armarx::addirrtstar::TaskBase

Overview

[ "cpp:virtual" ] class TaskBase extends cprs::CPRSAwareMotionPlanningTaskBase implements MotionPlanningMultiPathWithCostTaskControlInterface, ResourceManagementInterface

@brief The task containing information for a rrt* using adaptive dynamic domain with informed sampling

Operation Index

setPaths

@brief Stores the paths in the task.

getNodeCount

@brief Returns the node count.

Data Member Index

initialWorkerCount

@brief The initial worker count used when solving this task.

maximalWorkerCount

@brief The maximal worker count used when solving this task.

addParams

@brief The parameters required for adaptive dynamic domain.

targetCost

@brief The target path cost.

batchSize

@brief The size of one batch.

nodeCountDeltaForGoalConnectionTries

@brief Number of nodes created (by a worker) before a connect to the goal node is tried (by this worker).

Operations

void setPaths(PathWithCostSeq paths)

@brief Stores the paths in the task. Used by the manager node to store the results before shut down.

Parameters

paths

The paths.

long getNodeCount()

long initialWorkerCount;

long maximalWorkerCount;

AdaptiveDynamicDomainParameters addParams;

@brief The parameters required for adaptive dynamic domain.

float targetCost;

long batchSize;

long nodeCountDeltaForGoalConnectionTries;