class="line"><a id="l00795" name="l00795"></a><span class="lineno"> 795</span> <span class="comment">// If this is a whitelisted edge, there's no need to do (repeat) the collision checking.</span></div>
<div class="line"><a id="l00796" name="l00796"></a><span class="lineno"> 796</span> <span class="keywordflow">if</span> (edge.first->isWhitelistedAsChild(edge.second))</div>
<div class="line"><a id="l00797" name="l00797"></a><span class="lineno"> 797</span> {</div>
<div class="line"><a id="l00798" name="l00798"></a><span class="lineno"> 798</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a id="l00799" name="l00799"></a><span class="lineno"> 799</span> }</div>
<div class="line"><a id="l00800" name="l00800"></a><span class="lineno"> 800</span> <span class="keywordflow">else</span> <span class="comment">// This is a new edge, we need to check whether it is feasible.</span></div>
<div class="line"><a id="l00801" name="l00801"></a><span class="lineno"> 801</span> {</div>
<div class="line"><a id="l00802" name="l00802"></a><span class="lineno"> 802</span> ++numEdgeCollisionChecks_;</div>
<div class="line"><a id="l00803" name="l00803"></a><span class="lineno"> 803</span> <span class="keywordflow">return</span> Planner::si_->checkMotion(edge.first->state(), edge.second->state());</div>
<div class="line"><a id="l00804" name="l00804"></a><span class="lineno"> 804</span> }</div>
<div class="line"><a id="l00805" name="l00805"></a><span class="lineno"> 805</span> }</div>
<div class="line"><a id="l00806" name="l00806"></a><span class="lineno"> 806</span> </div>
<div class="line"><a id="l00807" name="l00807"></a><span class="lineno"> 807</span> <span class="keywordtype">void</span> BITstar::addEdge(<span class="keyword">const</span> VertexPtrPair &edge, <span class="keyword">const</span> ompl::base::Cost &edgeCost)</div>
<div class="line"><a id="l00808" name="l00808"></a><span class="lineno"> 808</span> {</div>
<div class="line"><a id="l00809" name="l00809"></a><span class="lineno"> 809</span><span class="preprocessor">#ifdef BITSTAR_DEBUG</span></div>
<div class="line"><a id="l00810" name="l00810"></a><span class="lineno"> 810</span> <span class="keywordflow">if</span> (edge.first->isInTree() == <span class="keyword">false</span>)</div>
<div class="line"><a id="l00811" name="l00811"></a><span class="lineno"> 811</span> {</div>
<div class="line"><a id="l00812" name="l00812"></a><span class="lineno"> 812</span> <span class="keywordflow">throw</span> ompl::Exception(<span class="stringliteral">"Adding an edge from a vertex not connected to the graph"</span>);</div>
<div class="line"><a id="l00813" name="l00813"></a><span class="lineno"> 813</span> }</div>
<div class="line"><a id="l00814" name="l00814"></a><span class="lineno"> 814</span> <span class="keywordflow">if</span> (costHelpPtr_->isCostEquivalentTo(costHelpPtr_->trueEdgeCost(edge), edgeCost) == <span class="keyword">false</span>)</div>
<div class="line"><a id="l00815" name="l00815"></a><span class="lineno"> 815</span> {</div>
<div class="line"><a id="l00816" name="l00816"></a><span class="lineno"> 816</span> <span class="keywordflow">throw</span> ompl::Exception(<span class="stringliteral">"You have passed the wrong edge cost to addEdge."</span>);</div>
<div class="line"><a id="l00817" name="l00817"></a><span class="lineno"> 817</span> }</div>
<div class="line"><a id="l00818" name="l00818"></a><span class="lineno"> 818</span><span class="preprocessor">#endif </span><span class="comment">// BITSTAR_DEBUG</span></div>
<div class="line"><a id="l00819" name="l00819"></a><span class="lineno"> 819</span> </div>
<div class="line"><a id="l00820" name="l00820"></a><span class="lineno"> 820</span> <span class="comment">// If the child already has a parent, this is a rewiring.</span></div>
<div class="line"><a id="l00821" name="l00821"></a><span class="lineno"> 821</span> <span class="keywordflow">if</span> (edge.second->hasParent())</div>
<div class="line"><a id="l00822" name="l00822"></a><span class="lineno"> 822</span> {</div>
<div class="line"><a id="l00823" name="l00823"></a><span class="lineno"> 823</span> <span class="comment">// Replace the old parent.</span></div>
<div class="line"><a id="l00824" name="l00824"></a><span class="lineno"> 824</span> this->replaceParent(edge, edgeCost);</div>
<div class="line"><a id="l00825" name="l00825"></a><span class="lineno"> 825</span> } <span class="comment">// If not, we add the vertex without replaceing a parent.</span></div>
<div class="line"><a id="l00826" name="l00826"></a><span class="lineno"> 826</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00827" name="l00827"></a><span class="lineno"> 827</span> {</div>
<div class="line"><a id="l00828" name="l00828"></a><span class="lineno"> 828</span> <span class="comment">// Add a parent to the child.</span></div>
<div class="line"><a id="l00829" name="l00829"></a><span class="lineno"> 829</span> edge.second->addParent(edge.first, edgeCost);</div>
<div class="line"><a id="l00830" name="l00830"></a><span class="lineno"> 830</span> </div>
<div class="line"><a id="l00831" name="l00831"></a><span class="lineno"> 831</span> <span class="comment">// Add a child to the parent.</span></div>
<div class="line"><a id="l00832" name="l00832"></a><span class="lineno"> 832</span> edge.first->addChild(edge.second);</div>
<div class="line"><a id="l00833" name="l00833"></a><span class="lineno"> 833</span> </div>
<div class="line"><a id="l00834" name="l00834"></a><span class="lineno"> 834</span> <span class="comment">// Add the vertex to the set of vertices.</span></div>
<div class="line"><a id="l00835" name="l00835"></a><span class="lineno"> 835</span> graphPtr_->registerAsVertex(edge.second);</div>
<div class="line"><a id="l00836" name="l00836"></a><span class="lineno"> 836</span> }</div>