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<div class="title">BITstar.h</div> </div>
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<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Copyright (c) 2014, University of Toronto</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * * Neither the name of the University of Toronto nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> *********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Authors: Jonathan Gammell, Marlin Strub */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BITSTAR_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BITSTAR_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <string></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <utility></span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <vector></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include "ompl/base/Planner.h"</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include "ompl/base/samplers/InformedStateSampler.h"</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#include "ompl/datastructures/NearestNeighbors.h"</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment">// Defining BITSTAR_DEBUG enables (significant) debug output. Do not enable unless necessary.</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="comment">// #define BITSTAR_DEBUG</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> {</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keyword">namespace </span>geometric</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  {</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keyword">class </span>BITstar : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1Planner.html">ompl::base::Planner</a></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  {</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="comment">// Forward declarations.</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  </div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keyword">class </span>Vertex;</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keyword">class </span>IdGenerator;</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keyword">class </span>CostHelper;</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keyword">class </span>ImplicitGraph;</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keyword">class </span>SearchQueue;</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  </div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="comment">// Aliases.</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  </div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a8cb165ce4294ebd59c4c34188e19f7ab">VertexPtr</a> = std::shared_ptr<Vertex>;</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  </div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a8a2c2f01236fd3977dd42e1776b17e48">VertexConstPtr</a> = std::shared_ptr<const Vertex>;</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  </div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#ae6bcd5fe458c7f6889f85bab731d49a3">VertexWeakPtr</a> = std::weak_ptr<Vertex>;</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  </div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a85d8dfcca0d57395ff43181283d69a3c">VertexPtrVector</a> = std::vector<VertexPtr>;</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  </div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a46caa75f817e9772a223aaf4268b1175">VertexConstPtrVector</a> = std::vector<VertexConstPtr>;</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  </div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#ae198c8d89bb27b169701076d2c2e2a6c">VertexId</a> = <span class="keywordtype">unsigned</span> int;</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  </div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a85f2f074b60a176d939867e33d17fc9e">VertexPtrPair</a> = std::pair<VertexPtr, VertexPtr>;</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  </div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a82784a5cbc1a9c9c81be04a4a4f478a5">VertexConstPtrPair</a> = std::pair<VertexConstPtr, VertexConstPtr>;</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  </div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#ab02cf2c4695c33134bfa450f13f36d0e">VertexPtrPairVector</a> = std::vector<VertexPtrPair>;</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  </div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#ac50cb6283e7b208cd90d52fd7b063911">VertexConstPtrPairVector</a> = std::vector<VertexConstPtrPair>;</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  </div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a35db06840d59fea06407aab68909384a">VertexPtrNNPtr</a> = std::shared_ptr<NearestNeighbors<VertexPtr>>;</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  </div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#ae71973648e04f572fb9a0e3973d8b21b">NameFunc</a> = std::function<std::string()>;</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  </div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <a class="code" href="classompl_1_1geometric_1_1BITstar.html#aa0dc941b1746d8a412a81561296e8bdf">BITstar</a>(<span class="keyword">const</span> base::SpaceInformationPtr &spaceInfo, <span class="keyword">const</span> std::string &name = <span class="stringliteral">"kBITstar"</span>);</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  </div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keyword">virtual</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a93557ffb26e1ab7601f61ac81f443caa">~BITstar</a>() <span class="keyword">override</span> = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BITstar.html"> 156</a></span>  </div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#aa2da7cea603e0dc641a45ad353ff522e">setup</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  </div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#aa028529f177f630c61bacaf3f80c966a">clear</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  </div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <a class="code" href="structompl_1_1base_1_1PlannerStatus.html">base::PlannerStatus</a> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#ac830346ee0fe7e8cc475d715e2990b40">solve</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &terminationCondition) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  </div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a5f6f7f012a594c2294cda637395f93e9">getPlannerData</a>(<a class="code" href="classompl_1_1base_1_1PlannerData.html">base::PlannerData</a> &data) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  </div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="comment">// Debugging info.</span></div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  </div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  std::pair<const ompl::base::State *, const ompl::base::State *> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#af38417dd67de2b6cee9d1ee09e501c68">getNextEdgeInQueue</a>();</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  </div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a9441e73fbec5789e481fbcee9c76d4b1">getNextEdgeValueInQueue</a>();</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  </div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a13d6b414a6cf05d37e7c37d3931ccb38">getEdgeQueue</a>(<a class="code" href="classompl_1_1geometric_1_1BITstar.html#ac50cb6283e7b208cd90d52fd7b063911">VertexConstPtrPairVector</a> *edgesInQueue);</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  </div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a6849d38db6c966e12fbc2ae575acd98f">numIterations</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  </div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a0b681699d607545e82b922138899e41e">bestCost</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  </div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#adbd5197b394d63359c072d3e1d6e9339">numBatches</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  </div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="comment">// Settings.</span></div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  </div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a36d6bfe6fc9972debf35a8798c082ba5">setRewireFactor</a>(<span class="keywordtype">double</span> rewireFactor);</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  </div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a2953c826f125b14806507df841744308">getRewireFactor</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  </div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a8e673e2b20a04fb4b17cebfe93466dea">setAverageNumOfAllowedFailedAttemptsWhenSampling</a>(std::size_t number);</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  </div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  std::size_t <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a46b03cbf2fac5415cbe8feb299929094">getAverageNumOfAllowedFailedAttemptsWhenSampling</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  </div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a8b513410d75af41e532aabe486f3d962">setSamplesPerBatch</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n);</div>
<div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BITstar.html#a8cb165ce4294ebd59c4c34188e19f7ab"> 212</a></span>  </div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a38da6dd6e65573fd9c69ffc939fcff87">getSamplesPerBatch</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BITstar.html#a8a2c2f01236fd3977dd42e1776b17e48"> 215</a></span>  </div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#abd4379f27e55f1ef5b6026bf772316fb">setUseKNearest</a>(<span class="keywordtype">bool</span> useKNearest);</div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BITstar.html#ae6bcd5fe458c7f6889f85bab731d49a3"> 218</a></span>  </div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#aefcfb0e16ffcec9e041e26531fd32779">getUseKNearest</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00221"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BITstar.html#a85d8dfcca0d57395ff43181283d69a3c"> 221</a></span>  </div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a4c6ed74080a858a36e2bca01eed93073">setStrictQueueOrdering</a>(<span class="keywordtype">bool</span> beStrict);</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  </div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a210174d16947876725c5a902da1fb203">getStrictQueueOrdering</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  </div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a742fde56a552462b86ec5ae593141c2a">setPruning</a>(<span class="keywordtype">bool</span> prune);</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  </div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a06418ecfcc2236f7a42503799bed739b">getPruning</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  </div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#ab7a52698a1d43a1858aec85dd21cabb9">setPruneThresholdFraction</a>(<span class="keywordtype">double</span> fractionalChange);</div>
<div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BITstar.html#a35db06840d59fea06407aab68909384a"> 242</a></span>  </div>
<div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BITstar.html#ae71973648e04f572fb9a0e3973d8b21b"> 245</a></span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a23c1d41b65142f1cab9959db46e00123">getPruneThresholdFraction</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  </div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#ae4ecec0085a6485ffd5c67857d478e42">setDelayRewiringUntilInitialSolution</a>(<span class="keywordtype">bool</span> delayRewiring);</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  </div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#aaac2dc73ed23702525583ef8f351d3f9">getDelayRewiringUntilInitialSolution</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  </div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a9e6ed621c5da68d0bda40195e5c31c78">setJustInTimeSampling</a>(<span class="keywordtype">bool</span> useJit);</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  </div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a4d920a907409d94337c1cfc62a5e4476">getJustInTimeSampling</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  </div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a1f801a1305705a067da449fa92699d99">setDropSamplesOnPrune</a>(<span class="keywordtype">bool</span> dropSamples);</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  </div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#af1773a4902d58b78216ae1b5a73700dd">getDropSamplesOnPrune</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  </div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a1ddab1a9472e527a010615dbf107d7b0">setStopOnSolnImprovement</a>(<span class="keywordtype">bool</span> stopOnChange);</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  </div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a797f779fb9aec4ec1460f28d65faae81">getStopOnSolnImprovement</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  </div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#ac18d340b00758c7089630e137697c8a2">setConsiderApproximateSolutions</a>(<span class="keywordtype">bool</span> findApproximate);</div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  </div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#ac5b006832ccf3da674408199809b3804">getConsiderApproximateSolutions</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  </div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <span class="keyword">template</span> <<span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keyword">class </span>NN></div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a937a1552a3ecb8d3dd1a44ff6512384d">setNearestNeighbors</a>();</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  </div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  <span class="comment">// The settings that turn BIT* into ABIT*.</span></div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  </div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a982de9ae5184862a71568959778f35f2">setInitialInflationFactor</a>(<span class="keywordtype">double</span> factor);</div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  </div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a56b9b06f50f2ba2b4a297ad42c4a535d">setInflationScalingParameter</a>(<span class="keywordtype">double</span> parameter);</div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  </div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#ae3b0af00afd03522917165a4a3adf3e2">setTruncationScalingParameter</a>(<span class="keywordtype">double</span> parameter);</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  </div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#ab628e2bd41b8e3a0b7858f2388bcaea8">enableCascadingRewirings</a>(<span class="keywordtype">bool</span> enable);</div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  </div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  <span class="comment">// Getters specific to ABIT*.</span></div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  </div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a2cae192982cb112cc37a5e314e3a351e">getInitialInflationFactor</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  </div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#abc9f0194a462213cba8a8affe7444377">getInflationScalingParameter</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  </div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a898614a4845120be874e15f10db24009">getTruncationScalingParameter</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  </div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a5a3e053b84a193dbfeae97ee38b8a2a6">getCurrentInflationFactor</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  </div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a6c9eb86bf2a66c0a4b310075bbed0ab8">getCurrentTruncationFactor</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  </div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  <span class="comment">// High level primitives.</span></div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  </div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  <span class="keywordtype">void</span> iterate();</div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  </div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  <span class="keywordtype">void</span> newBatch();</div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  </div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <span class="keywordtype">void</span> prune();</div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  </div>
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  <span class="keywordtype">void</span> publishSolution();</div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  </div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  <span class="comment">// Low level primitives.</span></div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  </div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  std::vector<const ompl::base::State *> bestPathFromGoalToStart() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  </div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  <span class="keywordtype">bool</span> checkEdge(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a82784a5cbc1a9c9c81be04a4a4f478a5">VertexConstPtrPair</a> &edge);</div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  </div>
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  <span class="keywordtype">void</span> blacklistEdge(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a85f2f074b60a176d939867e33d17fc9e">VertexPtrPair</a> &edge) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  </div>
<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <span class="keywordtype">void</span> whitelistEdge(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a85f2f074b60a176d939867e33d17fc9e">VertexPtrPair</a> &edge) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  </div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  <span class="keywordtype">void</span> addEdge(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a85f2f074b60a176d939867e33d17fc9e">VertexPtrPair</a> &edge, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> &edgeCost);</div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  </div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  <span class="keywordtype">void</span> replaceParent(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a85f2f074b60a176d939867e33d17fc9e">VertexPtrPair</a> &edge, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> &edgeCost);</div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  </div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  <span class="keywordtype">void</span> updateGoalVertex();</div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  </div>
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  <span class="comment">// Logging.</span></div>
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  </div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  <span class="comment">// Helper functions for logging</span></div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span> <span class="comment"></span> <span class="keywordtype">void</span> goalMessage() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  </div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  <span class="keywordtype">void</span> endSuccessMessage() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  </div>
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <span class="keywordtype">void</span> endFailureMessage() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  </div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  <span class="keywordtype">void</span> statusMessage(<span class="keyword">const</span> <a class="code" href="namespaceompl_1_1msg.html#ace832246a7b4bc5a50dde93a7e29a6b9">ompl::msg::LogLevel</a> &logLevel, <span class="keyword">const</span> std::string &status) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  </div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  <span class="comment">// Progress properties.</span></div>
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  </div>
<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  std::string bestCostProgressProperty() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  </div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  std::string bestLengthProgressProperty() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  </div>
<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  std::string currentFreeProgressProperty() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  </div>
<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  std::string currentVertexProgressProperty() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  </div>
<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  std::string edgeQueueSizeProgressProperty() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  </div>
<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  std::string iterationProgressProperty() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  </div>
<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  std::string batchesProgressProperty() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  </div>
<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  std::string pruningProgressProperty() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  </div>
<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  std::string totalStatesCreatedProgressProperty() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  </div>
<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  std::string verticesConstructedProgressProperty() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  </div>
<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  std::string statesPrunedProgressProperty() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  </div>
<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  std::string verticesDisconnectedProgressProperty() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  </div>
<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  std::string rewiringProgressProperty() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  </div>
<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  std::string stateCollisionCheckProgressProperty() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  </div>
<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  std::string edgeCollisionCheckProgressProperty() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  </div>
<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  std::string nearestNeighbourProgressProperty() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  </div>
<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  std::string edgesProcessedProgressProperty() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  </div>
<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  <span class="comment">// Member variables (Make all are configured in setup() and reset in reset()).</span></div>
<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  </div>
<div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  std::shared_ptr<CostHelper> costHelpPtr_{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  </div>
<div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  std::shared_ptr<ImplicitGraph> graphPtr_{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  </div>
<div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  std::shared_ptr<SearchQueue> queuePtr_{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  </div>
<div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  <span class="keywordtype">double</span> initialInflationFactor_{1.0};</div>
<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  </div>
<div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  <span class="keywordtype">double</span> truncationFactor_{1.0};</div>
<div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  </div>
<div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  <span class="keywordtype">double</span> truncationScalingParameter_{0.0};</div>
<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  </div>
<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  <span class="keywordtype">double</span> inflationScalingParameter_{0.0};</div>
<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  </div>
<div class="line"><a name="l00495"></a><span class="lineno"> 495</span>  <a class="code" href="classompl_1_1geometric_1_1BITstar.html#a8a2c2f01236fd3977dd42e1776b17e48">VertexConstPtr</a> curGoalVertex_{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  </div>
<div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  <span class="comment">// Gets set in setup to the proper calls from OptimizationObjective</span></div>
<div class="line"><a name="l00500"></a><span class="lineno"> 500</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> bestCost_;</div>
<div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  </div>
<div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> bestLength_{0u};</div>
<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  </div>
<div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  <span class="comment">// Gets set in setup to the proper calls from OptimizationObjective.</span></div>
<div class="line"><a name="l00509"></a><span class="lineno"> 509</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> prunedCost_{std::numeric_limits<double>::infinity()};</div>
<div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  </div>
<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  <span class="comment">// Gets set in setup with the proper call to Planner::si_->getSpaceMeasure()</span></div>
<div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  <span class="keywordtype">double</span> prunedMeasure_{0.0};</div>
<div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  </div>
<div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  <span class="keywordtype">bool</span> isFinalSearchOnBatch_{<span class="keyword">false</span>};</div>
<div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  </div>
<div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  <span class="keywordtype">bool</span> hasExactSolution_{<span class="keyword">false</span>};</div>
<div class="line"><a name="l00520"></a><span class="lineno"> 520</span>  </div>
<div class="line"><a name="l00522"></a><span class="lineno"> 522</span>  <span class="keywordtype">bool</span> isSearchDone_{<span class="keyword">false</span>};</div>
<div class="line"><a name="l00523"></a><span class="lineno"> 523</span>  </div>
<div class="line"><a name="l00525"></a><span class="lineno"> 525</span>  <span class="keywordtype">bool</span> stopLoop_{<span class="keyword">false</span>};</div>
<div class="line"><a name="l00526"></a><span class="lineno"> 526</span>  </div>
<div class="line"><a name="l00528"></a><span class="lineno"> 528</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numBatches_{0u};</div>
<div class="line"><a name="l00529"></a><span class="lineno"> 529</span>  </div>
<div class="line"><a name="l00532"></a><span class="lineno"> 532</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numPrunings_{0u};</div>
<div class="line"><a name="l00533"></a><span class="lineno"> 533</span>  </div>
<div class="line"><a name="l00535"></a><span class="lineno"> 535</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numIterations_{0u};</div>
<div class="line"><a name="l00536"></a><span class="lineno"> 536</span>  </div>
<div class="line"><a name="l00538"></a><span class="lineno"> 538</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numRewirings_{0u};</div>
<div class="line"><a name="l00539"></a><span class="lineno"> 539</span>  </div>
<div class="line"><a name="l00541"></a><span class="lineno"> 541</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numEdgeCollisionChecks_{0u};</div>
<div class="line"><a name="l00542"></a><span class="lineno"> 542</span>  </div>
<div class="line"><a name="l00543"></a><span class="lineno"> 543</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00544"></a><span class="lineno"> 544</span>  <span class="comment">// Parameters - Set defaults in construction/setup and do not reset in clear.</span></div>
<div class="line"><a name="l00545"></a><span class="lineno"> 545</span>  <span class="comment">// ---</span></div>
<div class="line"><a name="l00546"></a><span class="lineno"> 546</span>  </div>
<div class="line"><a name="l00548"></a><span class="lineno"> 548</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> samplesPerBatch_{100u};</div>
<div class="line"><a name="l00549"></a><span class="lineno"> 549</span>  </div>
<div class="line"><a name="l00551"></a><span class="lineno"> 551</span>  <span class="keywordtype">bool</span> isPruningEnabled_{<span class="keyword">true</span>};</div>
<div class="line"><a name="l00552"></a><span class="lineno"> 552</span>  </div>
<div class="line"><a name="l00554"></a><span class="lineno"> 554</span>  <span class="keywordtype">double</span> pruneFraction_{0.05};</div>
<div class="line"><a name="l00555"></a><span class="lineno"> 555</span>  </div>
<div class="line"><a name="l00557"></a><span class="lineno"> 557</span>  <span class="keywordtype">bool</span> stopOnSolutionChange_{<span class="keyword">false</span>};</div>
<div class="line"><a name="l00558"></a><span class="lineno"> 558</span>  }; <span class="comment">// class BITstar</span></div>
<div class="line"><a name="l00559"></a><span class="lineno"> 559</span>  } <span class="comment">// namespace geometric</span></div>
<div class="line"><a name="l00560"></a><span class="lineno"> 560</span> } <span class="comment">// namespace ompl</span></div>
<div class="line"><a name="l00561"></a><span class="lineno"> 561</span>  </div>
<div class="line"><a name="l00562"></a><span class="lineno"> 562</span> <span class="preprocessor">#endif // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BITSTAR_</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a46b03cbf2fac5415cbe8feb299929094"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a46b03cbf2fac5415cbe8feb299929094">ompl::geometric::BITstar::getAverageNumOfAllowedFailedAttemptsWhenSampling</a></div><div class="ttdeci">std::size_t getAverageNumOfAllowedFailedAttemptsWhenSampling() const</div><div class="ttdoc">Get the average number of allowed failed attempts when sampling.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01368">BITstar.cpp:1368</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a8e673e2b20a04fb4b17cebfe93466dea"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a8e673e2b20a04fb4b17cebfe93466dea">ompl::geometric::BITstar::setAverageNumOfAllowedFailedAttemptsWhenSampling</a></div><div class="ttdeci">void setAverageNumOfAllowedFailedAttemptsWhenSampling(std::size_t number)</div><div class="ttdoc">Set the average number of allowed failed attempts when sampling.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01363">BITstar.cpp:1363</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html">ompl::base::Planner</a></div><div class="ttdoc">Base class for a planner.</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00279">Planner.h:279</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_ab02cf2c4695c33134bfa450f13f36d0e"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#ab02cf2c4695c33134bfa450f13f36d0e">ompl::geometric::BITstar::VertexPtrPairVector</a></div><div class="ttdeci">std::vector< VertexPtrPair > VertexPtrPairVector</div><div class="ttdoc">A vector of pairs of vertices, i.e., a vector of edges.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8h_source.html#l00236">BITstar.h:236</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a0b681699d607545e82b922138899e41e"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a0b681699d607545e82b922138899e41e">ompl::geometric::BITstar::bestCost</a></div><div class="ttdeci">ompl::base::Cost bestCost() const</div><div class="ttdoc">Retrieve the best exact-solution cost found.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l00534">BITstar.cpp:534</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a9e6ed621c5da68d0bda40195e5c31c78"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a9e6ed621c5da68d0bda40195e5c31c78">ompl::geometric::BITstar::setJustInTimeSampling</a></div><div class="ttdeci">void setJustInTimeSampling(bool useJit)</div><div class="ttdoc">Delay the generation of samples until they are necessary. This only works when using an r-disc connec...</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01319">BITstar.cpp:1319</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a9441e73fbec5789e481fbcee9c76d4b1"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a9441e73fbec5789e481fbcee9c76d4b1">ompl::geometric::BITstar::getNextEdgeValueInQueue</a></div><div class="ttdeci">ompl::base::Cost getNextEdgeValueInQueue()</div><div class="ttdoc">Get the value of the next edge to be processed. Causes vertices in the queue to be expanded (if neces...</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l00504">BITstar.cpp:504</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_af38417dd67de2b6cee9d1ee09e501c68"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#af38417dd67de2b6cee9d1ee09e501c68">ompl::geometric::BITstar::getNextEdgeInQueue</a></div><div class="ttdeci">std::pair< const ompl::base::State *, const ompl::base::State * > getNextEdgeInQueue()</div><div class="ttdoc">Get the next edge to be processed. Causes vertices in the queue to be expanded (if necessary) and the...</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l00480">BITstar.cpp:480</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a6849d38db6c966e12fbc2ae575acd98f"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a6849d38db6c966e12fbc2ae575acd98f">ompl::geometric::BITstar::numIterations</a></div><div class="ttdeci">unsigned int numIterations() const</div><div class="ttdoc">Get the number of iterations completed.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l00529">BITstar.cpp:529</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a8a2c2f01236fd3977dd42e1776b17e48"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a8a2c2f01236fd3977dd42e1776b17e48">ompl::geometric::BITstar::VertexConstPtr</a></div><div class="ttdeci">std::shared_ptr< const Vertex > VertexConstPtr</div><div class="ttdoc">A shared pointer to a const vertex.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8h_source.html#l00215">BITstar.h:215</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a23c1d41b65142f1cab9959db46e00123"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a23c1d41b65142f1cab9959db46e00123">ompl::geometric::BITstar::getPruneThresholdFraction</a></div><div class="ttdeci">double getPruneThresholdFraction() const</div><div class="ttdoc">Get the fractional change in the solution cost AND problem measure necessary for pruning to occur.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01301">BITstar.cpp:1301</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_aa028529f177f630c61bacaf3f80c966a"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#aa028529f177f630c61bacaf3f80c966a">ompl::geometric::BITstar::clear</a></div><div class="ttdeci">void clear() override</div><div class="ttdoc">Clear the algorithm's internal state.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l00327">BITstar.cpp:327</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_aa2da7cea603e0dc641a45ad353ff522e"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#aa2da7cea603e0dc641a45ad353ff522e">ompl::geometric::BITstar::setup</a></div><div class="ttdeci">void setup() override</div><div class="ttdoc">Setup the algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l00232">BITstar.cpp:232</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_ae71973648e04f572fb9a0e3973d8b21b"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#ae71973648e04f572fb9a0e3973d8b21b">ompl::geometric::BITstar::NameFunc</a></div><div class="ttdeci">std::function< std::string()> NameFunc</div><div class="ttdoc">A utility functor for ImplicitGraph and SearchQueue.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8h_source.html#l00245">BITstar.h:245</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a82784a5cbc1a9c9c81be04a4a4f478a5"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a82784a5cbc1a9c9c81be04a4a4f478a5">ompl::geometric::BITstar::VertexConstPtrPair</a></div><div class="ttdeci">std::pair< VertexConstPtr, VertexConstPtr > VertexConstPtrPair</div><div class="ttdoc">A pair of const vertices, i.e., an edge.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8h_source.html#l00233">BITstar.h:233</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a1f801a1305705a067da449fa92699d99"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a1f801a1305705a067da449fa92699d99">ompl::geometric::BITstar::setDropSamplesOnPrune</a></div><div class="ttdeci">void setDropSamplesOnPrune(bool dropSamples)</div><div class="ttdoc">Drop all unconnected samples when pruning, regardless of their heuristic value. This provides a metho...</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01329">BITstar.cpp:1329</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a56b9b06f50f2ba2b4a297ad42c4a535d"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a56b9b06f50f2ba2b4a297ad42c4a535d">ompl::geometric::BITstar::setInflationScalingParameter</a></div><div class="ttdeci">void setInflationScalingParameter(double parameter)</div><div class="ttdoc">The parameter that scales the inflation factor on the second search of each RGG approximation....</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01165">BITstar.cpp:1165</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_ac5b006832ccf3da674408199809b3804"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#ac5b006832ccf3da674408199809b3804">ompl::geometric::BITstar::getConsiderApproximateSolutions</a></div><div class="ttdeci">bool getConsiderApproximateSolutions() const</div><div class="ttdoc">Get whether BIT* is considering approximate solutions.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01358">BITstar.cpp:1358</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a2cae192982cb112cc37a5e314e3a351e"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a2cae192982cb112cc37a5e314e3a351e">ompl::geometric::BITstar::getInitialInflationFactor</a></div><div class="ttdeci">double getInitialInflationFactor() const</div><div class="ttdoc">Get the inflation factor for the initial search.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01180">BITstar.cpp:1180</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a210174d16947876725c5a902da1fb203"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a210174d16947876725c5a902da1fb203">ompl::geometric::BITstar::getStrictQueueOrdering</a></div><div class="ttdeci">bool getStrictQueueOrdering() const</div><div class="ttdoc">Get whether strict queue ordering is in use.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01273">BITstar.cpp:1273</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Cost_html"><div class="ttname"><a href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a></div><div class="ttdoc">Definition of a cost value. Can represent the cost of a motion or the cost of a state.</div><div class="ttdef"><b>Definition:</b> <a href="Cost_8h_source.html#l00111">Cost.h:111</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a85f2f074b60a176d939867e33d17fc9e"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a85f2f074b60a176d939867e33d17fc9e">ompl::geometric::BITstar::VertexPtrPair</a></div><div class="ttdeci">std::pair< VertexPtr, VertexPtr > VertexPtrPair</div><div class="ttdoc">A pair of vertices, i.e., an edge.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8h_source.html#l00230">BITstar.h:230</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a6c9eb86bf2a66c0a4b310075bbed0ab8"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a6c9eb86bf2a66c0a4b310075bbed0ab8">ompl::geometric::BITstar::getCurrentTruncationFactor</a></div><div class="ttdeci">double getCurrentTruncationFactor() const</div><div class="ttdoc">Get the truncation factor for the current search.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01200">BITstar.cpp:1200</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_aefcfb0e16ffcec9e041e26531fd32779"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#aefcfb0e16ffcec9e041e26531fd32779">ompl::geometric::BITstar::getUseKNearest</a></div><div class="ttdeci">bool getUseKNearest() const</div><div class="ttdoc">Get whether a k-nearest search is being used.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01262">BITstar.cpp:1262</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a2953c826f125b14806507df841744308"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a2953c826f125b14806507df841744308">ompl::geometric::BITstar::getRewireFactor</a></div><div class="ttdeci">double getRewireFactor() const</div><div class="ttdoc">Get the rewiring scale factor.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01210">BITstar.cpp:1210</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a797f779fb9aec4ec1460f28d65faae81"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a797f779fb9aec4ec1460f28d65faae81">ompl::geometric::BITstar::getStopOnSolnImprovement</a></div><div class="ttdeci">bool getStopOnSolnImprovement() const</div><div class="ttdoc">Get whether BIT* stops each time a solution is found.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01344">BITstar.cpp:1344</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_ac830346ee0fe7e8cc475d715e2990b40"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#ac830346ee0fe7e8cc475d715e2990b40">ompl::geometric::BITstar::solve</a></div><div class="ttdeci">base::PlannerStatus solve(const base::PlannerTerminationCondition &terminationCondition) override</div><div class="ttdoc">Solve the problem given a termination condition.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l00364">BITstar.cpp:364</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a></div><div class="ttdoc">Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...</div><div class="ttdef"><b>Definition:</b> <a href="base_2PlannerData_8h_source.html#l00238">PlannerData.h:238</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a38da6dd6e65573fd9c69ffc939fcff87"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a38da6dd6e65573fd9c69ffc939fcff87">ompl::geometric::BITstar::getSamplesPerBatch</a></div><div class="ttdeci">unsigned int getSamplesPerBatch() const</div><div class="ttdoc">Get the number of samplers per batch.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01220">BITstar.cpp:1220</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerTerminationCondition_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a></div><div class="ttdoc">Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...</div><div class="ttdef"><b>Definition:</b> <a href="PlannerTerminationCondition_8h_source.html#l00127">PlannerTerminationCondition.h:127</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a742fde56a552462b86ec5ae593141c2a"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a742fde56a552462b86ec5ae593141c2a">ompl::geometric::BITstar::setPruning</a></div><div class="ttdeci">void setPruning(bool prune)</div><div class="ttdoc">Enable pruning of vertices/samples that CANNOT improve the current solution. When a vertex in the gra...</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01280">BITstar.cpp:1280</a></div></div>
<div class="ttc" id="anamespaceompl_1_1msg_html_ace832246a7b4bc5a50dde93a7e29a6b9"><div class="ttname"><a href="namespaceompl_1_1msg.html#ace832246a7b4bc5a50dde93a7e29a6b9">ompl::msg::LogLevel</a></div><div class="ttdeci">LogLevel</div><div class="ttdoc">The set of priorities for message logging.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00084">Console.h:84</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a35db06840d59fea06407aab68909384a"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a35db06840d59fea06407aab68909384a">ompl::geometric::BITstar::VertexPtrNNPtr</a></div><div class="ttdeci">std::shared_ptr< NearestNeighbors< VertexPtr > > VertexPtrNNPtr</div><div class="ttdoc">The OMPL::NearestNeighbors structure.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8h_source.html#l00242">BITstar.h:242</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a5f6f7f012a594c2294cda637395f93e9"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a5f6f7f012a594c2294cda637395f93e9">ompl::geometric::BITstar::getPlannerData</a></div><div class="ttdeci">void getPlannerData(base::PlannerData &data) const override</div><div class="ttdoc">Get results.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l00458">BITstar.cpp:458</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a46caa75f817e9772a223aaf4268b1175"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a46caa75f817e9772a223aaf4268b1175">ompl::geometric::BITstar::VertexConstPtrVector</a></div><div class="ttdeci">std::vector< VertexConstPtr > VertexConstPtrVector</div><div class="ttdoc">A vector of shared pointers to const vertices.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8h_source.html#l00224">BITstar.h:224</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a937a1552a3ecb8d3dd1a44ff6512384d"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a937a1552a3ecb8d3dd1a44ff6512384d">ompl::geometric::BITstar::setNearestNeighbors</a></div><div class="ttdeci">void setNearestNeighbors()</div><div class="ttdoc">Set a different nearest neighbours datastructure.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01374">BITstar.cpp:1374</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a></div><div class="ttdoc">A class to store the exit status of Planner::solve()</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00112">PlannerStatus.h:112</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a85d8dfcca0d57395ff43181283d69a3c"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a85d8dfcca0d57395ff43181283d69a3c">ompl::geometric::BITstar::VertexPtrVector</a></div><div class="ttdeci">std::vector< VertexPtr > VertexPtrVector</div><div class="ttdoc">A vector of shared pointers to vertices.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8h_source.html#l00221">BITstar.h:221</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_aa0dc941b1746d8a412a81561296e8bdf"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#aa0dc941b1746d8a412a81561296e8bdf">ompl::geometric::BITstar::BITstar</a></div><div class="ttdeci">BITstar(const base::SpaceInformationPtr &spaceInfo, const std::string &name="kBITstar")</div><div class="ttdoc">Construct with a pointer to the space information and an optional name.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l00129">BITstar.cpp:129</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a4d920a907409d94337c1cfc62a5e4476"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a4d920a907409d94337c1cfc62a5e4476">ompl::geometric::BITstar::getJustInTimeSampling</a></div><div class="ttdeci">bool getJustInTimeSampling() const</div><div class="ttdoc">Get whether we're using just-in-time sampling.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01324">BITstar.cpp:1324</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_ab628e2bd41b8e3a0b7858f2388bcaea8"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#ab628e2bd41b8e3a0b7858f2388bcaea8">ompl::geometric::BITstar::enableCascadingRewirings</a></div><div class="ttdeci">void enableCascadingRewirings(bool enable)</div><div class="ttdoc">Enable the cascading of rewirings.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01175">BITstar.cpp:1175</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a1ddab1a9472e527a010615dbf107d7b0"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a1ddab1a9472e527a010615dbf107d7b0">ompl::geometric::BITstar::setStopOnSolnImprovement</a></div><div class="ttdeci">void setStopOnSolnImprovement(bool stopOnChange)</div><div class="ttdoc">Stop the planner each time a solution improvement is found. Useful for examining the intermediate sol...</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01339">BITstar.cpp:1339</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a8cb165ce4294ebd59c4c34188e19f7ab"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a8cb165ce4294ebd59c4c34188e19f7ab">ompl::geometric::BITstar::VertexPtr</a></div><div class="ttdeci">std::shared_ptr< Vertex > VertexPtr</div><div class="ttdoc">A shared pointer to a vertex.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8h_source.html#l00212">BITstar.h:212</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_ae6bcd5fe458c7f6889f85bab731d49a3"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#ae6bcd5fe458c7f6889f85bab731d49a3">ompl::geometric::BITstar::VertexWeakPtr</a></div><div class="ttdeci">std::weak_ptr< Vertex > VertexWeakPtr</div><div class="ttdoc">A weak pointer to a vertex.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8h_source.html#l00218">BITstar.h:218</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_ae3b0af00afd03522917165a4a3adf3e2"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#ae3b0af00afd03522917165a4a3adf3e2">ompl::geometric::BITstar::setTruncationScalingParameter</a></div><div class="ttdeci">void setTruncationScalingParameter(double parameter)</div><div class="ttdoc">Sets the parameter that scales the truncation factor for the searches of each RGG approximation....</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01170">BITstar.cpp:1170</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a5a3e053b84a193dbfeae97ee38b8a2a6"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a5a3e053b84a193dbfeae97ee38b8a2a6">ompl::geometric::BITstar::getCurrentInflationFactor</a></div><div class="ttdeci">double getCurrentInflationFactor() const</div><div class="ttdoc">Get the inflation factor for the current search.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01195">BITstar.cpp:1195</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_ac50cb6283e7b208cd90d52fd7b063911"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#ac50cb6283e7b208cd90d52fd7b063911">ompl::geometric::BITstar::VertexConstPtrPairVector</a></div><div class="ttdeci">std::vector< VertexConstPtrPair > VertexConstPtrPairVector</div><div class="ttdoc">A vector of pairs of const vertices, i.e., a vector of edges.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8h_source.html#l00239">BITstar.h:239</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_ac18d340b00758c7089630e137697c8a2"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#ac18d340b00758c7089630e137697c8a2">ompl::geometric::BITstar::setConsiderApproximateSolutions</a></div><div class="ttdeci">void setConsiderApproximateSolutions(bool findApproximate)</div><div class="ttdoc">Set BIT* to consider approximate solutions during its initial search.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01349">BITstar.cpp:1349</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a93557ffb26e1ab7601f61ac81f443caa"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a93557ffb26e1ab7601f61ac81f443caa">ompl::geometric::BITstar::~BITstar</a></div><div class="ttdeci">virtual ~BITstar() override=default</div><div class="ttdoc">Destruct using the default destructor.</div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_aaac2dc73ed23702525583ef8f351d3f9"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#aaac2dc73ed23702525583ef8f351d3f9">ompl::geometric::BITstar::getDelayRewiringUntilInitialSolution</a></div><div class="ttdeci">bool getDelayRewiringUntilInitialSolution() const</div><div class="ttdoc">Get whether BIT* is delaying rewiring until a solution is found.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01312">BITstar.cpp:1312</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a4c6ed74080a858a36e2bca01eed93073"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a4c6ed74080a858a36e2bca01eed93073">ompl::geometric::BITstar::setStrictQueueOrdering</a></div><div class="ttdeci">void setStrictQueueOrdering(bool beStrict)</div><div class="ttdoc">Enable "strict sorting" of the edge queue. Rewirings can change the position in the queue of an edge....</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01267">BITstar.cpp:1267</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_abd4379f27e55f1ef5b6026bf772316fb"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#abd4379f27e55f1ef5b6026bf772316fb">ompl::geometric::BITstar::setUseKNearest</a></div><div class="ttdeci">void setUseKNearest(bool useKNearest)</div><div class="ttdoc">Enable a k-nearest search for instead of an r-disc search.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01225">BITstar.cpp:1225</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_abc9f0194a462213cba8a8affe7444377"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#abc9f0194a462213cba8a8affe7444377">ompl::geometric::BITstar::getInflationScalingParameter</a></div><div class="ttdeci">double getInflationScalingParameter() const</div><div class="ttdoc">Get the inflation scaling parameter.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01185">BITstar.cpp:1185</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a898614a4845120be874e15f10db24009"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a898614a4845120be874e15f10db24009">ompl::geometric::BITstar::getTruncationScalingParameter</a></div><div class="ttdeci">double getTruncationScalingParameter() const</div><div class="ttdoc">Get the truncation factor parameter.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01190">BITstar.cpp:1190</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_ae4ecec0085a6485ffd5c67857d478e42"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#ae4ecec0085a6485ffd5c67857d478e42">ompl::geometric::BITstar::setDelayRewiringUntilInitialSolution</a></div><div class="ttdeci">void setDelayRewiringUntilInitialSolution(bool delayRewiring)</div><div class="ttdoc">Delay the consideration of rewiring edges until an initial solution is found. When multiple batches a...</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01306">BITstar.cpp:1306</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_ae198c8d89bb27b169701076d2c2e2a6c"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#ae198c8d89bb27b169701076d2c2e2a6c">ompl::geometric::BITstar::VertexId</a></div><div class="ttdeci">unsigned int VertexId</div><div class="ttdoc">The vertex id type.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8h_source.html#l00227">BITstar.h:227</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a06418ecfcc2236f7a42503799bed739b"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a06418ecfcc2236f7a42503799bed739b">ompl::geometric::BITstar::getPruning</a></div><div class="ttdeci">bool getPruning() const</div><div class="ttdoc">Get whether graph and sample pruning is in use.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01286">BITstar.cpp:1286</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a13d6b414a6cf05d37e7c37d3931ccb38"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a13d6b414a6cf05d37e7c37d3931ccb38">ompl::geometric::BITstar::getEdgeQueue</a></div><div class="ttdeci">void getEdgeQueue(VertexConstPtrPairVector *edgesInQueue)</div><div class="ttdoc">Get the whole messy set of edges in the queue. Expensive but helpful for some videos.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l00524">BITstar.cpp:524</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a8b513410d75af41e532aabe486f3d962"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a8b513410d75af41e532aabe486f3d962">ompl::geometric::BITstar::setSamplesPerBatch</a></div><div class="ttdeci">void setSamplesPerBatch(unsigned int n)</div><div class="ttdoc">Set the number of samplers per batch.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01215">BITstar.cpp:1215</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_adbd5197b394d63359c072d3e1d6e9339"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#adbd5197b394d63359c072d3e1d6e9339">ompl::geometric::BITstar::numBatches</a></div><div class="ttdeci">unsigned int numBatches() const</div><div class="ttdoc">Retrieve the number of batches processed as the raw data.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l00539">BITstar.cpp:539</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_ab7a52698a1d43a1858aec85dd21cabb9"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#ab7a52698a1d43a1858aec85dd21cabb9">ompl::geometric::BITstar::setPruneThresholdFraction</a></div><div class="ttdeci">void setPruneThresholdFraction(double fractionalChange)</div><div class="ttdoc">Set the fractional change in the solution cost AND problem measure necessary for pruning to occur.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01291">BITstar.cpp:1291</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a36d6bfe6fc9972debf35a8798c082ba5"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a36d6bfe6fc9972debf35a8798c082ba5">ompl::geometric::BITstar::setRewireFactor</a></div><div class="ttdeci">void setRewireFactor(double rewireFactor)</div><div class="ttdoc">Set the rewiring scale factor, s, such that r_rrg = s \times r_rrg*.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01205">BITstar.cpp:1205</a></div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00021">AppBase.h:21</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_a982de9ae5184862a71568959778f35f2"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#a982de9ae5184862a71568959778f35f2">ompl::geometric::BITstar::setInitialInflationFactor</a></div><div class="ttdeci">void setInitialInflationFactor(double factor)</div><div class="ttdoc">Set the inflation for the initial search of RGG approximation. See ABIT*'s class description for more...</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01159">BITstar.cpp:1159</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1BITstar_html_af1773a4902d58b78216ae1b5a73700dd"><div class="ttname"><a href="classompl_1_1geometric_1_1BITstar.html#af1773a4902d58b78216ae1b5a73700dd">ompl::geometric::BITstar::getDropSamplesOnPrune</a></div><div class="ttdeci">bool getDropSamplesOnPrune() const</div><div class="ttdoc">Get whether unconnected samples are dropped on pruning.</div><div class="ttdef"><b>Definition:</b> <a href="BITstar_8cpp_source.html#l01334">BITstar.cpp:1334</a></div></div>
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