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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>fmt</b></li><li class="navelem"><b>src</b></li> </ul>
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<div class="headertitle"><div class="title">BFMT.cpp</div></div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span> </div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="preprocessor">#include <boost/math/constants/constants.hpp></span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="preprocessor">#include <boost/math/distributions/binomial.hpp></span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="preprocessor">#include <ompl/datastructures/BinaryHeap.h></span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="preprocessor">#include <ompl/tools/config/SelfConfig.h></span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span> </div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="preprocessor">#include <ompl/datastructures/NearestNeighborsGNAT.h></span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="preprocessor">#include <ompl/base/objectives/PathLengthOptimizationObjective.h></span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="preprocessor">#include <ompl/geometric/planners/fmt/BFMT.h></span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span> </div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="preprocessor">#include <fstream></span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="preprocessor">#include <ompl/base/spaces/RealVectorStateSpace.h></span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span> </div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceompl.html">ompl</a></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span>{</div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span> <span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceompl_1_1geometric.html">geometric</a></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span> {</div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span> BFMT::BFMT(<span class="keyword">const</span> base::SpaceInformationPtr &si)</div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span> : base::Planner(si, <span class="stringliteral">"BFMT"</span>)</div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span> , freeSpaceVolume_(si_->getStateSpace()->getMeasure()) <span class="comment">// An upper bound on the free space volume is the</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span> <span class="comment">// total space volume; the free fraction is estimated</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span> <span class="comment">// in sampleFree</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span> {</div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span> specs_.approximateSolutions = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span> specs_.directed = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span> </div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a6b4a1345376e3e977772c38d38d5c50c">ompl::base::Planner::declareParam<unsigned int></a>(<span class="stringliteral">"num_samples"</span>, <span class="keyword">this</span>, &BFMT::setNumSamples,</div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span> &BFMT::getNumSamples, <span class="stringliteral">"10:10:1000000"</span>);</div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a6b4a1345376e3e977772c38d38d5c50c">ompl::base::Planner::declareParam<double></a>(<span class="stringliteral">"radius_multiplier"</span>, <span class="keyword">this</span>, &BFMT::setRadiusMultiplier,</div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> &BFMT::getRadiusMultiplier, <span class="stringliteral">"0.1:0.05:50."</span>);</div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a6b4a1345376e3e977772c38d38d5c50c">ompl::base::Planner::declareParam<bool></a>(<span class="stringliteral">"nearest_k"</span>, <span class="keyword">this</span>, &BFMT::setNearestK, &BFMT::getNearestK, <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a6b4a1345376e3e977772c38d38d5c50c">ompl::base::Planner::declareParam<bool></a>(<span class="stringliteral">"balanced"</span>, <span class="keyword">this</span>, &BFMT::setExploration, &BFMT::getExploration,</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span> <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a6b4a1345376e3e977772c38d38d5c50c">ompl::base::Planner::declareParam<bool></a>(<span class="stringliteral">"optimality"</span>, <span class="keyword">this</span>, &BFMT::setTermination, &BFMT::getTermination,</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a6b4a1345376e3e977772c38d38d5c50c">ompl::base::Planner::declareParam<bool></a>(<span class="stringliteral">"heuristics"</span>, <span class="keyword">this</span>, &BFMT::setHeuristics, &BFMT::getHeuristics,</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a6b4a1345376e3e977772c38d38d5c50c">ompl::base::Planner::declareParam<bool></a>(<span class="stringliteral">"cache_cc"</span>, <span class="keyword">this</span>, &BFMT::setCacheCC, &BFMT::getCacheCC, <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a6b4a1345376e3e977772c38d38d5c50c">ompl::base::Planner::declareParam<bool></a>(<span class="stringliteral">"extended_fmt"</span>, <span class="keyword">this</span>, &BFMT::setExtendedFMT, &BFMT::getExtendedFMT,</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> <span class="stringliteral">"0,1"</span>);</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> }</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> ompl::geometric::BFMT::~BFMT()</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> {</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a3eb3a0b7a44d10d0396b156fb7701f36">freeMemory</a>();</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> }</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
<div class="foldopen" id="foldopen00048" data-start="{" data-end="}">
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#a15a9b1b50f8747a53f8ea2e3ebd717b5"> 48</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a15a9b1b50f8747a53f8ea2e3ebd717b5">BFMT::setup</a>()</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="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>)</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> {</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="comment">/* Setup the optimization objective. If no optimization objective was</span></div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span><span class="comment"> specified, then default to optimizing path length as computed by the</span></div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span><span class="comment"> distance() function in the state space */</span></div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->hasOptimizationObjective())</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">opt_</a> = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->getOptimizationObjective();</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> {</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</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="l00060" name="l00060"></a><span class="lineno"> 60</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">opt_</a> = std::make_shared<base::PathLengthOptimizationObjective>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>);</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <span class="comment">// Store the new objective in the problem def'n</span></div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->setOptimizationObjective(<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">opt_</a>);</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> }</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[0].getComparisonOperator().opt_ = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">opt_</a>.get();</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[0].getComparisonOperator().heuristics_ = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a79677f70203ef35875bfe58e54ad53f9">heuristics_</a>;</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[1].getComparisonOperator().opt_ = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">opt_</a>.get();</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[1].getComparisonOperator().heuristics_ = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a79677f70203ef35875bfe58e54ad53f9">heuristics_</a>;</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> </div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>)</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>.reset(<a class="code hl_function" href="classompl_1_1tools_1_1SelfConfig.html#a23f1fef30af80542eeb4709465a06148">tools::SelfConfig::getDefaultNearestNeighbors<BiDirMotion *></a>(<span class="keyword">this</span>));</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>->setDistanceFunction([<span class="keyword">this</span>](<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *a, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *b)</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> { <span class="keywordflow">return</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a5974cee2ec7da46265b6d204a10055fb">distanceFunction</a>(a, b); });</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#af42d0e59d9e05e036b08e35d0a2516ab">nearestK_</a> && !<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>->reportsSortedResults())</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> {</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"%s: NearestNeighbors datastructure does not return sorted solutions. Nearest K strategy "</span></div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <span class="stringliteral">"disabled."</span>,</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#af42d0e59d9e05e036b08e35d0a2516ab">nearestK_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> }</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> }</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> {</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: problem definition is not set, deferring setup completion..."</span>, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#adba44a4ee27079c5b258a2ebed719eed">setup_</a> = <span class="keyword">false</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> }</div>
</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> </div>
<div class="foldopen" id="foldopen00090" data-start="{" data-end="}">
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#a3eb3a0b7a44d10d0396b156fb7701f36"> 90</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a3eb3a0b7a44d10d0396b156fb7701f36">BFMT::freeMemory</a>()</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> {</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>)</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> {</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> BiDirMotionPtrs motions;</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>->list(motions);</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &motion : motions)</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> {</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->freeState(motion->getState());</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keyword">delete</span> motion;</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> }</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> }</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> }</div>
</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> </div>
<div class="foldopen" id="foldopen00104" data-start="{" data-end="}">
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#ae09fb8ea881f62673b33030ad50de93d"> 104</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#ae09fb8ea881f62673b33030ad50de93d">BFMT::clear</a>()</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> {</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> Planner::clear();</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a8f97f2f2f3974cbe46c38d422065ebc7">sampler_</a>.reset();</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_1BFMT.html#a3eb3a0b7a44d10d0396b156fb7701f36">freeMemory</a>();</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>)</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>->clear();</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[FWD].clear();</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[REV].clear();</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a136b1b327b0bf5ab8fc3e542ff497745">Open_elements</a>[FWD].clear();</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a136b1b327b0bf5ab8fc3e542ff497745">Open_elements</a>[REV].clear();</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a927c7ae87a4bef7dc0a8cf1e03314508">neighborhoods_</a>.clear();</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a32227abebf3610b2d3fb87ce56375ed5">collisionChecks_</a> = 0;</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> }</div>
</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> </div>
<div class="foldopen" id="foldopen00119" data-start="{" data-end="}">
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#a351cc4241d51cd48eee029c3b15f89f0"> 119</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a351cc4241d51cd48eee029c3b15f89f0">BFMT::getPlannerData</a>(<a class="code hl_class" href="classompl_1_1base_1_1PlannerData.html">base::PlannerData</a> &data)<span class="keyword"> const</span></div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#ae8af389dbcdf416e142dc2f1cf5a8829">base::Planner::getPlannerData</a>(data);</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> BiDirMotionPtrs motions;</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>->list(motions);</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> </div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <span class="keywordtype">int</span> fwd_tree_tag = 1;</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keywordtype">int</span> rev_tree_tag = 2;</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> </div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> motion : motions)</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> {</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keywordtype">bool</span> inFwdTree = (motion->currentSet_[FWD] != BiDirMotion::SET_UNVISITED);</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> </div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="comment">// For samples added to the fwd tree, add incoming edges (from fwd tree parent)</span></div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> <span class="keywordflow">if</span> (inFwdTree)</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> {</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keywordflow">if</span> (motion->parent_[FWD] != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> {</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> data.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#ac09c21494a8c7db500ef1a66bbbb1aa7">addEdge</a>(<a class="code hl_class" href="classompl_1_1base_1_1PlannerDataVertex.html">base::PlannerDataVertex</a>(motion->parent_[FWD]->getState(), fwd_tree_tag),</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerDataVertex.html">base::PlannerDataVertex</a>(motion->getState(), fwd_tree_tag));</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> }</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> }</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> }</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> </div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <span class="comment">// The edges in the goal tree are reversed so that they are in the same direction as start tree</span></div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> motion : motions)</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> {</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keywordtype">bool</span> inRevTree = (motion->currentSet_[REV] != BiDirMotion::SET_UNVISITED);</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> </div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <span class="comment">// For samples added to a tree, add incoming edges (from fwd tree parent)</span></div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keywordflow">if</span> (inRevTree)</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> {</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keywordflow">if</span> (motion->parent_[REV] != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> {</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> data.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#ac09c21494a8c7db500ef1a66bbbb1aa7">addEdge</a>(<a class="code hl_class" href="classompl_1_1base_1_1PlannerDataVertex.html">base::PlannerDataVertex</a>(motion->getState(), rev_tree_tag),</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerDataVertex.html">base::PlannerDataVertex</a>(motion->parent_[REV]->getState(), rev_tree_tag));</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> }</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> }</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> }</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> }</div>
</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> </div>
<div class="foldopen" id="foldopen00160" data-start="{" data-end="}">
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#aa6d8c07d7dff93f8905490f606400b5d"> 160</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#aa6d8c07d7dff93f8905490f606400b5d">BFMT::saveNeighborhood</a>(<a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *m)</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> {</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="comment">// Check if neighborhood has already been saved</span></div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a927c7ae87a4bef7dc0a8cf1e03314508">neighborhoods_</a>.find(m) == <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a927c7ae87a4bef7dc0a8cf1e03314508">neighborhoods_</a>.end())</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> {</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> BiDirMotionPtrs neighborhood;</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#af42d0e59d9e05e036b08e35d0a2516ab">nearestK_</a>)</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>->nearestK(m, <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#ab3905c36f37e31dd4b460b46c912ed9c">NNk_</a>, neighborhood);</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>->nearestR(m, <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a0bc79090281d3796e323f09ff6acacd6">NNr_</a>, neighborhood);</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> </div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordflow">if</span> (!neighborhood.empty())</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">// Save the neighborhood but skip the first element (m)</span></div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a927c7ae87a4bef7dc0a8cf1e03314508">neighborhoods_</a>[m] = std::vector<BiDirMotion *>(neighborhood.size() - 1, <span class="keyword">nullptr</span>);</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> std::copy(neighborhood.begin() + 1, neighborhood.end(), <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a927c7ae87a4bef7dc0a8cf1e03314508">neighborhoods_</a>[m].begin());</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> }</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> {</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="comment">// Save an empty neighborhood</span></div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a927c7ae87a4bef7dc0a8cf1e03314508">neighborhoods_</a>[m] = std::vector<BiDirMotion *>(0);</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> }</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> }</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> }</div>
</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> </div>
<div class="foldopen" id="foldopen00185" data-start="{" data-end="}">
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#abd929dacbd80e9a220f81316f94614d4"> 185</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#abd929dacbd80e9a220f81316f94614d4">BFMT::sampleFree</a>(<span class="keyword">const</span> std::shared_ptr<<a class="code hl_class" href="classompl_1_1NearestNeighbors.html">NearestNeighbors<BiDirMotion *></a>> &nn,</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc)</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> {</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nodeCount = 0;</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> sampleAttempts = 0;</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <span class="keyword">auto</span> *motion = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>, &<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>);</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> </div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="comment">// Sample numSamples_ number of nodes from the free configuration space</span></div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <span class="keywordflow">while</span> (nodeCount < <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#ac25b1403b690567107e6e6870ee7435e">numSamples_</a> && !ptc)</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_variable" href="classompl_1_1geometric_1_1BFMT.html#a8f97f2f2f3974cbe46c38d422065ebc7">sampler_</a>->sampleUniform(motion->getState());</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> sampleAttempts++;</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->isValid(motion->getState()))</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> { <span class="comment">// collision checking</span></div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> ++nodeCount;</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> nn->add(motion);</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> motion = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>, &<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>);</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</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> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->freeState(motion->getState());</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keyword">delete</span> motion;</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> </div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="comment">// 95% confidence limit for an upper bound for the true free space volume</span></div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#acd190f9f795e606b77d722503bc86728">freeSpaceVolume_</a> =</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> boost::math::binomial_distribution<>::find_upper_bound_on_p(sampleAttempts, nodeCount, 0.05) *</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->getStateSpace()->getMeasure();</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> }</div>
</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> </div>
<div class="foldopen" id="foldopen00213" data-start="{" data-end="}">
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#a830e4b62830ebd25708953de52b5abc0"> 213</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a830e4b62830ebd25708953de52b5abc0">BFMT::calculateUnitBallVolume</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dimension)<span class="keyword"> const</span></div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="keywordflow">if</span> (dimension == 0)</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keywordflow">return</span> 1.0;</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <span class="keywordflow">if</span> (dimension == 1)</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> <span class="keywordflow">return</span> 2.0;</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="keywordflow">return</span> 2.0 * boost::math::constants::pi<double>() / dimension * <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a830e4b62830ebd25708953de52b5abc0">calculateUnitBallVolume</a>(dimension - 2);</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> }</div>
</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> </div>
<div class="foldopen" id="foldopen00222" data-start="{" data-end="}">
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#a503a4265e428841344e620cf976b3b1f"> 222</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a503a4265e428841344e620cf976b3b1f">BFMT::calculateRadius</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dimension, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n)<span class="keyword"> const</span></div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="keywordtype">double</span> a = 1.0 / (double)dimension;</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keywordtype">double</span> unitBallVolume = <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a830e4b62830ebd25708953de52b5abc0">calculateUnitBallVolume</a>(dimension);</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> </div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a0de0258ec1069c55644eec3a0dea42ee">radiusMultiplier_</a> * 2.0 * std::pow(a, a) * std::pow(<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#acd190f9f795e606b77d722503bc86728">freeSpaceVolume_</a> / unitBallVolume, a) *</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> std::pow(log((<span class="keywordtype">double</span>)n) / (<span class="keywordtype">double</span>)n, a);</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> }</div>
</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> </div>
<div class="foldopen" id="foldopen00231" data-start="{" data-end="}">
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#a6c4398da349abf2fb41a5bd884e0e1ce"> 231</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a6c4398da349abf2fb41a5bd884e0e1ce">BFMT::initializeProblem</a>(<a class="code hl_class" href="classompl_1_1base_1_1GoalSampleableRegion.html">base::GoalSampleableRegion</a> *&goal_s)</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> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#ab416900477cf4499139c01f35663dffb">checkValidity</a>();</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a8f97f2f2f3974cbe46c38d422065ebc7">sampler_</a>)</div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> {</div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a8f97f2f2f3974cbe46c38d422065ebc7">sampler_</a> = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->allocStateSampler();</div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> }</div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> goal_s = <span class="keyword">dynamic_cast<</span><a class="code hl_class" href="classompl_1_1base_1_1GoalSampleableRegion.html">base::GoalSampleableRegion</a> *<span class="keyword">></span>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->getGoal().get());</div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> }</div>
</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> </div>
<div class="foldopen" id="foldopen00241" data-start="{" data-end="}">
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#ac1c8420833341090cfd0086dea1db890"> 241</a></span> <a class="code hl_struct" href="structompl_1_1base_1_1PlannerStatus.html">base::PlannerStatus</a> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#ac1c8420833341090cfd0086dea1db890">BFMT::solve</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc)</div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> {</div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> <a class="code hl_class" href="classompl_1_1base_1_1GoalSampleableRegion.html">base::GoalSampleableRegion</a> *goal_s;</div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a6c4398da349abf2fb41a5bd884e0e1ce">initializeProblem</a>(goal_s);</div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> <span class="keywordflow">if</span> (goal_s == <span class="keyword">nullptr</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> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: Unknown type of goal"</span>, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> <span class="keywordflow">return</span> <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a47d769205044efa345184a640bd863ff">base::PlannerStatus::UNRECOGNIZED_GOAL_TYPE</a>;</div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> }</div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> </div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#ab9252c665756f6c776b196430dca2a6a">useFwdTree</a>();</div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> </div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> <span class="comment">// Add start states to Unvisitedfwd and Openfwd</span></div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <span class="keywordtype">bool</span> valid_initMotion = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> <a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *initMotion;</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> <span class="keywordflow">while</span> (<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">base::State</a> *st = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>.nextStart())</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> initMotion = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>, &<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>);</div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->copyState(initMotion-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aa91f9a3b7dc40d3d8a74f6218293e50a">getState</a>(), st);</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> initMotion-><a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ad05948bc009ecf7aa580a0e880a35951">currentSet_</a>[REV] = BiDirMotion::SET_UNVISITED;</div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>->add(initMotion); <span class="comment">// S <-- {x_init}</span></div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->isValid(initMotion-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aa91f9a3b7dc40d3d8a74f6218293e50a">getState</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">// Take the first valid initial state as the forward tree root</span></div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a136b1b327b0bf5ab8fc3e542ff497745">Open_elements</a>[FWD][initMotion] = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[FWD].insert(initMotion);</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> initMotion-><a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ad05948bc009ecf7aa580a0e880a35951">currentSet_</a>[FWD] = BiDirMotion::SET_OPEN;</div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> initMotion-><a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a7192d0242567b1ba8093445e2598d9b4">cost_</a>[FWD] = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">opt_</a>->initialCost(initMotion-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aa91f9a3b7dc40d3d8a74f6218293e50a">getState</a>());</div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> valid_initMotion = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a231e5c8671498fd67f02689efade0700">heurGoalState_</a>[1] = initMotion-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aa91f9a3b7dc40d3d8a74f6218293e50a">getState</a>();</div>
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> }</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> </div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> <span class="keywordflow">if</span> ((initMotion == <span class="keyword">nullptr</span>) || !valid_initMotion)</div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> {</div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Start state undefined or invalid."</span>);</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> <span class="keywordflow">return</span> <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a1f20d012b563fc223902e24a8bcd7547">base::PlannerStatus::INVALID_START</a>;</div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> }</div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> </div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> <span class="comment">// Sample N free states in configuration state_</span></div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#abd929dacbd80e9a220f81316f94614d4">sampleFree</a>(<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>, ptc); <span class="comment">// S <-- SAMPLEFREE(N)</span></div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"%s: Starting planning with %u states already in datastructure"</span>, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str(),</div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>->size());</div>
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> </div>
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> <span class="comment">// Calculate the nearest neighbor search radius</span></div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#af42d0e59d9e05e036b08e35d0a2516ab">nearestK_</a>)</div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> {</div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#ab3905c36f37e31dd4b460b46c912ed9c">NNk_</a> = std::ceil(std::pow(2.0 * <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a0de0258ec1069c55644eec3a0dea42ee">radiusMultiplier_</a>, (<span class="keywordtype">double</span>)<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->getStateDimension()) *</div>
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> (boost::math::constants::e<double>() / (<span class="keywordtype">double</span>)<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->getStateDimension()) *</div>
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> log((<span class="keywordtype">double</span>)<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>->size()));</div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> <a class="code hl_define" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Using nearest-neighbors k of %d"</span>, <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#ab3905c36f37e31dd4b460b46c912ed9c">NNk_</a>);</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="keywordflow">else</span></div>
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> {</div>
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a0bc79090281d3796e323f09ff6acacd6">NNr_</a> = <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a503a4265e428841344e620cf976b3b1f">calculateRadius</a>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->getStateDimension(), <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>->size());</div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span> <a class="code hl_define" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Using radius of %f"</span>, <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a0bc79090281d3796e323f09ff6acacd6">NNr_</a>);</div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> }</div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> </div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> <span class="comment">// Add goal states to Unvisitedrev and Openrev</span></div>
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span> <span class="keywordtype">bool</span> valid_goalMotion = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> <a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *goalMotion;</div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> <span class="keywordflow">while</span> (<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">base::State</a> *st = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>.nextGoal())</div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> {</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> goalMotion = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>, &<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>);</div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->copyState(goalMotion-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aa91f9a3b7dc40d3d8a74f6218293e50a">getState</a>(), st);</div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> </div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> goalMotion-><a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ad05948bc009ecf7aa580a0e880a35951">currentSet_</a>[FWD] = BiDirMotion::SET_UNVISITED;</div>
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>->add(goalMotion); <span class="comment">// S <-- {x_goal}</span></div>
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->isValid(goalMotion-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aa91f9a3b7dc40d3d8a74f6218293e50a">getState</a>()))</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">// Take the first valid goal state as the reverse tree root</span></div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a136b1b327b0bf5ab8fc3e542ff497745">Open_elements</a>[REV][goalMotion] = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[REV].insert(goalMotion);</div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> goalMotion-><a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ad05948bc009ecf7aa580a0e880a35951">currentSet_</a>[REV] = BiDirMotion::SET_OPEN;</div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> goalMotion-><a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a7192d0242567b1ba8093445e2598d9b4">cost_</a>[REV] = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">opt_</a>->terminalCost(goalMotion-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aa91f9a3b7dc40d3d8a74f6218293e50a">getState</a>());</div>
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> valid_goalMotion = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a231e5c8671498fd67f02689efade0700">heurGoalState_</a>[0] = goalMotion-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aa91f9a3b7dc40d3d8a74f6218293e50a">getState</a>();</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> }</div>
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> </div>
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <span class="keywordflow">if</span> ((goalMotion == <span class="keyword">nullptr</span>) || !valid_goalMotion)</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> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Goal state undefined or invalid."</span>);</div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> <span class="keywordflow">return</span> <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a2e2b2b7e02900c4417af0ecea272c637">base::PlannerStatus::INVALID_GOAL</a>;</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> </div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#ac55fc93e01a2b26a37ae969551d729cb">useRevTree</a>();</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">// Plan a path</span></div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> <a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *connection_point = <span class="keyword">nullptr</span>;</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> <span class="keywordtype">bool</span> earlyFailure = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> </div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> <span class="keywordflow">if</span> (initMotion != <span class="keyword">nullptr</span> && goalMotion != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> {</div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> earlyFailure = <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a1f040102281e7a67bb2e322e79d8212f">plan</a>(initMotion, goalMotion, connection_point, ptc);</div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> }</div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> <span class="keywordflow">else</span></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> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Initial/goal state(s) are undefined!"</span>);</div>
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> }</div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> </div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> <span class="keywordflow">if</span> (earlyFailure)</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="keywordflow">return</span> <a class="code hl_struct" href="structompl_1_1base_1_1PlannerStatus.html">base::PlannerStatus</a>(<span class="keyword">false</span>, <span class="keyword">false</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> </div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> <span class="comment">// Save the best path (through z)</span></div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <span class="keywordflow">if</span> (!ptc)</div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> {</div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">base::Cost</a> fwd_cost, rev_cost, connection_cost;</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">// Construct the solution path</span></div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#ab9252c665756f6c776b196430dca2a6a">useFwdTree</a>();</div>
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> BiDirMotionPtrs path_fwd;</div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a2510965e21e83dc60adfbec5bd0775ec">tracePath</a>(connection_point, path_fwd);</div>
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> fwd_cost = connection_point-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aea2f60e9b2e74bc178a0c821f49498c9">getCost</a>();</div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> </div>
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#ac55fc93e01a2b26a37ae969551d729cb">useRevTree</a>();</div>
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> BiDirMotionPtrs path_rev;</div>
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a2510965e21e83dc60adfbec5bd0775ec">tracePath</a>(connection_point, path_rev);</div>
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> rev_cost = connection_point-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aea2f60e9b2e74bc178a0c821f49498c9">getCost</a>();</div>
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> </div>
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> <span class="comment">// ASSUMES FROM THIS POINT THAT z = path_fwd[0] = path_rev[0]</span></div>
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> <span class="comment">// Remove the first element, z, in the traced reverse path</span></div>
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span> <span class="comment">// (the same as the first element in the traced forward path)</span></div>
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span> <span class="keywordflow">if</span> (path_rev.size() > 1)</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> connection_cost = <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">base::Cost</a>(rev_cost.<a class="code hl_function" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>() - path_rev[1]->getCost().value());</div>
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span> path_rev.erase(path_rev.begin());</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> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (path_fwd.size() > 1)</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> connection_cost = <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">base::Cost</a>(fwd_cost.<a class="code hl_function" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>() - path_fwd[1]->getCost().value());</div>
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> path_fwd.erase(path_fwd.begin());</div>
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> }</div>
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> <span class="keywordflow">else</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> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Solution path traced incorrectly or otherwise constructed improperly \</span></div>
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span><span class="stringliteral"> through forward/reverse trees (both paths are one node in length, each)."</span>);</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> </div>
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> <span class="comment">// Adjust costs/parents in reverse tree nodes as cost/direction from forward tree root</span></div>
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#ab9252c665756f6c776b196430dca2a6a">useFwdTree</a>();</div>
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> path_rev[0]->setCost(<a class="code hl_class" href="classompl_1_1base_1_1Cost.html">base::Cost</a>(path_fwd[0]->getCost().value() + connection_cost.<a class="code hl_function" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>()));</div>
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> path_rev[0]->setParent(path_fwd[0]);</div>
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 1; i < path_rev.size(); ++i)</div>
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> {</div>
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> path_rev[i]->setCost(</div>
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">base::Cost</a>(fwd_cost.<a class="code hl_function" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>() + (rev_cost.<a class="code hl_function" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>() - path_rev[i]->getCost().value())));</div>
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> path_rev[i]->setParent(path_rev[i - 1]);</div>
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> }</div>
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> </div>
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> BiDirMotionPtrs mpath;</div>
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> std::reverse(path_rev.begin(), path_rev.end());</div>
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> mpath.reserve(path_fwd.size() + path_rev.size()); <span class="comment">// preallocate memory</span></div>
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> mpath.insert(mpath.end(), path_rev.begin(), path_rev.end());</div>
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> mpath.insert(mpath.end(), path_fwd.begin(), path_fwd.end());</div>
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> </div>
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> <span class="comment">// Set the solution path</span></div>
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> <span class="keyword">auto</span> path(std::make_shared<PathGeometric>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>));</div>
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = mpath.size() - 1; i >= 0; --i)</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> path->append(mpath[i]->getState());</div>
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> }</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="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> approximate = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> cost_difference_from_goal = 0.0;</div>
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->addSolutionPath(path, approximate, cost_difference_from_goal, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>());</div>
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> </div>
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span> <a class="code hl_define" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Total path cost: %f\n"</span>, fwd_cost.<a class="code hl_function" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>() + rev_cost.<a class="code hl_function" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>());</div>
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> <span class="keywordflow">return</span> <a class="code hl_struct" href="structompl_1_1base_1_1PlannerStatus.html">base::PlannerStatus</a>(<span class="keyword">true</span>, <span class="keyword">false</span>);</div>
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> }</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">// Planner terminated without accomplishing goal</span></div>
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span> <span class="keywordflow">return</span> {<span class="keyword">false</span>, <span class="keyword">false</span>};</div>
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> }</div>
</div>
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span> </div>
<div class="foldopen" id="foldopen00417" data-start="{" data-end="}">
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#a59a090351c3271964c2b2cc37b14ea56"> 417</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a59a090351c3271964c2b2cc37b14ea56">BFMT::expandTreeFromNode</a>(<a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *&z, <a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *&connection_point)</div>
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> {</div>
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> <span class="comment">// Define Opennew and set it to NULL</span></div>
<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span> BiDirMotionPtrs Open_new;</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="comment">// Define Znear as all unexplored nodes in the neighborhood around z</span></div>
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span> BiDirMotionPtrs zNear;</div>
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> <span class="keyword">const</span> BiDirMotionPtrs &zNeighborhood = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a927c7ae87a4bef7dc0a8cf1e03314508">neighborhoods_</a>[z];</div>
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> </div>
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> i : zNeighborhood)</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="keywordflow">if</span> (i->getCurrentSet() == BiDirMotion::SET_UNVISITED)</div>
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> {</div>
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> zNear.push_back(i);</div>
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</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> </div>
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> <span class="comment">// For each node x in Znear</span></div>
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> x : zNear)</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">if</span> (!<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#adb4970d51d647def2798811418c3f127">precomputeNN_</a>)</div>
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#aa6d8c07d7dff93f8905490f606400b5d">saveNeighborhood</a>(x); <span class="comment">// nearest neighbors</span></div>
<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> </div>
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span> <span class="comment">// Define Xnear as all frontier nodes in the neighborhood around the unexplored node x</span></div>
<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> BiDirMotionPtrs xNear;</div>
<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> <span class="keyword">const</span> BiDirMotionPtrs &xNeighborhood = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a927c7ae87a4bef7dc0a8cf1e03314508">neighborhoods_</a>[x];</div>
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> j : xNeighborhood)</div>
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> {</div>
<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"> 445</span> <span class="keywordflow">if</span> (j->getCurrentSet() == BiDirMotion::SET_OPEN)</div>
<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"> 446</span> {</div>
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"> 447</span> xNear.push_back(j);</div>
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> }</div>
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span> }</div>
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> <span class="comment">// Find the node in Xnear with minimum cost-to-come in the current tree</span></div>
<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span> <a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *xMin = <span class="keyword">nullptr</span>;</div>
<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"> 452</span> <span class="keywordtype">double</span> cMin = std::numeric_limits<double>::infinity();</div>
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &j : xNear)</div>
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"> 454</span> {</div>
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> <span class="comment">// check if node costs are smaller than minimum</span></div>
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span> <span class="keywordtype">double</span> cNew = j->getCost().value() + <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a5974cee2ec7da46265b6d204a10055fb">distanceFunction</a>(j, x);</div>
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> </div>
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> <span class="keywordflow">if</span> (cNew < cMin)</div>
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> {</div>
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> xMin = j;</div>
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> cMin = cNew;</div>
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> }</div>
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> }</div>
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> </div>
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span> <span class="comment">// xMin was found</span></div>
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> <span class="keywordflow">if</span> (xMin != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span> {</div>
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> <span class="keywordtype">bool</span> collision_free = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#aec9e4c41ad2ed46632f6ab7c41b2af14">cacheCC_</a>)</div>
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span> {</div>
<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"> 471</span> <span class="keywordflow">if</span> (!xMin-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a321da3cf04df15cc6f76bd21fd2cb9f7">alreadyCC</a>(x))</div>
<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"> 472</span> {</div>
<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span> collision_free = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->checkMotion(xMin-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aa91f9a3b7dc40d3d8a74f6218293e50a">getState</a>(), x->getState());</div>
<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"> 474</span> ++<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a32227abebf3610b2d3fb87ce56375ed5">collisionChecks_</a>;</div>
<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"> 475</span> <span class="comment">// Due to FMT3* design, it is only necessary to save unsuccesful</span></div>
<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"> 476</span> <span class="comment">// connection attemps because of collision</span></div>
<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span> <span class="keywordflow">if</span> (!collision_free)</div>
<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"> 478</span> xMin-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#acb3c3e761fe74aa4ab2645216046cdd2">addCC</a>(x);</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="l00481" name="l00481"></a><span class="lineno"> 481</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span> {</div>
<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span> ++<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a32227abebf3610b2d3fb87ce56375ed5">collisionChecks_</a>;</div>
<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span> collision_free = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->checkMotion(xMin-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aa91f9a3b7dc40d3d8a74f6218293e50a">getState</a>(), x->getState());</div>
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"> 485</span> }</div>
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> </div>
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"> 487</span> <span class="keywordflow">if</span> (collision_free)</div>
<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span> { <span class="comment">// motion between yMin and x is obstacle free</span></div>
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> <span class="comment">// add edge from xMin to x</span></div>
<div class="line"><a id="l00490" name="l00490"></a><span class="lineno"> 490</span> x->setParent(xMin);</div>
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> x->setCost(<a class="code hl_class" href="classompl_1_1base_1_1Cost.html">base::Cost</a>(cMin));</div>
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> xMin-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ab3300f91916c19b2cf7a60e6a9e92a94">getChildren</a>().push_back(x);</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="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a79677f70203ef35875bfe58e54ad53f9">heuristics_</a>)</div>
<div class="line"><a id="l00495" name="l00495"></a><span class="lineno"> 495</span> x->setHeuristicCost(<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">opt_</a>->motionCostHeuristic(x->getState(), <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a231e5c8671498fd67f02689efade0700">heurGoalState_</a>[<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>]));</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> <span class="comment">// check if new node x is in the other tree; if so, save result</span></div>
<div class="line"><a id="l00498" name="l00498"></a><span class="lineno"> 498</span> <span class="keywordflow">if</span> (x->getOtherSet() != BiDirMotion::SET_UNVISITED)</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="keywordflow">if</span> (connection_point == <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> {</div>
<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span> connection_point = x;</div>
<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"> 503</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a067b643ed36e9a38f8bc3132833659ae">termination_</a> == FEASIBILITY)</div>
<div class="line"><a id="l00504" name="l00504"></a><span class="lineno"> 504</span> {</div>
<div class="line"><a id="l00505" name="l00505"></a><span class="lineno"> 505</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span> }</div>
<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> }</div>
<div class="line"><a id="l00508" name="l00508"></a><span class="lineno"> 508</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00509" name="l00509"></a><span class="lineno"> 509</span> {</div>
<div class="line"><a id="l00510" name="l00510"></a><span class="lineno"> 510</span> <span class="keywordflow">if</span> ((connection_point-><a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a7192d0242567b1ba8093445e2598d9b4">cost_</a>[FWD].<a class="code hl_function" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>() + connection_point-><a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a7192d0242567b1ba8093445e2598d9b4">cost_</a>[REV].<a class="code hl_function" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>()) ></div>
<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"> 511</span> (x->cost_[FWD].value() + x->cost_[REV].value()))</div>
<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> {</div>
<div class="line"><a id="l00513" name="l00513"></a><span class="lineno"> 513</span> connection_point = x;</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> }</div>
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span> }</div>
<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> </div>
<div class="line"><a id="l00518" name="l00518"></a><span class="lineno"> 518</span> Open_new.push_back(x); <span class="comment">// add x to Open_new</span></div>
<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"> 519</span> x->setCurrentSet(BiDirMotion::SET_CLOSED); <span class="comment">// remove x from Unvisited</span></div>
<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</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">// End "for x in Znear"</span></div>
<div class="line"><a id="l00523" name="l00523"></a><span class="lineno"> 523</span> </div>
<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span> <span class="comment">// Remove motion z from binary heap and map</span></div>
<div class="line"><a id="l00525" name="l00525"></a><span class="lineno"> 525</span> BiDirMotionBinHeap::Element *zElement = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a136b1b327b0bf5ab8fc3e542ff497745">Open_elements</a>[<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>][z];</div>
<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"> 526</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>].remove(zElement);</div>
<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"> 527</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a136b1b327b0bf5ab8fc3e542ff497745">Open_elements</a>[<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>].erase(z);</div>
<div class="line"><a id="l00528" name="l00528"></a><span class="lineno"> 528</span> z-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ad9d60c80413cde10004e924f2210a68a">setCurrentSet</a>(BiDirMotion::SET_CLOSED);</div>
<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"> 529</span> </div>
<div class="line"><a id="l00530" name="l00530"></a><span class="lineno"> 530</span> <span class="comment">// add nodes in Open_new to Open</span></div>
<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"> 531</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &i : Open_new)</div>
<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"> 532</span> {</div>
<div class="line"><a id="l00533" name="l00533"></a><span class="lineno"> 533</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a136b1b327b0bf5ab8fc3e542ff497745">Open_elements</a>[<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>][i] == <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00534" name="l00534"></a><span class="lineno"> 534</span> {</div>
<div class="line"><a id="l00535" name="l00535"></a><span class="lineno"> 535</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a136b1b327b0bf5ab8fc3e542ff497745">Open_elements</a>[<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>][i] = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>].insert(i);</div>
<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"> 536</span> i->setCurrentSet(BiDirMotion::SET_OPEN);</div>
<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"> 537</span> }</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> }</div>
</div>
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> </div>
<div class="foldopen" id="foldopen00541" data-start="{" data-end="}">
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#a1f040102281e7a67bb2e322e79d8212f"> 541</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a1f040102281e7a67bb2e322e79d8212f">BFMT::plan</a>(<a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *x_init, <a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *x_goal, <a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *&connection_point,</div>
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc)</div>
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> {</div>
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> <span class="comment">// If pre-computation, find neighborhoods for all N sample nodes plus initial</span></div>
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> <span class="comment">// and goal state(s). Otherwise compute the neighborhoods of the initial and</span></div>
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> <span class="comment">// goal states separately and compute the others as needed.</span></div>
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> BiDirMotionPtrs sampleNodes;</div>
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>->list(sampleNodes);</div>
<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"> 551</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#adb4970d51d647def2798811418c3f127">precomputeNN_</a>)</div>
<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> {</div>
<div class="line"><a id="l00553" name="l00553"></a><span class="lineno"> 553</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &sampleNode : sampleNodes)</div>
<div class="line"><a id="l00554" name="l00554"></a><span class="lineno"> 554</span> {</div>
<div class="line"><a id="l00555" name="l00555"></a><span class="lineno"> 555</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#aa6d8c07d7dff93f8905490f606400b5d">saveNeighborhood</a>(sampleNode); <span class="comment">// nearest neighbors</span></div>
<div class="line"><a id="l00556" name="l00556"></a><span class="lineno"> 556</span> }</div>
<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span> }</div>
<div class="line"><a id="l00558" name="l00558"></a><span class="lineno"> 558</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span> {</div>
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#aa6d8c07d7dff93f8905490f606400b5d">saveNeighborhood</a>(x_init); <span class="comment">// nearest neighbors</span></div>
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#aa6d8c07d7dff93f8905490f606400b5d">saveNeighborhood</a>(x_goal); <span class="comment">// nearest neighbors</span></div>
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> }</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">// Copy nodes in the sample set to Unvisitedfwd. Overwrite the label of the initial</span></div>
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"> 565</span> <span class="comment">// node with set Open for the forward tree, since it starts in set Openfwd.</span></div>
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#ab9252c665756f6c776b196430dca2a6a">useFwdTree</a>();</div>
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &sampleNode : sampleNodes)</div>
<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"> 568</span> {</div>
<div class="line"><a id="l00569" name="l00569"></a><span class="lineno"> 569</span> sampleNode->setCurrentSet(BiDirMotion::SET_UNVISITED);</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> x_init-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ad9d60c80413cde10004e924f2210a68a">setCurrentSet</a>(BiDirMotion::SET_OPEN);</div>
<div class="line"><a id="l00572" name="l00572"></a><span class="lineno"> 572</span> </div>
<div class="line"><a id="l00573" name="l00573"></a><span class="lineno"> 573</span> <span class="comment">// Copy nodes in the sample set to Unvisitedrev. Overwrite the label of the goal</span></div>
<div class="line"><a id="l00574" name="l00574"></a><span class="lineno"> 574</span> <span class="comment">// node with set Open for the reverse tree, since it starts in set Openrev.</span></div>
<div class="line"><a id="l00575" name="l00575"></a><span class="lineno"> 575</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#ac55fc93e01a2b26a37ae969551d729cb">useRevTree</a>();</div>
<div class="line"><a id="l00576" name="l00576"></a><span class="lineno"> 576</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &sampleNode : sampleNodes)</div>
<div class="line"><a id="l00577" name="l00577"></a><span class="lineno"> 577</span> {</div>
<div class="line"><a id="l00578" name="l00578"></a><span class="lineno"> 578</span> sampleNode->setCurrentSet(BiDirMotion::SET_UNVISITED);</div>
<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"> 579</span> }</div>
<div class="line"><a id="l00580" name="l00580"></a><span class="lineno"> 580</span> x_goal-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#ad9d60c80413cde10004e924f2210a68a">setCurrentSet</a>(BiDirMotion::SET_OPEN);</div>
<div class="line"><a id="l00581" name="l00581"></a><span class="lineno"> 581</span> </div>
<div class="line"><a id="l00582" name="l00582"></a><span class="lineno"> 582</span> <span class="comment">// Expand the trees until reaching the termination condition</span></div>
<div class="line"><a id="l00583" name="l00583"></a><span class="lineno"> 583</span> <span class="keywordtype">bool</span> earlyFailure = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"> 584</span> <span class="keywordtype">bool</span> success = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span> </div>
<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"> 586</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#ab9252c665756f6c776b196430dca2a6a">useFwdTree</a>();</div>
<div class="line"><a id="l00587" name="l00587"></a><span class="lineno"> 587</span> <a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *z = x_init;</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="keywordflow">while</span> (!success)</div>
<div class="line"><a id="l00590" name="l00590"></a><span class="lineno"> 590</span> {</div>
<div class="line"><a id="l00591" name="l00591"></a><span class="lineno"> 591</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a59a090351c3271964c2b2cc37b14ea56">expandTreeFromNode</a>(z, connection_point);</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">// Check if the algorithm should terminate. Possibly redefines connection_point.</span></div>
<div class="line"><a id="l00594" name="l00594"></a><span class="lineno"> 594</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a308deda6599cfbca27cd273f8cc90dbb">termination</a>(z, connection_point, ptc))</div>
<div class="line"><a id="l00595" name="l00595"></a><span class="lineno"> 595</span> success = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00596" name="l00596"></a><span class="lineno"> 596</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00597" name="l00597"></a><span class="lineno"> 597</span> {</div>
<div class="line"><a id="l00598" name="l00598"></a><span class="lineno"> 598</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>].empty()) <span class="comment">// If this heap is empty...</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="keywordflow">if</span> (!<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#af54d73530433a9ef7b8517efb97ff0e6">extendedFMT_</a>) <span class="comment">// ... eFMT not enabled...</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">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[(<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a> + 1) % 2].empty()) <span class="comment">// ... and this one, failure.</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> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Both Open are empty before path was found --> no feasible path exists"</span>);</div>
<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"> 605</span> earlyFailure = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span> <span class="keywordflow">return</span> earlyFailure;</div>
<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"> 607</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="keywordflow">else</span> <span class="comment">// However, if eFMT is enabled, run it.</span></div>
<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"> 610</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a1b3c080a4a25462e8ff1684b614b5fd9">insertNewSampleInOpen</a>(ptc);</div>
<div class="line"><a id="l00611" name="l00611"></a><span class="lineno"> 611</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> <span class="comment">// This function will be always reached with at least one state in one heap.</span></div>
<div class="line"><a id="l00614" name="l00614"></a><span class="lineno"> 614</span> <span class="comment">// However, if ptc terminates, we should skip this.</span></div>
<div class="line"><a id="l00615" name="l00615"></a><span class="lineno"> 615</span> <span class="keywordflow">if</span> (!ptc)</div>
<div class="line"><a id="l00616" name="l00616"></a><span class="lineno"> 616</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#aa6b17f4cbf54e75d8c7592f66a9d4b24">chooseTreeAndExpansionNode</a>(z);</div>
<div class="line"><a id="l00617" name="l00617"></a><span class="lineno"> 617</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00618" name="l00618"></a><span class="lineno"> 618</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</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> }</div>
<div class="line"><a id="l00621" name="l00621"></a><span class="lineno"> 621</span> earlyFailure = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"> 622</span> <span class="keywordflow">return</span> earlyFailure;</div>
<div class="line"><a id="l00623" name="l00623"></a><span class="lineno"> 623</span> }</div>
</div>
<div class="line"><a id="l00624" name="l00624"></a><span class="lineno"> 624</span> </div>
<div class="foldopen" id="foldopen00625" data-start="{" data-end="}">
<div class="line"><a id="l00625" name="l00625"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#a1b3c080a4a25462e8ff1684b614b5fd9"> 625</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a1b3c080a4a25462e8ff1684b614b5fd9">BFMT::insertNewSampleInOpen</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc)</div>
<div class="line"><a id="l00626" name="l00626"></a><span class="lineno"> 626</span> {</div>
<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"> 627</span> <span class="comment">// Sample and connect samples to tree only if there is</span></div>
<div class="line"><a id="l00628" name="l00628"></a><span class="lineno"> 628</span> <span class="comment">// a possibility to connect to unvisited nodes.</span></div>
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"> 629</span> std::vector<BiDirMotion *> nbh;</div>
<div class="line"><a id="l00630" name="l00630"></a><span class="lineno"> 630</span> std::vector<base::Cost> costs;</div>
<div class="line"><a id="l00631" name="l00631"></a><span class="lineno"> 631</span> std::vector<base::Cost> incCosts;</div>
<div class="line"><a id="l00632" name="l00632"></a><span class="lineno"> 632</span> std::vector<std::size_t> sortedCostIndices;</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> <span class="comment">// our functor for sorting nearest neighbors</span></div>
<div class="line"><a id="l00635" name="l00635"></a><span class="lineno"> 635</span> <a class="code hl_struct" href="structompl_1_1geometric_1_1BFMT_1_1CostIndexCompare.html">CostIndexCompare</a> compareFn(costs, *<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">opt_</a>);</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="keyword">auto</span> *m = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>, &<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>);</div>
<div class="line"><a id="l00638" name="l00638"></a><span class="lineno"> 638</span> <span class="keywordflow">while</span> (!ptc && <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>].empty()) <span class="comment">//&& oneSample)</span></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="comment">// Get new sample and check whether it is valid.</span></div>
<div class="line"><a id="l00641" name="l00641"></a><span class="lineno"> 641</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a8f97f2f2f3974cbe46c38d422065ebc7">sampler_</a>->sampleUniform(m->getState());</div>
<div class="line"><a id="l00642" name="l00642"></a><span class="lineno"> 642</span> <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->isValid(m->getState()))</div>
<div class="line"><a id="l00643" name="l00643"></a><span class="lineno"> 643</span> <span class="keywordflow">continue</span>;</div>
<div class="line"><a id="l00644" name="l00644"></a><span class="lineno"> 644</span> </div>
<div class="line"><a id="l00645" name="l00645"></a><span class="lineno"> 645</span> <span class="comment">// Get neighbours of the new sample.</span></div>
<div class="line"><a id="l00646" name="l00646"></a><span class="lineno"> 646</span> std::vector<BiDirMotion *> yNear;</div>
<div class="line"><a id="l00647" name="l00647"></a><span class="lineno"> 647</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#af42d0e59d9e05e036b08e35d0a2516ab">nearestK_</a>)</div>
<div class="line"><a id="l00648" name="l00648"></a><span class="lineno"> 648</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>->nearestK(m, <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#ab3905c36f37e31dd4b460b46c912ed9c">NNk_</a>, nbh);</div>
<div class="line"><a id="l00649" name="l00649"></a><span class="lineno"> 649</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00650" name="l00650"></a><span class="lineno"> 650</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>->nearestR(m, <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a0bc79090281d3796e323f09ff6acacd6">NNr_</a>, nbh);</div>
<div class="line"><a id="l00651" name="l00651"></a><span class="lineno"> 651</span> </div>
<div class="line"><a id="l00652" name="l00652"></a><span class="lineno"> 652</span> yNear.reserve(nbh.size());</div>
<div class="line"><a id="l00653" name="l00653"></a><span class="lineno"> 653</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &j : nbh)</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="keywordflow">if</span> (j->getCurrentSet() == BiDirMotion::SET_CLOSED)</div>
<div class="line"><a id="l00656" name="l00656"></a><span class="lineno"> 656</span> {</div>
<div class="line"><a id="l00657" name="l00657"></a><span class="lineno"> 657</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#af42d0e59d9e05e036b08e35d0a2516ab">nearestK_</a>)</div>
<div class="line"><a id="l00658" name="l00658"></a><span class="lineno"> 658</span> {</div>
<div class="line"><a id="l00659" name="l00659"></a><span class="lineno"> 659</span> <span class="comment">// Only include neighbors that are mutually k-nearest</span></div>
<div class="line"><a id="l00660" name="l00660"></a><span class="lineno"> 660</span> <span class="comment">// Relies on NN datastructure returning k-nearest in sorted order</span></div>
<div class="line"><a id="l00661" name="l00661"></a><span class="lineno"> 661</span> <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">base::Cost</a> connCost = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">opt_</a>->motionCost(j->getState(), m->getState());</div>
<div class="line"><a id="l00662" name="l00662"></a><span class="lineno"> 662</span> <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">base::Cost</a> worstCost =</div>
<div class="line"><a id="l00663" name="l00663"></a><span class="lineno"> 663</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">opt_</a>->motionCost(<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a927c7ae87a4bef7dc0a8cf1e03314508">neighborhoods_</a>[j].back()->getState(), j->getState());</div>
<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"> 664</span> </div>
<div class="line"><a id="l00665" name="l00665"></a><span class="lineno"> 665</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">opt_</a>->isCostBetterThan(worstCost, connCost))</div>
<div class="line"><a id="l00666" name="l00666"></a><span class="lineno"> 666</span> <span class="keywordflow">continue</span>;</div>
<div class="line"><a id="l00667" name="l00667"></a><span class="lineno"> 667</span> yNear.push_back(j);</div>
<div class="line"><a id="l00668" name="l00668"></a><span class="lineno"> 668</span> }</div>
<div class="line"><a id="l00669" name="l00669"></a><span class="lineno"> 669</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00670" name="l00670"></a><span class="lineno"> 670</span> yNear.push_back(j);</div>
<div class="line"><a id="l00671" name="l00671"></a><span class="lineno"> 671</span> }</div>
<div class="line"><a id="l00672" name="l00672"></a><span class="lineno"> 672</span> }</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">// Sample again if the new sample does not connect to the tree.</span></div>
<div class="line"><a id="l00675" name="l00675"></a><span class="lineno"> 675</span> <span class="keywordflow">if</span> (yNear.empty())</div>
<div class="line"><a id="l00676" name="l00676"></a><span class="lineno"> 676</span> <span class="keywordflow">continue</span>;</div>
<div class="line"><a id="l00677" name="l00677"></a><span class="lineno"> 677</span> </div>
<div class="line"><a id="l00678" name="l00678"></a><span class="lineno"> 678</span> <span class="comment">// cache for distance computations</span></div>
<div class="line"><a id="l00679" name="l00679"></a><span class="lineno"> 679</span> <span class="comment">//</span></div>
<div class="line"><a id="l00680" name="l00680"></a><span class="lineno"> 680</span> <span class="comment">// Our cost caches only increase in size, so they're only</span></div>
<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"> 681</span> <span class="comment">// resized if they can't fit the current neighborhood</span></div>
<div class="line"><a id="l00682" name="l00682"></a><span class="lineno"> 682</span> <span class="keywordflow">if</span> (costs.size() < yNear.size())</div>
<div class="line"><a id="l00683" name="l00683"></a><span class="lineno"> 683</span> {</div>
<div class="line"><a id="l00684" name="l00684"></a><span class="lineno"> 684</span> costs.resize(yNear.size());</div>
<div class="line"><a id="l00685" name="l00685"></a><span class="lineno"> 685</span> incCosts.resize(yNear.size());</div>
<div class="line"><a id="l00686" name="l00686"></a><span class="lineno"> 686</span> sortedCostIndices.resize(yNear.size());</div>
<div class="line"><a id="l00687" name="l00687"></a><span class="lineno"> 687</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> <span class="comment">// Finding the nearest neighbor to connect to</span></div>
<div class="line"><a id="l00690" name="l00690"></a><span class="lineno"> 690</span> <span class="comment">// By default, neighborhood states are sorted by cost, and collision checking</span></div>
<div class="line"><a id="l00691" name="l00691"></a><span class="lineno"> 691</span> <span class="comment">// is performed in increasing order of cost</span></div>
<div class="line"><a id="l00692" name="l00692"></a><span class="lineno"> 692</span> <span class="comment">//</span></div>
<div class="line"><a id="l00693" name="l00693"></a><span class="lineno"> 693</span> <span class="comment">// calculate all costs and distances</span></div>
<div class="line"><a id="l00694" name="l00694"></a><span class="lineno"> 694</span> <span class="keywordflow">for</span> (std::size_t i = 0; i < yNear.size(); ++i)</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> incCosts[i] = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">opt_</a>->motionCost(yNear[i]->getState(), m->getState());</div>
<div class="line"><a id="l00697" name="l00697"></a><span class="lineno"> 697</span> costs[i] = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">opt_</a>->combineCosts(yNear[i]->getCost(), incCosts[i]);</div>
<div class="line"><a id="l00698" name="l00698"></a><span class="lineno"> 698</span> }</div>
<div class="line"><a id="l00699" name="l00699"></a><span class="lineno"> 699</span> </div>
<div class="line"><a id="l00700" name="l00700"></a><span class="lineno"> 700</span> <span class="comment">// sort the nodes</span></div>
<div class="line"><a id="l00701" name="l00701"></a><span class="lineno"> 701</span> <span class="comment">//</span></div>
<div class="line"><a id="l00702" name="l00702"></a><span class="lineno"> 702</span> <span class="comment">// we're using index-value pairs so that we can get at</span></div>
<div class="line"><a id="l00703" name="l00703"></a><span class="lineno"> 703</span> <span class="comment">// original, unsorted indices</span></div>
<div class="line"><a id="l00704" name="l00704"></a><span class="lineno"> 704</span> <span class="keywordflow">for</span> (std::size_t i = 0; i < yNear.size(); ++i)</div>
<div class="line"><a id="l00705" name="l00705"></a><span class="lineno"> 705</span> sortedCostIndices[i] = i;</div>
<div class="line"><a id="l00706" name="l00706"></a><span class="lineno"> 706</span> std::sort(sortedCostIndices.begin(), sortedCostIndices.begin() + yNear.size(), compareFn);</div>
<div class="line"><a id="l00707" name="l00707"></a><span class="lineno"> 707</span> </div>
<div class="line"><a id="l00708" name="l00708"></a><span class="lineno"> 708</span> <span class="comment">// collision check until a valid motion is found</span></div>
<div class="line"><a id="l00709" name="l00709"></a><span class="lineno"> 709</span> <span class="keywordflow">for</span> (std::vector<std::size_t>::const_iterator i = sortedCostIndices.begin();</div>
<div class="line"><a id="l00710" name="l00710"></a><span class="lineno"> 710</span> i != sortedCostIndices.begin() + yNear.size(); ++i)</div>
<div class="line"><a id="l00711" name="l00711"></a><span class="lineno"> 711</span> {</div>
<div class="line"><a id="l00712" name="l00712"></a><span class="lineno"> 712</span> ++<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a32227abebf3610b2d3fb87ce56375ed5">collisionChecks_</a>;</div>
<div class="line"><a id="l00713" name="l00713"></a><span class="lineno"> 713</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">si_</a>->checkMotion(yNear[*i]->getState(), m->getState()))</div>
<div class="line"><a id="l00714" name="l00714"></a><span class="lineno"> 714</span> {</div>
<div class="line"><a id="l00715" name="l00715"></a><span class="lineno"> 715</span> <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">base::Cost</a> incCost = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">opt_</a>->motionCost(yNear[*i]->getState(), m->getState());</div>
<div class="line"><a id="l00716" name="l00716"></a><span class="lineno"> 716</span> m->setParent(yNear[*i]);</div>
<div class="line"><a id="l00717" name="l00717"></a><span class="lineno"> 717</span> yNear[*i]->getChildren().push_back(m);</div>
<div class="line"><a id="l00718" name="l00718"></a><span class="lineno"> 718</span> m->setCost(<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">opt_</a>->combineCosts(yNear[*i]->getCost(), incCost));</div>
<div class="line"><a id="l00719" name="l00719"></a><span class="lineno"> 719</span> m->setHeuristicCost(<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#aa59cb574b0b461cc87ccf2b280a76527">opt_</a>->motionCostHeuristic(m->getState(), <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a231e5c8671498fd67f02689efade0700">heurGoalState_</a>[<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>]));</div>
<div class="line"><a id="l00720" name="l00720"></a><span class="lineno"> 720</span> m->setCurrentSet(BiDirMotion::SET_OPEN);</div>
<div class="line"><a id="l00721" name="l00721"></a><span class="lineno"> 721</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a136b1b327b0bf5ab8fc3e542ff497745">Open_elements</a>[<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>][m] = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>].insert(m);</div>
<div class="line"><a id="l00722" name="l00722"></a><span class="lineno"> 722</span> </div>
<div class="line"><a id="l00723" name="l00723"></a><span class="lineno"> 723</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a53baa3015adf75a1cac8a85a47d45ee7">nn_</a>->add(m);</div>
<div class="line"><a id="l00724" name="l00724"></a><span class="lineno"> 724</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#aa6d8c07d7dff93f8905490f606400b5d">saveNeighborhood</a>(m);</div>
<div class="line"><a id="l00725" name="l00725"></a><span class="lineno"> 725</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#ab8604f3f006cfc9db14fb83b8c549aba">updateNeighborhood</a>(m, nbh);</div>
<div class="line"><a id="l00726" name="l00726"></a><span class="lineno"> 726</span> </div>
<div class="line"><a id="l00727" name="l00727"></a><span class="lineno"> 727</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00728" name="l00728"></a><span class="lineno"> 728</span> }</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> } <span class="comment">// While Open_[tree_] empty</span></div>
<div class="line"><a id="l00731" name="l00731"></a><span class="lineno"> 731</span> }</div>
</div>
<div class="line"><a id="l00732" name="l00732"></a><span class="lineno"> 732</span> </div>
<div class="foldopen" id="foldopen00733" data-start="{" data-end="}">
<div class="line"><a id="l00733" name="l00733"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#a308deda6599cfbca27cd273f8cc90dbb"> 733</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a308deda6599cfbca27cd273f8cc90dbb">BFMT::termination</a>(<a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *&z, <a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *&connection_point,</div>
<div class="line"><a id="l00734" name="l00734"></a><span class="lineno"> 734</span> <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &ptc)</div>
<div class="line"><a id="l00735" name="l00735"></a><span class="lineno"> 735</span> {</div>
<div class="line"><a id="l00736" name="l00736"></a><span class="lineno"> 736</span> <span class="keywordtype">bool</span> terminate = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00737" name="l00737"></a><span class="lineno"> 737</span> <span class="keywordflow">switch</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a067b643ed36e9a38f8bc3132833659ae">termination_</a>)</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> <span class="keywordflow">case</span> FEASIBILITY:</div>
<div class="line"><a id="l00740" name="l00740"></a><span class="lineno"> 740</span> <span class="comment">// Test if a connection point was found during tree expansion</span></div>
<div class="line"><a id="l00741" name="l00741"></a><span class="lineno"> 741</span> <span class="keywordflow">return</span> (connection_point != <span class="keyword">nullptr</span> || ptc);</div>
<div class="line"><a id="l00742" name="l00742"></a><span class="lineno"> 742</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00743" name="l00743"></a><span class="lineno"> 743</span> </div>
<div class="line"><a id="l00744" name="l00744"></a><span class="lineno"> 744</span> <span class="keywordflow">case</span> OPTIMALITY:</div>
<div class="line"><a id="l00745" name="l00745"></a><span class="lineno"> 745</span> <span class="comment">// Test if z is in SET_CLOSED (interior) of other tree</span></div>
<div class="line"><a id="l00746" name="l00746"></a><span class="lineno"> 746</span> <span class="keywordflow">if</span> (ptc)</div>
<div class="line"><a id="l00747" name="l00747"></a><span class="lineno"> 747</span> terminate = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00748" name="l00748"></a><span class="lineno"> 748</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (z-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aa3bd634a6ef37e1c8a29d484420a6ccb">getOtherSet</a>() == BiDirMotion::SET_CLOSED)</div>
<div class="line"><a id="l00749" name="l00749"></a><span class="lineno"> 749</span> terminate = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00750" name="l00750"></a><span class="lineno"> 750</span> </div>
<div class="line"><a id="l00751" name="l00751"></a><span class="lineno"> 751</span> <span class="keywordflow">break</span>;</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">return</span> terminate;</div>
<div class="line"><a id="l00754" name="l00754"></a><span class="lineno"> 754</span> }</div>
</div>
<div class="line"><a id="l00755" name="l00755"></a><span class="lineno"> 755</span> </div>
<div class="line"><a id="l00756" name="l00756"></a><span class="lineno"> 756</span> <span class="comment">// Choose exploration tree and node z to expand</span></div>
<div class="foldopen" id="foldopen00757" data-start="{" data-end="}">
<div class="line"><a id="l00757" name="l00757"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#aa6b17f4cbf54e75d8c7592f66a9d4b24"> 757</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#aa6b17f4cbf54e75d8c7592f66a9d4b24">BFMT::chooseTreeAndExpansionNode</a>(<a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *&z)</div>
<div class="line"><a id="l00758" name="l00758"></a><span class="lineno"> 758</span> {</div>
<div class="line"><a id="l00759" name="l00759"></a><span class="lineno"> 759</span> <span class="keywordflow">switch</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a61bb6e43d342cd4002302a6903bec65d">exploration_</a>)</div>
<div class="line"><a id="l00760" name="l00760"></a><span class="lineno"> 760</span> {</div>
<div class="line"><a id="l00761" name="l00761"></a><span class="lineno"> 761</span> <span class="keywordflow">case</span> SWAP_EVERY_TIME:</div>
<div class="line"><a id="l00762" name="l00762"></a><span class="lineno"> 762</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[(<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a> + 1) % 2].empty())</div>
<div class="line"><a id="l00763" name="l00763"></a><span class="lineno"> 763</span> z = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>].top()->data; <span class="comment">// Continue expanding the current tree (not empty by exit</span></div>
<div class="line"><a id="l00764" name="l00764"></a><span class="lineno"> 764</span> <span class="comment">// condition in plan())</span></div>
<div class="line"><a id="l00765" name="l00765"></a><span class="lineno"> 765</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00766" name="l00766"></a><span class="lineno"> 766</span> {</div>
<div class="line"><a id="l00767" name="l00767"></a><span class="lineno"> 767</span> z = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[(<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a> + 1) % 2].top()->data; <span class="comment">// Take top of opposite tree heap as new z</span></div>
<div class="line"><a id="l00768" name="l00768"></a><span class="lineno"> 768</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#ad16dfb44a33d551bbdf66e0d86d80a06">swapTrees</a>(); <span class="comment">// Swap to the opposite tree</span></div>
<div class="line"><a id="l00769" name="l00769"></a><span class="lineno"> 769</span> }</div>
<div class="line"><a id="l00770" name="l00770"></a><span class="lineno"> 770</span> <span class="keywordflow">break</span>;</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="keywordflow">case</span> CHOOSE_SMALLEST_Z:</div>
<div class="line"><a id="l00773" name="l00773"></a><span class="lineno"> 773</span> <a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *z1, *z2;</div>
<div class="line"><a id="l00774" name="l00774"></a><span class="lineno"> 774</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[(<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a> + 1) % 2].empty())</div>
<div class="line"><a id="l00775" name="l00775"></a><span class="lineno"> 775</span> z = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>].top()->data; <span class="comment">// Continue expanding the current tree (not empty by exit</span></div>
<div class="line"><a id="l00776" name="l00776"></a><span class="lineno"> 776</span> <span class="comment">// condition in plan())</span></div>
<div class="line"><a id="l00777" name="l00777"></a><span class="lineno"> 777</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>].empty())</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> z = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[(<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a> + 1) % 2].top()->data; <span class="comment">// Take top of opposite tree heap as new z</span></div>
<div class="line"><a id="l00780" name="l00780"></a><span class="lineno"> 780</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#ad16dfb44a33d551bbdf66e0d86d80a06">swapTrees</a>(); <span class="comment">// Swap to the opposite tree</span></div>
<div class="line"><a id="l00781" name="l00781"></a><span class="lineno"> 781</span> }</div>
<div class="line"><a id="l00782" name="l00782"></a><span class="lineno"> 782</span> <span class="keywordflow">else</span></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> z1 = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>].top()->data;</div>
<div class="line"><a id="l00785" name="l00785"></a><span class="lineno"> 785</span> z2 = <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a41ed5647c104481adcdff58a9ca64c53">Open_</a>[(<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a> + 1) % 2].top()->data;</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="keywordflow">if</span> (z1-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#aea2f60e9b2e74bc178a0c821f49498c9">getCost</a>().<a class="code hl_function" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>() < z2-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#acff919ffdcfa74546cd1fb4c3acf8270">getOtherCost</a>().<a class="code hl_function" href="classompl_1_1base_1_1Cost.html#a3cd5c47c10a591badea945b4fc84014c">value</a>())</div>
<div class="line"><a id="l00788" name="l00788"></a><span class="lineno"> 788</span> z = z1;</div>
<div class="line"><a id="l00789" name="l00789"></a><span class="lineno"> 789</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00790" name="l00790"></a><span class="lineno"> 790</span> {</div>
<div class="line"><a id="l00791" name="l00791"></a><span class="lineno"> 791</span> z = z2;</div>
<div class="line"><a id="l00792" name="l00792"></a><span class="lineno"> 792</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#ad16dfb44a33d551bbdf66e0d86d80a06">swapTrees</a>();</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> }</div>
<div class="line"><a id="l00795" name="l00795"></a><span class="lineno"> 795</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00796" name="l00796"></a><span class="lineno"> 796</span> };</div>
<div class="line"><a id="l00797" name="l00797"></a><span class="lineno"> 797</span> }</div>
</div>
<div class="line"><a id="l00798" name="l00798"></a><span class="lineno"> 798</span> </div>
<div class="line"><a id="l00799" name="l00799"></a><span class="lineno"> 799</span> <span class="comment">// Trace a path of nodes along a tree towards the root (forward or reverse)</span></div>
<div class="foldopen" id="foldopen00800" data-start="{" data-end="}">
<div class="line"><a id="l00800" name="l00800"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#a2510965e21e83dc60adfbec5bd0775ec"> 800</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#a2510965e21e83dc60adfbec5bd0775ec">BFMT::tracePath</a>(<a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *z, BiDirMotionPtrs &path)</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> <a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *solution = z;</div>
<div class="line"><a id="l00803" name="l00803"></a><span class="lineno"> 803</span> </div>
<div class="line"><a id="l00804" name="l00804"></a><span class="lineno"> 804</span> <span class="keywordflow">while</span> (solution != <span class="keyword">nullptr</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> path.push_back(solution);</div>
<div class="line"><a id="l00807" name="l00807"></a><span class="lineno"> 807</span> solution = solution-><a class="code hl_function" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html#a20d05305ef4a974efcaa4bcbb2f06b76">getParent</a>();</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> }</div>
</div>
<div class="line"><a id="l00810" name="l00810"></a><span class="lineno"> 810</span> </div>
<div class="foldopen" id="foldopen00811" data-start="{" data-end="}">
<div class="line"><a id="l00811" name="l00811"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#ad16dfb44a33d551bbdf66e0d86d80a06"> 811</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#ad16dfb44a33d551bbdf66e0d86d80a06">BFMT::swapTrees</a>()</div>
<div class="line"><a id="l00812" name="l00812"></a><span class="lineno"> 812</span> {</div>
<div class="line"><a id="l00813" name="l00813"></a><span class="lineno"> 813</span> <a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a> = (<a class="code hl_enumeration" href="classompl_1_1geometric_1_1BFMT.html#ae4c3b14dbf4ab6dcf32d7c3bcf8a6dbf">TreeType</a>)((((<span class="keywordtype">int</span>)<a class="code hl_variable" href="classompl_1_1geometric_1_1BFMT.html#a2876a95dee7cffdf325afc150e5c86b7">tree_</a>) + 1) % 2);</div>
<div class="line"><a id="l00814" name="l00814"></a><span class="lineno"> 814</span> }</div>
</div>
<div class="line"><a id="l00815" name="l00815"></a><span class="lineno"> 815</span> </div>
<div class="foldopen" id="foldopen00816" data-start="{" data-end="}">
<div class="line"><a id="l00816" name="l00816"></a><span class="lineno"><a class="line" href="classompl_1_1geometric_1_1BFMT.html#ab8604f3f006cfc9db14fb83b8c549aba"> 816</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1geometric_1_1BFMT.html#ab8604f3f006cfc9db14fb83b8c549aba">BFMT::updateNeighborhood</a>(<a class="code hl_class" href="classompl_1_1geometric_1_1BFMT_1_1BiDirMotion.html">BiDirMotion</a> *m, <span class="keyword">const</span> std::vector<BiDirMotion *> nbh)</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="comment">// Neighborhoods are only updated if the new motion is within bounds (k nearest or within r).</span></div>
<div class="line"><a id="l00819" name="l00819"></a><span class="lineno"> 819</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> i : nbh)</div>
<div class="line"><a id="l00820" name="l00820"></a><span class="lineno"> 820</span> {</div>
<div class="line"><a id="l00821" name="l00821"></a><span class="lineno"> 821</span> <span class="comment">// If CLOSED, that neighborhood won't be used again.</span></div>
<div class="line"><a id="l00822" name="l00822"></a><span class="lineno"> 822</span> <span class="comment">// Else, if neighhboorhod already exists, we have to insert the node in</span></div>
<div class="line"><a id="l00823" name="l00823"></a><span class="lineno"> 823</span> <span class="comment">// the corresponding place of the neighborhood of the neighbor of m.</span></div>
<div class="line"><a id="l00824" name="l00824"></a><span class="lineno"> 824</span> <span class="keywordflow">if</span> (i->getCurrentSet() == BiDirMotion::SET_CLOSED)</div>