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<!-- doxytag: class="ompl::geometric::EST" --><!-- doxytag: inherits="ompl::base::Planner" -->
<p>Expansive Space Trees.  
 <a href="classompl_1_1geometric_1_1EST.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="EST_8h_source.html">EST.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for ompl::geometric::EST:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1geometric_1_1EST__inherit__graph.png" border="0" usemap="#ompl_1_1geometric_1_1EST_inherit__map" alt="Inheritance graph"/></div>
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<p><a href="classompl_1_1geometric_1_1EST-members.html">List of all members.</a></p>
<table class="memberdecls">
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Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST_1_1Motion.html">Motion</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The definition of a motion.  <a href="classompl_1_1geometric_1_1EST_1_1Motion.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structompl_1_1geometric_1_1EST_1_1TreeData.html">TreeData</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The data contained by a tree of exploration.  <a href="structompl_1_1geometric_1_1EST_1_1TreeData.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1c75f832cbc2519158f3bbf9ee700362"></a><!-- doxytag: member="ompl::geometric::EST::EST" ref="a1c75f832cbc2519158f3bbf9ee700362" args="(const base::SpaceInformationPtr &amp;si)" -->
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#a1c75f832cbc2519158f3bbf9ee700362">EST</a> (const <a class="el" href="classompl_1_1base_1_1SpaceInformationPtr.html">base::SpaceInformationPtr</a> &amp;si)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a655826d49c8b3fbd9ccd1c38f9b97f05"></a><!-- doxytag: member="ompl::geometric::EST::solve" ref="a655826d49c8b3fbd9ccd1c38f9b97f05" args="(const base::PlannerTerminationCondition &amp;ptc)" -->
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#a655826d49c8b3fbd9ccd1c38f9b97f05">solve</a> (const <a class="el" href="classompl_1_1base_1_1PlannerTerminationCondition.html">base::PlannerTerminationCondition</a> &amp;ptc)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Function that can solve the motion planning problem. This function can be called multiple times on the same problem, without calling <a class="el" href="classompl_1_1geometric_1_1EST.html#a89e787b0f2263fe10d30aa8c70da9589" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">clear()</a> in between. This allows the planner to continue work more time on an unsolved problem, for example. If this option is used, it is assumed the problem definition is not changed (unpredictable results otherwise). The only change in the problem definition that is accounted for is the addition of starting or goal states (but not changing previously added start/goal states). The function terminates if the call to <em>ptc</em> returns true. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a89e787b0f2263fe10d30aa8c70da9589"></a><!-- doxytag: member="ompl::geometric::EST::clear" ref="a89e787b0f2263fe10d30aa8c70da9589" args="(void)" -->
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#a89e787b0f2263fe10d30aa8c70da9589">clear</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Clear all internal datastructures. Planner settings are not affected. Subsequent calls to <a class="el" href="classompl_1_1geometric_1_1EST.html#a655826d49c8b3fbd9ccd1c38f9b97f05" title="Function that can solve the motion planning problem. This function can be called multiple times on th...">solve()</a> will ignore all previous work. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8b442f32077d90406ae1811a519e2177"></a><!-- doxytag: member="ompl::geometric::EST::setGoalBias" ref="a8b442f32077d90406ae1811a519e2177" args="(double goalBias)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#a8b442f32077d90406ae1811a519e2177">setGoalBias</a> (double goalBias)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">In the process of randomly selecting states in the state space to attempt to go towards, the algorithm may in fact choose the actual goal state, if it knows it, with some probability. This probability is a real number between 0.0 and 1.0; its value should usually be around 0.05 and should not be too large. It is probably a good idea to use the default value. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4604261acc86b465ab4da659b5ba6ddb"></a><!-- doxytag: member="ompl::geometric::EST::getGoalBias" ref="a4604261acc86b465ab4da659b5ba6ddb" args="(void) const " -->
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#a4604261acc86b465ab4da659b5ba6ddb">getGoalBias</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the goal bias the planner is using. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#a936be30374d627e1fd6b1d2781a030e6">setRange</a> (double distance)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the range the planner is supposed to use.  <a href="#a936be30374d627e1fd6b1d2781a030e6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af9fa5d40dd03716e6d683705368c1b47"></a><!-- doxytag: member="ompl::geometric::EST::getRange" ref="af9fa5d40dd03716e6d683705368c1b47" args="(void) const " -->
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#af9fa5d40dd03716e6d683705368c1b47">getRange</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the range the planner is using. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a24bf2715e56f04e91646f4fe65138391"></a><!-- doxytag: member="ompl::geometric::EST::setProjectionEvaluator" ref="a24bf2715e56f04e91646f4fe65138391" args="(const base::ProjectionEvaluatorPtr &amp;projectionEvaluator)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#a24bf2715e56f04e91646f4fe65138391">setProjectionEvaluator</a> (const <a class="el" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html">base::ProjectionEvaluatorPtr</a> &amp;projectionEvaluator)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the projection evaluator. This class is able to compute the projection of a given state. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac5a00c1079ce9d2579e38bfb81f4da77"></a><!-- doxytag: member="ompl::geometric::EST::setProjectionEvaluator" ref="ac5a00c1079ce9d2579e38bfb81f4da77" args="(const std::string &amp;name)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#ac5a00c1079ce9d2579e38bfb81f4da77">setProjectionEvaluator</a> (const std::string &amp;name)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the projection evaluator (select one from the ones registered with the state space). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acefb04bb903c52fa596894b9ab141599"></a><!-- doxytag: member="ompl::geometric::EST::getProjectionEvaluator" ref="acefb04bb903c52fa596894b9ab141599" args="(void) const " -->
const <br class="typebreak"/>
<a class="el" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html">base::ProjectionEvaluatorPtr</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#acefb04bb903c52fa596894b9ab141599">getProjectionEvaluator</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the projection evaluator. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a45412d1097e02ad0c8b967a07310c84a"></a><!-- doxytag: member="ompl::geometric::EST::setup" ref="a45412d1097e02ad0c8b967a07310c84a" args="(void)" -->
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#a45412d1097e02ad0c8b967a07310c84a">setup</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Perform extra configuration steps, if needed. This call will also issue a call to <a class="el" href="classompl_1_1base_1_1SpaceInformation.html#ac39aa0c4b92e3ca5acfa75eeb56b080f" title="Perform additional setup tasks (run once, before use). If state validity checking resolution has not ...">ompl::base::SpaceInformation::setup()</a> if needed. This must be called before solving. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af5e5d1ba32389dac630db53c1bdd867b"></a><!-- doxytag: member="ompl::geometric::EST::getPlannerData" ref="af5e5d1ba32389dac630db53c1bdd867b" args="(base::PlannerData &amp;data) const " -->
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#af5e5d1ba32389dac630db53c1bdd867b">getPlannerData</a> (<a class="el" href="classompl_1_1base_1_1PlannerData.html">base::PlannerData</a> &amp;data) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get information about the current run of the motion planner. Repeated calls to this function will update <em>data</em> (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to <a class="el" href="classompl_1_1geometric_1_1EST.html#a655826d49c8b3fbd9ccd1c38f9b97f05" title="Function that can solve the motion planning problem. This function can be called multiple times on th...">solve()</a>, for example (without calling <a class="el" href="classompl_1_1geometric_1_1EST.html#a89e787b0f2263fe10d30aa8c70da9589" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">clear()</a> in between). <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-types"></a>
Protected Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af9f5d47f8ec22d558d7643d1cc4e8472"></a><!-- doxytag: member="ompl::geometric::EST::MotionSet" ref="af9f5d47f8ec22d558d7643d1cc4e8472" args="" -->
typedef std::vector&lt; <a class="el" href="classompl_1_1geometric_1_1EST_1_1Motion.html">Motion</a> * &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#af9f5d47f8ec22d558d7643d1cc4e8472">MotionSet</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">An array of motions. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab0638a0f11765252b281d2b5ed9dad4d"></a><!-- doxytag: member="ompl::geometric::EST::freeMemory" ref="ab0638a0f11765252b281d2b5ed9dad4d" args="(void)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#ab0638a0f11765252b281d2b5ed9dad4d">freeMemory</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Free the memory allocated by this planner. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a91983e841bc9d3d85a01cfc8c13d10f5"></a><!-- doxytag: member="ompl::geometric::EST::addMotion" ref="a91983e841bc9d3d85a01cfc8c13d10f5" args="(Motion *motion)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#a91983e841bc9d3d85a01cfc8c13d10f5">addMotion</a> (<a class="el" href="classompl_1_1geometric_1_1EST_1_1Motion.html">Motion</a> *motion)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a motion to the exploration tree. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3a816d55016044176a62f7794cd0cf50"></a><!-- doxytag: member="ompl::geometric::EST::selectMotion" ref="a3a816d55016044176a62f7794cd0cf50" args="(void)" -->
<a class="el" href="classompl_1_1geometric_1_1EST_1_1Motion.html">Motion</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#a3a816d55016044176a62f7794cd0cf50">selectMotion</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Select a motion to continue the expansion of the tree from. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad8a720f509aba891d30bb8765f98ab31"></a><!-- doxytag: member="ompl::geometric::EST::sampler_" ref="ad8a720f509aba891d30bb8765f98ab31" args="" -->
<a class="el" href="classompl_1_1base_1_1ValidStateSamplerPtr.html">base::ValidStateSamplerPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#ad8a720f509aba891d30bb8765f98ab31">sampler_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Valid state sampler. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1d5924729ec9205f1a5369229889f082"></a><!-- doxytag: member="ompl::geometric::EST::tree_" ref="a1d5924729ec9205f1a5369229889f082" args="" -->
<a class="el" href="structompl_1_1geometric_1_1EST_1_1TreeData.html">TreeData</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#a1d5924729ec9205f1a5369229889f082">tree_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The exploration tree constructed by this algorithm. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a032232c682e6ce0e25b0827f2171b138"></a><!-- doxytag: member="ompl::geometric::EST::projectionEvaluator_" ref="a032232c682e6ce0e25b0827f2171b138" args="" -->
<a class="el" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html">base::ProjectionEvaluatorPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#a032232c682e6ce0e25b0827f2171b138">projectionEvaluator_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on a projection of the state space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6b33b06f16776e104073cd74af8480b4"></a><!-- doxytag: member="ompl::geometric::EST::goalBias_" ref="a6b33b06f16776e104073cd74af8480b4" args="" -->
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#a6b33b06f16776e104073cd74af8480b4">goalBias_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The fraction of time the goal is picked as the state to expand towards (if such a state is available) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adecb398b5fd5d0c202663b5e2ee3f7d9"></a><!-- doxytag: member="ompl::geometric::EST::maxDistance_" ref="adecb398b5fd5d0c202663b5e2ee3f7d9" args="" -->
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#adecb398b5fd5d0c202663b5e2ee3f7d9">maxDistance_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The maximum length of a motion to be added to a tree. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ace4457f72f78ca1f991035c3beb17dcf"></a><!-- doxytag: member="ompl::geometric::EST::rng_" ref="ace4457f72f78ca1f991035c3beb17dcf" args="" -->
<a class="el" href="classompl_1_1RNG.html">RNG</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1EST.html#ace4457f72f78ca1f991035c3beb17dcf">rng_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The random number generator. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Expansive Space Trees. </p>
<p><a class="anchor" id="gEST"></a></p>
<dl class="user"><dt><b>Short description</b></dt><dd><a class="el" href="classompl_1_1geometric_1_1EST.html" title="Expansive Space Trees.">EST</a> is a tree-based motion planner that attempts to detect the less explored area of the space through the use of a grid imposed on a projection of the state space. Using this information, <a class="el" href="classompl_1_1geometric_1_1EST.html" title="Expansive Space Trees.">EST</a> continues tree expansion primarily from less explored areas. It is important to set the projection the algorithm uses (<a class="el" href="classompl_1_1geometric_1_1EST.html#a24bf2715e56f04e91646f4fe65138391" title="Set the projection evaluator. This class is able to compute the projection of a given state...">setProjectionEvaluator()</a> function). If no projection is set, the planner will attempt to use the default projection associated to the state space. An exception is thrown if no default projection is available either.</dd></dl>
<dl class="user"><dt><b>External documentation</b></dt><dd>D. Hsu, J.-C. Latombe, and R. Motwani, Path planning in expansive configuration spaces, <em>Intl. J. Computational Geometry and Applications</em>, vol. 9, no. 4-5, pp. 495–512, 1999. DOI: <a href="http://dx.doi.org/10.1142/S0218195999000285">10.1142/S0218195999000285</a><br/>
 <a href="http://motion.comp.nus.edu.sg/papers/ijcga96.pdf">[PDF]</a> </dd></dl>

<p>Definition at line <a class="el" href="EST_8h_source.html#l00075">75</a> of file <a class="el" href="EST_8h_source.html">EST.h</a>.</p>
</div><hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a936be30374d627e1fd6b1d2781a030e6"></a><!-- doxytag: member="ompl::geometric::EST::setRange" ref="a936be30374d627e1fd6b1d2781a030e6" args="(double distance)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ompl::geometric::EST::setRange </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>distance</em></td><td>)</td>
          <td><code> [inline]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Set the range the planner is supposed to use. </p>
<p>This parameter greatly influences the runtime of the algorithm. It represents the maximum length of a motion to be added in the tree of motions. </p>

<p>Definition at line <a class="el" href="EST_8h_source.html#l00119">119</a> of file <a class="el" href="EST_8h_source.html">EST.h</a>.</p>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/geometric/planners/est/<a class="el" href="EST_8h_source.html">EST.h</a></li>
<li>src/ompl/geometric/planners/est/src/<a class="el" href="EST_8cpp_source.html">EST.cpp</a></li>
</ul>
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