Class Hierarchy

Go to the graphical class hierarchy

This inheritance list is sorted roughly, but not completely, alphabetically:

[detail level 12345]

AStarVisitorConcept
ompl::geometric::SPARSdb::CustomVisitor
ompl::BinaryHeap< BiDirMotion *, BiDirMotionCompare >
ompl::BinaryHeap< CellX *, LessThanExternalCell >
ompl::BinaryHeap< CellX *, LessThanInternalCell >
ompl::BinaryHeap< Motion *, MotionCompare >
ompl::BinaryHeap< ompl::control::PDST::Motion *, ompl::control::PDST::MotionCompare >
ompl::BinaryHeap< ompl::geometric::PDST::Motion *, ompl::geometric::PDST::MotionCompare >
default_astar_visitor
ompl::geometric::SPARSdb::CustomVisitor
ompl::geometric::Discretization< ompl::geometric::BKPIECE1::Motion >
ompl::geometric::Discretization< ompl::geometric::KPIECE1::Motion >
ompl::geometric::Discretization< ompl::geometric::LBKPIECE1::Motion >
ompl::Grid< CellData * >
ompl::GridN< CellData * >
ompl::GridB< CellData *, OrderCellsByImportance >
ompl::Grid< ompl::control::EST::MotionInfo >
ompl::Grid< ompl::geometric::ProjEST::MotionInfo >
ompl::Grid< ompl::geometric::pSBL::MotionInfo >
ompl::Grid< ompl::geometric::SBL::MotionInfo >
KoulesSimulator
ompl::base::Cost	Definition of a cost value. Can represent the cost of a motion or the cost of a state
ompl::base::DubinsStateSpace::DubinsPath	Complete description of a Dubins path
ompl::base::GenericParam	Motion planning algorithms often employ parameters to guide their exploration process. (e.g., goal biasing). Motion planners (and some of their components) use this class to declare what the parameters are, in a generic way, so that they can be set externally
ompl::base::SpecificParam< T >	This is a helper class that instantiates parameters with different data types
ompl::base::Goal	Abstract definition of goals
ompl::base::GoalRegion	Definition of a goal region
ompl::base::GoalSampleableRegion	Abstract definition of a goal region that can be sampled
KoulesGoal
ompl::base::GoalState	Definition of a goal state
ompl::base::GoalStates	Definition of a set of goal states
ompl::base::GoalLazySamples	Definition of a goal region that can be sampled, but the sampling process can be slow. This class allows sampling the happen in a separate thread, and the number of goals may increase, as the planner is running, in a thread-safe manner
ompl::base::MorseGoal	This is a goal class that is more amenable to Python
ompl::base::GoalPtr	A shared pointer wrapper for ompl::base::Goal
ompl::base::InformedSampler	An abstract class for the concept of using information about the state space and the current solution cost to limit future search to a planning subproblem that contains all possibly better solutions
ompl::base::PathLengthDirectInfSampler	An informed sampler for problems seeking to minimize path length
ompl::base::RejectionInfSampler	A default rejection sampling scheme that samples uniformly from the entire planning domain. Samples are rejected until one is found that has a heuristic solution estimate that is less than the current solution. In general, direct sampling of the informed subset is much better, but this is a general default
ompl::base::IterationTerminationCondition	A class to run a planner for a specific number of iterations. Casts to a PTC for use with Planner::solve
ompl::base::LightningRetrieveRepairPtr	A shared pointer wrapper for ompl::base::LightningRetrieveRepair
ompl::base::MorseEnvironment	This class contains the MORSE constructs OMPL needs to know about when planning
ompl::base::MorseEnvironmentPtr	A shared pointer wrapper for ompl::base::MorseEnvironment
ompl::base::MotionValidator	Abstract definition for a class checking the validity of motions – path segments between states. This is often called a local planner. The implementation of this class must be thread safe
ompl::base::DiscreteMotionValidator	A motion validator that only uses the state validity checker. Motions are checked for validity at a specified resolution
ompl::base::DubinsMotionValidator	A Dubins motion validator that only uses the state validity checker. Motions are checked for validity at a specified resolution
ompl::base::ReedsSheppMotionValidator	A Reeds-Shepp motion validator that only uses the state validity checker. Motions are checked for validity at a specified resolution
ompl::base::MotionValidatorPtr	A shared pointer wrapper for ompl::base::MotionValidator
ompl::base::MultiOptimizationObjective::Component	Defines a pairing of an objective and its weight
ompl::base::OptimizationObjective	Abstract definition of optimization objectives
ompl::base::MechanicalWorkOptimizationObjective	An optimization objective which defines path cost using the idea of mechanical work. To be used in conjunction with TRRT
ompl::base::VFMechanicalWorkOptimizationObjective
ompl::base::MinimaxObjective	The cost of a path is defined as the worst state cost over the entire path. This objective attempts to find the path with the "best worst cost" over all paths
ompl::base::MaximizeMinClearanceObjective	Objective for attempting to maximize the minimum clearance along a path
ompl::base::MultiOptimizationObjective	This class allows for the definition of multiobjective optimal planning problems. Objectives are added to this compound object, and motion costs are computed by taking a weighted sum of the individual objective costs
ompl::base::PathLengthOptimizationObjective	An optimization objective which corresponds to optimizing path length
ompl::base::StateCostIntegralObjective	Defines optimization objectives where path cost can be represented as a path integral over a cost function defined over the state space. This cost function is specified by implementing the stateCost() method
ompl::base::VFUpstreamCriterionOptimizationObjective
ompl::base::OptimizationObjectivePtr	A shared pointer wrapper for ompl::base::OptimizationObjective
ompl::base::ParamSet	Maintain a set of parameters
ompl::base::Path	Abstract definition of a path
ompl::control::PathControl	Definition of a control path
ompl::geometric::PathGeometric	Definition of a geometric path
ompl::base::PathPtr	A shared pointer wrapper for ompl::base::Path
ompl::base::Planner	Base class for a planner
ompl::control::EST	Expansive Space Trees
ompl::control::KPIECE1	Kinodynamic Planning by Interior-Exterior Cell Exploration
ompl::control::LTLPlanner	A planner for generating system trajectories to satisfy a logical specification given by an automaton, the propositions of which are defined over a decomposition of the system's state space
ompl::control::PDST	Path-Directed Subdivision Tree
ompl::control::RRT	Rapidly-exploring Random Tree
ompl::control::SST
ompl::control::Syclop	Synergistic Combination of Layers of Planning
ompl::control::SyclopEST	SyclopEST is Syclop with EST as its low-level tree planner
ompl::control::SyclopRRT	SyclopRRT is Syclop with RRT as its low-level tree planner
ompl::geometric::AnytimePathShortening
ompl::geometric::BFMT	Bidirectional Asymptotically Optimal Fast Marching Tree algorithm developed by J. Starek, J.V. Gomez, et al
ompl::geometric::BiEST	Bi-directional Expansive Space Trees
ompl::geometric::BiTRRT	Bi-directional Transition-based Rapidly-exploring Random Trees
ompl::geometric::BITstar	Batch Informed Trees (BIT*)
ompl::geometric::BKPIECE1	Bi-directional KPIECE with one level of discretization
ompl::geometric::CForest	Coupled Forest of Random Engrafting Search Trees
ompl::geometric::EST	Expansive Space Trees
ompl::geometric::FMT	Asymptotically Optimal Fast Marching Tree algorithm developed by L. Janson and M. Pavone
ompl::geometric::KPIECE1	Kinematic Planning by Interior-Exterior Cell Exploration
ompl::geometric::LazyLBTRRT	Rapidly-exploring Random Trees
ompl::geometric::LazyPRM	Lazy Probabilistic RoadMap planner
ompl::geometric::LazyPRMstar	PRM* planner
ompl::geometric::LazyRRT	Lazy RRT
ompl::geometric::LBKPIECE1	Lazy Bi-directional KPIECE with one level of discretization
ompl::geometric::LBTRRT	Lower Bound Tree Rapidly-exploring Random Trees
ompl::geometric::LightningRetrieveRepair	The Lightning Framework's Retrieve-Repair component
ompl::geometric::PDST	Path-Directed Subdivision Tree
ompl::geometric::PRM	Probabilistic RoadMap planner
ompl::geometric::PRMstar	PRM* planner
ompl::geometric::ProjEST	Expansive Space Trees
ompl::geometric::pRRT	Parallel RRT
ompl::geometric::pSBL	Parallel Single-query Bi-directional Lazy collision checking planner
ompl::geometric::RRT	Rapidly-exploring Random Trees
ompl::geometric::VFRRT
ompl::geometric::RRTConnect	RRT-Connect (RRTConnect)
ompl::geometric::RRTstar	Optimal Rapidly-exploring Random Trees
ompl::geometric::InformedRRTstar	Informed RRT*
ompl::geometric::SBL	Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking
ompl::geometric::SPARS	SPArse Roadmap Spanner technique.
ompl::geometric::SPARSdb	SPArse Roadmap Spanner Version 2.0
ompl::geometric::SPARStwo	SPArse Roadmap Spanner Version 2.0
ompl::geometric::SST
ompl::geometric::STRIDE	Search Tree with Resolution Independent Density Estimation
ompl::geometric::ThunderRetrieveRepair	The Thunder Framework's Retrieve-Repair component
ompl::geometric::TRRT	Transition-based Rapidly-exploring Random Trees
ompl::base::PlannerData	Object containing planner generated vertex and edge data. It is assumed that all vertices are unique, and only a single directed edge connects two vertices
ompl::control::PlannerData	Object containing planner generated vertex and edge data. It is assumed that all vertices are unique, and only a single directed edge connects two vertices.
ompl::base::PlannerDataEdge	Base class for a PlannerData edge
ompl::control::PlannerDataEdgeControl	Representation of an edge in PlannerData for planning with controls. This structure encodes a specific control and a duration to apply the control
ompl::base::PlannerDataPtr	A shared pointer wrapper for ompl::base::PlannerData
ompl::base::PlannerDataStorage	Object that handles loading/storing a PlannerData object to/from a binary stream. Serialization of vertices and edges is performed using the Boost archive method serialize. Derived vertex/edge classes are handled, presuming those classes implement the serialize method
ompl::control::PlannerDataStorage	Object that handles loading/storing a PlannerData object to/from a binary stream. Serialization of vertices and edges is performed using the Boost archive method serialize. Derived vertex/edge classes are handled, presuming those classes implement the serialize method.
ompl::base::PlannerDataStorage::Header	Information stored at the beginning of the PlannerData archive
ompl::base::PlannerDataStorage::PlannerDataEdgeData	The object containing all edge data that will be stored
ompl::base::PlannerDataStorage::PlannerDataVertexData	The object containing all vertex data that will be stored
ompl::base::PlannerDataVertex	Base class for a vertex in the PlannerData structure. All derived classes must implement the clone and equivalence operators. It is assumed that each vertex in the PlannerData structure is unique (i.e. no duplicates allowed)
ompl::base::PlannerInputStates	Helper class to extract valid start & goal states. Usually used internally by planners
ompl::base::PlannerPtr	A shared pointer wrapper for ompl::base::Planner
ompl::base::PlannerSolution	Representation of a solution to a planning problem
ompl::base::PlannerSpecs	Properties that planners may have
ompl::base::PlannerStatus	A class to store the exit status of Planner::solve()
ompl::base::PlannerTerminationCondition	Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whether they should terminate before a solution is found or not. operator() will return true if either the implemented condition is met (the call to eval() returns true) or if the user called terminate(true)
ompl::base::MorseTerminationCondition	This class represents a termination condition for the planner that only terminates if the user shuts down the MORSE simulation
ompl::base::ProblemDefinition	Definition of a problem to be solved. This includes the start state(s) for the system and a goal specification. Will contain solutions, if found
ompl::control::LTLProblemDefinition
ompl::base::ProblemDefinitionPtr	A shared pointer wrapper for ompl::base::ProblemDefinition
ompl::base::ProjectionEvaluator	Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on this projection space by setting cell sizes. Before use, the user must supply cell sizes for the integer grid (setCellSizes()). The implementation of this class is thread safe
KoulesProjection
ompl::base::MorseProjection	This class implements a generic projection for the MorseStateSpace, namely, the subspace representing the x and y positions of every rigid body
ompl::base::RealVectorIdentityProjectionEvaluator	Define the identity projection
ompl::base::RealVectorLinearProjectionEvaluator	Definition for a class computing linear projections (multiplication of a k-by-n matrix to the the Rn vector state to produce an Rk projection. The multiplication matrix needs to be supplied as input
ompl::base::RealVectorRandomLinearProjectionEvaluator	Definition for a class computing a random linear projections
ompl::base::RealVectorOrthogonalProjectionEvaluator	Definition for a class computing orthogonal projections
ompl::base::SubspaceProjectionEvaluator	If the projection for a CompoundStateSpace is supposed to be the same as the one for one of its included subspaces, this class facilitates selecting a projection of that subspace
ompl::base::ProjectionEvaluatorPtr	A shared pointer wrapper for ompl::base::ProjectionEvaluator
ompl::base::ProjectionMatrix	A projection matrix – it allows multiplication of real vectors by a specified matrix. The matrix can also be randomly generated
ompl::base::RealVectorBounds	The lower and upper bounds for an Rn space
ompl::base::ReedsSheppStateSpace::ReedsSheppPath	Complete description of a ReedsShepp path
ompl::base::SamplerSelector< T >	Depending on the type of state sampler, we have different allocation routines
ompl::base::ScopedState< T >	Definition of a scoped state
ompl::base::SolutionNonExistenceProof	Abstract definition of a proof for the non-existence of a solution to a problem
ompl::base::SolutionNonExistenceProofPtr	A shared pointer wrapper for ompl::base::SolutionNonExistenceProof
ompl::base::SpaceInformation	The base class for space information. This contains all the information about the space planning is done in. setup() needs to be called as well, before use
ompl::base::TypedSpaceInformation< SpaceType_ >
ompl::control::SpaceInformation	Space information containing necessary information for planning with controls. setup() needs to be called before use
ompl::control::LTLSpaceInformation
ompl::base::SpaceInformationPtr	A shared pointer wrapper for ompl::base::SpaceInformation
ompl::base::State	Definition of an abstract state
ompl::base::CompoundState	Definition of a compound state
ompl::base::MorseStateSpace::StateType	MORSE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for
ompl::base::SE2StateSpace::StateType	A state in SE(2): (x, y, yaw)
ompl::base::SE3StateSpace::StateType	A state in SE(3): position = (x, y, z), quaternion = (x, y, z, w)
ompl::control::OpenDEStateSpace::StateType	OpenDE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for
ompl::base::DiscreteStateSpace::StateType	The definition of a discrete state
ompl::base::RealVectorStateSpace::StateType	The definition of a state in Rn
ompl::base::SO2StateSpace::StateType	The definition of a state in SO(2)
ompl::base::SO3StateSpace::StateType	The definition of a state in SO(3) represented as a unit quaternion
ompl::base::TimeStateSpace::StateType	The definition of a time state
ompl::base::StatePropagatorPtr	A shared pointer wrapper for ompl::control::StatePropagator
ompl::base::StateSampler	Abstract definition of a state space sampler
ompl::base::CForestStateSampler	Extended state sampler to use with the CForest planning algorithm. It wraps the user-specified state sampler
ompl::base::CompoundStateSampler	Definition of a compound state sampler. This is useful to construct samplers for compound states
ompl::base::DiscreteStateSampler	State space sampler for discrete states
ompl::base::InformedStateSampler	A wrapper class that allows an InformedSampler to be used as a StateSampler
ompl::base::PrecomputedStateSampler	State space sampler for discrete states
ompl::base::RealVectorStateSampler	State sampler for the Rn state space
ompl::base::SO2StateSampler	State space sampler for SO(2)
ompl::base::SO3StateSampler	State space sampler for SO(3), using quaternion representation
ompl::base::SubspaceStateSampler	Construct a sampler that samples only within a subspace of the space
ompl::base::TimeStateSampler	State space sampler for time
ompl::base::StateSamplerArray< T >	Class to ease the creation of a set of samplers. This is especially useful for multi-threaded planners
ompl::base::StateSamplerPtr	A shared pointer wrapper for ompl::base::StateSampler
ompl::base::StateSpace	Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined
ompl::base::CForestStateSpaceWrapper	State space wrapper to use together with CForest. It adds some functionalities to the regular state spaces necessary to CForest
ompl::base::CompoundStateSpace	A space to allow the composition of state spaces
ompl::base::MorseStateSpace	State space representing MORSE states
ompl::base::SE2StateSpace	A state space representing SE(2)
ompl::base::DubinsStateSpace	An SE(2) state space where distance is measured by the length of Dubins curves
ompl::base::ReedsSheppStateSpace	An SE(2) state space where distance is measured by the length of Reeds-Shepp curves
ompl::base::SE3StateSpace	A state space representing SE(3)
ompl::control::OpenDEStateSpace	State space representing OpenDE states
ompl::base::DiscreteStateSpace	A space representing discrete states; i.e. there are a small number of discrete states the system can be in. States are represented as integers [lowerBound, upperBound], where lowerBound and upperBound are inclusive. States do not wrap around; i.e. the distance between state lowerBound and state upperBound is upperBound-lowerBound. The dimension of the space is 1
ompl::base::RealVectorStateSpace	A state space representing Rn. The distance function is the L2 norm
ompl::base::SO2StateSpace	A state space representing SO(2). The distance function and interpolation take into account angle wrapping
ompl::base::SO3StateSpace	A state space representing SO(3). The internal representation is done with quaternions. The distance between states is the angle between quaternions and interpolation is done with slerp
ompl::base::TimeStateSpace	A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op, satisfiesBounds() always returns true, sampling uniform time states always produces time 0 and getMaximumExtent() returns 1. If time is bounded (setBounds() has been previously called), the state space behaves as expected. After construction, the state space is unbounded. isBounded() can be used to check if the state space is bounded or not
ompl::base::StateSpace::SubstateLocation	Representation of the address of a substate in a state. This structure stores the indexing information needed to access a particular substate of a state
ompl::base::StateSpace::ValueLocation	Representation of the address of a value in a state. This structure stores the indexing information needed to access elements of a state (no pointer values are stored)
ompl::base::StateSpacePtr	A shared pointer wrapper for ompl::base::StateSpace
ompl::base::StateStorage	Manage loading and storing for a set of states of a specified state space
ompl::base::StateStorageWithMetadata< M >	State storage that allows storing state metadata as well
ompl::base::StateStorage::Header	Information stored at the beginning of the archive
ompl::base::StateValidityChecker	Abstract definition for a class checking the validity of states. The implementation of this class must be thread safe
ompl::base::AllValidStateValidityChecker	The simplest state validity checker: all states are valid
ompl::base::MorseStateValidityChecker	The simplest state validity checker: all states are valid if they are within bounds
ompl::base::TypedStateValidityChecker< SpaceType_ >
ompl::control::OpenDEStateValidityChecker	The simplest state validity checker: all states are valid
ompl::base::StateValidityCheckerPtr	A shared pointer wrapper for ompl::base::StateValidityChecker
ompl::base::StateValidityCheckerSpecs	Properties that a state validity checker may have
ompl::base::ThunderRetrieveRepairPtr	A shared pointer wrapper for ompl::base::ThunderRetrieveRepair
ompl::base::ValidStateSampler	Abstract definition of a state sampler
ompl::base::GaussianValidStateSampler	Generate valid samples using the Gaussian sampling strategy
ompl::base::MaximizeClearanceValidStateSampler	Generate valid samples randomly, but with a bias towards higher clearance
ompl::base::MinimumClearanceValidStateSampler	Generate valid samples randomly with extra requirement of min for clearance to nearest obstacle
ompl::base::ObstacleBasedValidStateSampler	Generate valid samples using obstacle based sampling. First sample an invalid state, then sample a valid state. Then, interpolate from the invalid state to the valid state, returning the first valid state encountered
ompl::base::UniformValidStateSampler	A state sampler that only samples valid states, uniformly
ompl::base::ValidStateSamplerPtr	A shared pointer wrapper for ompl::base::ValidStateSampler
ompl::BinaryHeap< _T, LessThan >	This class provides an implementation of an updatable min-heap. Using it is a bit cumbersome, as it requires keeping track of the BinaryHeap::Element* type, however, it should be as fast as it gets with an updatable heap
ompl::BinaryHeap< _T, LessThan >::Element	When an element is added to the heap, an instance of Element* is created. This instance contains the data that was added and internal information about the position of the data in the heap's internal storage
ompl::control::Automaton	A class to represent a deterministic finite automaton, each edge of which corresponds to a World. A system trajectory, by way of project() and worldAtRegion() in PropositionalDecomposition, determines a sequence of Worlds, which are read by an Automaton to determine whether a trajectory satisfies a given specification
ompl::control::Automaton::TransitionMap	Each automaton state has a transition map, which maps from a World to another automaton state. A set of true propositions correponds to the formula
ompl::control::AutomatonPtr	A shared pointer wrapper for ompl::control::Automaton
ompl::control::Control	Definition of an abstract control
ompl::control::CompoundControl	Definition of a compound control
ompl::control::DiscreteControlSpace::ControlType	The definition of a discrete control
ompl::control::RealVectorControlSpace::ControlType	The definition of a control in Rn
ompl::control::ControlSampler	Abstract definition of a control sampler. Motion planners that need to sample controls will call functions from this class. Planners should call the versions of sample() and sampleNext() with most arguments, whenever this information is available
KoulesControlSampler
ompl::control::CompoundControlSampler	Definition of a compound control sampler. This is useful to construct samplers for compound controls
ompl::control::DiscreteControlSampler	Control space sampler for discrete controls
ompl::control::RealVectorControlUniformSampler	Uniform sampler for the Rn state space
ompl::control::ControlSamplerPtr	A shared pointer wrapper for ompl::control::ControlSampler
ompl::control::ControlSpace	A control space representing the space of applicable controls
ompl::control::CompoundControlSpace	A control space to allow the composition of control spaces
ompl::control::DiscreteControlSpace	A space representing discrete controls; i.e. there are a small number of discrete controls the system can react to. Controls are represented as integers [lowerBound, upperBound], where lowerBound and upperBound are inclusive
ompl::control::RealVectorControlSpace	A control space representing Rn
KoulesControlSpace
ompl::control::MorseControlSpace	Representation of controls applied in MORSE environments. This is an array of double values
ompl::control::OpenDEControlSpace	Representation of controls applied in OpenDE environments. This is an array of double values
ompl::control::ControlSpacePtr	A shared pointer wrapper for ompl::control::ControlSpace
ompl::control::Decomposition	A Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are denoted by integers
ompl::control::GridDecomposition	A GridDecomposition is a Decomposition implemented using a grid
ompl::control::PropositionalDecomposition	A propositional decomposition wraps a given Decomposition with a region-to-proposition assignment operator. Each region in the decomposition has a corresponding World
ompl::control::PropositionalTriangularDecomposition	A PropositionalTriangularDecomposition is a triangulation that ignores obstacles and respects propositional regions of interest. Practically speaking, it is both a TriangularDecomposition and a PropositionalDecomposition, but it is implemented without using multiple inheritance
ompl::control::TriangularDecomposition	A TriangularDecomposition is a triangulation that ignores obstacles
ompl::control::DecompositionPtr	A shared pointer wrapper for ompl::control::Decomposition
ompl::control::DirectedControlSampler	Abstract definition of a directed control sampler. Motion planners that need to sample controls that take the system to a desired direction will call functions from this class. Planners should call the versions of sampleTo() with most arguments, whenever this information is available. If no direction information is available, the use of a ControlSampler is perhaps more appropriate
KoulesDirectedControlSampler
ompl::control::SimpleDirectedControlSampler	Implementation of a simple directed control sampler. This is a basic implementation that does not actually take direction into account and builds upon ControlSampler. Instead, a set of k random controls are sampled, and the control that gets the system closest to the target state is returned
ompl::control::SteeredControlSampler	Abstract definition of a steered control sampler. It uses the steering function in a state propagator to find the controls that drive from one state to another
ompl::control::DirectedControlSamplerPtr	A shared pointer wrapper for ompl::control::DirectedControlSampler
ompl::control::EST::Motion	Representation of a motion
ompl::control::EST::MotionInfo	A struct containing an array of motions and a corresponding PDF element
ompl::control::EST::TreeData	The data contained by a tree of exploration
ompl::control::KPIECE1::CellData	The data held by a cell in the grid of motions
ompl::control::KPIECE1::CloseSample	Information about a known good sample (closer to the goal than others)
ompl::control::KPIECE1::CloseSamples	Bounded set of good samples
ompl::control::KPIECE1::Motion	Representation of a motion for this algorithm
ompl::control::KPIECE1::OrderCellsByImportance	Definintion of an operator passed to the Grid structure, to order cells by importance
ompl::control::KPIECE1::TreeData	The data defining a tree of motions for this algorithm
ompl::control::LTLPlanner::Motion	Representation of a motion
ompl::control::LTLPlanner::ProductGraphStateInfo	A structure to hold measurement information for a high-level state, as well as the set of tree motions belonging to that high-level state. Exactly one ProductGraphStateInfo will exist for each ProductGraph::State
ompl::control::LTLProblemDefinitionPtr	A shared pointer wrapper for ompl::control::LTLProblemDefinition
ompl::control::LTLSpaceInformationPtr	A shared pointer wrapper for ompl::control::LTLSpaceInformation
ompl::control::ODESolver	Abstract base class for an object that can solve ordinary differential equations (ODE) of the type q' = f(q,u) using numerical integration. Classes deriving from this must implement the solve method. The user must supply the ODE to solve
ompl::control::ODEAdaptiveSolver< Solver >	Adaptive step size solver for ordinary differential equations of the type q' = f(q, u), where q is the current state of the system and u is a control applied to the system. The maximum integration error is bounded in this approach. Solver is the numerical integration method used to solve the equations, and must implement the error stepper concept from boost::numeric::odeint. The default is a fifth order Runge-Kutta Cash-Karp method with a fourth order error bound
ompl::control::ODEBasicSolver< Solver >	Basic solver for ordinary differential equations of the type q' = f(q, u), where q is the current state of the system and u is a control applied to the system. StateType defines the container object describing the state of the system. Solver is the numerical integration method used to solve the equations. The default is a fourth order Runge-Kutta method. This class wraps around the simple stepper concept from boost::numeric::odeint
ompl::control::ODEErrorSolver< Solver >	Solver for ordinary differential equations of the type q' = f(q, u), where q is the current state of the system and u is a control applied to the system. StateType defines the container object describing the state of the system. Solver is the numerical integration method used to solve the equations. The default is a fifth order Runge-Kutta Cash-Karp method with a fourth order error bound. This class wraps around the error stepper concept from boost::numeric::odeint
ompl::control::ODESolverPtr	A shared pointer wrapper for ompl::control::ODESolver
ompl::control::OpenDEEnvironment	This class contains the OpenDE constructs OMPL needs to know about when planning
ompl::control::OpenDEEnvironmentPtr	A shared pointer wrapper for ompl::control::OpenDEEnvironment
ompl::control::PDST::Cell	Cell is a Binary Space Partition
ompl::control::PDST::Motion	Class representing the tree of motions exploring the state space
ompl::control::PDST::MotionCompare	Comparator used to order motions in the priority queue
ompl::control::ProductGraph	A ProductGraph represents the weighted, directed, graph-based Cartesian product of a PropositionalDecomposition object, an Automaton corresponding to a co-safe LTL specification, and an Automaton corresponding to a safe LTL specification
ompl::control::ProductGraph::Edge
ompl::control::ProductGraph::State	A State of a ProductGraph represents a vertex in the graph-based Cartesian product represented by the ProductGraph. A State is simply a tuple consisting of a PropositionalDecomposition region, a co-safe Automaton state, and a safe Automaton state
ompl::control::ProductGraphPtr	A shared pointer wrapper for ompl::control::ProductGraph
ompl::control::PropositionalDecompositionPtr	A shared pointer wrapper for ompl::control::PropositionalDecomposition
ompl::control::RRT::Motion	Representation of a motion
ompl::control::SimpleSetup	Create the set of classes typically needed to solve a control problem
ompl::control::MorseSimpleSetup	Create the set of classes typically needed to solve a control problem when forward propagation is computed with MORSE
ompl::control::OpenDESimpleSetup	Create the set of classes typically needed to solve a control problem when forward propagation is computed with OpenDE
ompl::control::SimpleSetupPtr	A shared pointer wrapper for ompl::control::SimpleSetup
ompl::control::SpaceInformationPtr	A shared pointer wrapper for ompl::control::SpaceInformation
ompl::control::SST::Motion	Representation of a motion
ompl::control::SST::Witness
ompl::control::StatePropagator	Model the effect of controls on system states
KoulesStatePropagator
ompl::control::MorseStatePropagator	State propagation with MORSE. Only forward propagation is possible
ompl::control::OpenDEStatePropagator	State propagation with OpenDE. Only forward propagation is possible
ompl::control::Syclop::Adjacency	Representation of an adjacency (a directed edge) between two regions in the Decomposition assigned to Syclop
ompl::control::Syclop::Defaults	Contains default values for Syclop parameters
ompl::control::Syclop::Motion	Representation of a motion
ompl::control::Syclop::Region	Representation of a region in the Decomposition assigned to Syclop
ompl::control::TriangularDecomposition::Polygon
ompl::control::TriangularDecomposition::Triangle
ompl::control::TriangularDecomposition::Vertex
ompl::control::World	A class to represent an assignment of boolean values to propositions. A World can be partially restrictive, i.e., some propositions do not have to be assigned a value, in which case it can take on any value. Our notion of a World is similar to a set of truth assignments in propositional logic
ompl::DynamicSSSP
ompl::FLANNDistance< _T >	Wrapper class to allow FLANN access to the NearestNeighbors::distFun_ callback function
ompl::geometric::BFMT::BiDirMotion	Representation of a bidirectional motion
ompl::geometric::BFMT::BiDirMotionCompare	Comparator used to order motions in a binary heap
ompl::geometric::BFMT::CostIndexCompare
ompl::geometric::BiEST::Motion	The definition of a motion
ompl::geometric::BiTRRT::Motion	Representation of a motion in the search tree
ompl::geometric::BITstar::IdGenerator	An ID generator class for vertex IDs
ompl::geometric::BITstar::IntegratedQueue	A queue of edges to be processed that integrates both the expansion of Vertices and the ordering of the resulting edges
ompl::geometric::BITstar::Vertex	The vertex of the underlying graphs in BIT*
ompl::geometric::BKPIECE1::Motion	Representation of a motion for this algorithm
ompl::geometric::Discretization< Motion >	One-level discretization used for KPIECE
ompl::geometric::Discretization< Motion >::CellData	The data held by a cell in the grid of motions
ompl::geometric::Discretization< Motion >::OrderCellsByImportance	Definintion of an operator passed to the Grid structure, to order cells by importance
ompl::geometric::DynamicTimeWarpPtr	A shared pointer wrapper for ompl::tools::DynamicTimeWarp
ompl::geometric::EST::Motion	The definition of a motion
ompl::geometric::ExperienceSetupPtr	A shared pointer wrapper for ompl::geometric::ExperienceSetup
ompl::geometric::FMT::CostIndexCompare
ompl::geometric::FMT::Motion	Representation of a motion
ompl::geometric::FMT::MotionCompare	Comparator used to order motions in a binary heap
ompl::geometric::GeneticSearch	Genetic Algorithm for searching valid states
ompl::geometric::HillClimbing	Hill Climbing search
ompl::geometric::KPIECE1::Motion	Representation of a motion for this algorithm
ompl::geometric::KStrategy< Milestone >
ompl::geometric::KBoundedStrategy< Milestone >	Return at most k neighbors, as long as they are also within a specified bound
ompl::geometric::KStarStrategy< Milestone >	Make the minimal number of connections required to ensure asymptotic optimality
ompl::geometric::LazyLBTRRT::CostEstimatorApx
ompl::geometric::LazyLBTRRT::CostEstimatorLb
ompl::geometric::LazyLBTRRT::Motion	Representation of a motion
ompl::geometric::LazyPRM::edge_flags_t
ompl::geometric::LazyPRM::vertex_component_t
ompl::geometric::LazyPRM::vertex_flags_t
ompl::geometric::LazyPRM::vertex_state_t
ompl::geometric::LazyRRT::Motion	Representation of a motion
ompl::geometric::LBKPIECE1::Motion	Representation of a motion for this algorithm
ompl::geometric::LBTRRT::IsLessThan	Comparator - metric is the cost to reach state via a specific state
ompl::geometric::LBTRRT::IsLessThanLB	Comparator - metric is the lower bound cost
ompl::geometric::LBTRRT::Motion	Representation of a motion
ompl::geometric::LightningDBPtr	A shared pointer wrapper for ompl::tools::LightningDB
ompl::geometric::LightningPtr	A shared pointer wrapper for ompl::tools::Lightning
ompl::geometric::PathHybridization	Given multiple geometric paths, attempt to combine them in order to obtain a shorter solution
ompl::geometric::PathHybridizationPtr	A shared pointer wrapper for ompl::geometric::PathHybridization
ompl::geometric::PathSimplifier	This class contains routines that attempt to simplify geometric paths
ompl::geometric::PathSimplifierPtr	A shared pointer wrapper for ompl::geometric::PathSimplifier
ompl::geometric::PDST::Cell	Cell is a Binary Space Partition
ompl::geometric::PDST::Motion	Class representing the tree of motions exploring the state space
ompl::geometric::PDST::MotionCompare	Comparator used to order motions in the priority queue
ompl::geometric::PRM::vertex_state_t
ompl::geometric::PRM::vertex_successful_connection_attempts_t
ompl::geometric::PRM::vertex_total_connection_attempts_t
ompl::geometric::ProjEST::Motion	The definition of a motion
ompl::geometric::ProjEST::MotionInfo	A struct containing an array of motions and a corresponding PDF element
ompl::geometric::ProjEST::TreeData	The data contained by a tree of exploration
ompl::geometric::pRRT::Motion
ompl::geometric::pRRT::SolutionInfo
ompl::geometric::pSBL::Motion
ompl::geometric::pSBL::MotionInfo	A struct containing an array of motions and a corresponding PDF element
ompl::geometric::pSBL::MotionsToBeRemoved
ompl::geometric::pSBL::PendingRemoveMotion
ompl::geometric::pSBL::SolutionInfo
ompl::geometric::pSBL::TreeData
ompl::geometric::RRT::Motion	Representation of a motion
ompl::geometric::RRTConnect::Motion	Representation of a motion
ompl::geometric::RRTConnect::TreeGrowingInfo	Information attached to growing a tree of motions (used internally)
ompl::geometric::RRTstar::CostIndexCompare
ompl::geometric::RRTstar::Motion	Representation of a motion
ompl::geometric::SBL::Motion	Representation of a motion
ompl::geometric::SBL::MotionInfo	A struct containing an array of motions and a corresponding PDF element
ompl::geometric::SBL::TreeData	Representation of a search tree. Two instances will be used. One for start and one for goal
ompl::geometric::SimpleSetup	Create the set of classes typically needed to solve a geometric problem
ompl::tools::ExperienceSetup	Create the set of classes typically needed to solve a geometric problem
ompl::tools::Lightning	Built off of SimpleSetup but provides support for planning from experience
ompl::tools::Thunder	Built off of SimpleSetup but provides support for planning from experience
ompl::geometric::SimpleSetupPtr	A shared pointer wrapper for ompl::geometric::SimpleSetup
ompl::geometric::SPARS::vertex_color_t
ompl::geometric::SPARS::vertex_interface_list_t
ompl::geometric::SPARS::vertex_list_t
ompl::geometric::SPARS::vertex_representative_t
ompl::geometric::SPARS::vertex_state_t
ompl::geometric::SPARSdb::CandidateSolution	Struct for passing around partially solved solutions
ompl::geometric::SPARSdb::edge_collision_state_t
ompl::geometric::SPARSdb::foundGoalException
ompl::geometric::SPARSdb::InterfaceData	Interface information storage class, which does bookkeeping for criterion four
ompl::geometric::SPARSdb::InterfaceHashStruct
ompl::geometric::SPARSdb::vertex_color_t
ompl::geometric::SPARSdb::vertex_interface_data_t
ompl::geometric::SPARSdb::vertex_state_t
ompl::geometric::SPARStwo::InterfaceData	Interface information storage class, which does bookkeeping for criterion four
ompl::geometric::SPARStwo::vertex_color_t
ompl::geometric::SPARStwo::vertex_interface_data_t
ompl::geometric::SPARStwo::vertex_state_t
ompl::geometric::SST::Motion	Representation of a motion
ompl::geometric::SST::Witness
ompl::geometric::STRIDE::Motion	The definition of a motion
ompl::geometric::ThunderDBPtr	A shared pointer wrapper for ompl::tools::ThunderDB
ompl::geometric::ThunderPtr	A shared pointer wrapper for ompl::tools::Thunder
ompl::geometric::TRRT::Motion	Representation of a motion
ompl::GreedyKCenters< _T >	An instance of this class can be used to greedily select a given number of representatives from a set of data points that are all far apart from each other
ompl::Grid< _T >	Representation of a simple grid
ompl::GridN< _T >	Representation of a grid where cells keep track of how many neighbors they have
ompl::GridB< _T, LessThanExternal, LessThanInternal >	This class defines a grid that keeps track of its boundary: it distinguishes between interior and exterior cells
ompl::Grid< _T >::Cell	Definition of a cell in this grid
ompl::GridN< _T >::Cell	Definition of a cell in this grid
ompl::Grid< _T >::EqualCoordPtr	Equality operator for coordinate pointers
ompl::Grid< _T >::HashFunCoordPtr	Hash function for coordinates; see http://www.cs.hmc.edu/~geoff/classes/hmc.cs070.200101/homework10/hashfuncs.html
ompl::Grid< _T >::SortComponents	Helper to sort components by size
ompl::GridB< _T, LessThanExternal, LessThanInternal >::LessThanExternalCell	Define order for external cells
ompl::GridB< _T, LessThanExternal, LessThanInternal >::LessThanInternalCell	Define order for internal cells
ompl::LPAstarOnGraph< Graph, Heuristic >
ompl::msg::OutputHandler	Generic class to handle output from a piece of code
ompl::msg::OutputHandlerFile	Implementation of OutputHandler that saves messages in a file
ompl::msg::OutputHandlerSTD	Default implementation of OutputHandler. This sends the information to the console
ompl::NearestNeighbors< _T >	Abstract representation of a container that can perform nearest neighbors queries
ompl::NearestNeighborsFLANN< _T, _Dist >	Wrapper class for nearest neighbor data structures in the FLANN library
ompl::NearestNeighborsFLANNHierarchicalClustering< _T, _Dist >
ompl::NearestNeighborsFLANNLinear< _T, _Dist >
ompl::NearestNeighborsGNAT< _T >	Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search
ompl::NearestNeighborsGNATNoThreadSafety< _T >	Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search
ompl::NearestNeighborsLinear< _T >	A nearest neighbors datastructure that uses linear search
ompl::NearestNeighborsSqrtApprox< _T >	A nearest neighbors datastructure that uses linear search. The linear search is done over sqrt(n) elements only. (Every sqrt(n) elements are skipped)
ompl::NearestNeighborsGNAT< _T >::Node	The class used internally to define the GNAT
ompl::NearestNeighborsGNATNoThreadSafety< _T >::Node	The class used internally to define the GNAT
ompl::PDF< _T >	A container that supports probabilistic sampling over weighted data
ompl::PDF< _T >::Element	A class that will hold data contained in the PDF
ompl::PPM	Load and save .ppm files - "portable pixmap format" an image file formats designed to be easily exchanged between platforms
ompl::PPM::Color
ompl::ProlateHyperspheroid	A class describing a prolate hyperspheroid, a special symmetric type of n-dimensional ellipse, for use in direct informed sampling for problems seeking to minimize path length
ompl::RNG	Random number generation. An instance of this class cannot be used by multiple threads at once (member functions are not const). However, the constructor is thread safe and different instances can be used safely in any number of threads. It is also guaranteed that all created instances will have a different random seed
ompl::tools::Benchmark	Benchmark a set of planners on a problem instance
ompl::tools::Benchmark::CompleteExperiment	This structure holds experimental data for a set of planners
ompl::tools::Benchmark::PlannerExperiment	The data collected after running a planner multiple times
ompl::tools::Benchmark::Request	Representation of a benchmark request
ompl::tools::Benchmark::Status	This structure contains information about the activity of a benchmark instance. If the instance is running, it is possible to find out information such as which planner is currently being tested or how much
ompl::tools::DynamicTimeWarp
ompl::tools::ExperienceSetup::ExperienceLog	Single entry for the csv data logging file
ompl::tools::ExperienceSetup::ExperienceStats	Simple logging functionality encapsled in a struct
ompl::tools::LightningDB	Save and load entire paths from file
ompl::tools::OptimizePlan	Run one or more motion planners repeatedly (using a specified number of threads), and hybridize solutions, trying to optimize solutions
ompl::tools::ParallelPlan	This is a utility that allows executing multiple planners in parallel, until one or more find a solution. Optionally, the results are automatically hybridized using ompl::geometric::PathHybridization. Between calls to solve(), the set of known solutions (maintained by ompl::base::Goal) are not cleared, and neither is the hybridization datastructure
ompl::tools::PlannerMonitor	Monitor the properties a planner exposes, as the planner is running. Dump the planner properties to a stream, periodically
ompl::tools::Profiler	This is a simple thread-safe tool for counting time spent in various chunks of code. This is different from external profiling tools in that it allows the user to count time spent in various bits of code (sub-function granularity) or count how many times certain pieces of code are executed
ompl::tools::Profiler::ScopedBlock	This instance will call Profiler::begin() when constructed and Profiler::end() when it goes out of scope
ompl::tools::Profiler::ScopedStart	This instance will call Profiler::start() when constructed and Profiler::stop() when it goes out of scope. If the profiler was already started, this block's constructor and destructor take no action
ompl::tools::SelfConfig	This class contains methods that automatically configure various parameters for motion planning. If expensive computation is performed, the results are cached
ompl::tools::ThunderDB	Save and load entire paths from file
ompl::PDF< GridCell * >
ompl::PDF< int >
ompl::PDF< ompl::control::LTLPlanner::Motion * >
ompl::PDF< ompl::control::ProductGraph::State * >
ompl::PDF< ompl::geometric::BiEST::Motion * >
ompl::PDF< ompl::geometric::EST::Motion * >
PlannerDataGraph
ompl::base::PlannerData::Graph	Wrapper class for the Boost.Graph representation of the PlannerData. This class inherits from a boost::adjacency_list Graph structure
Point2DPlanning.Plane2DEnvironment
ReadablePropertyMapConcept
ompl::geometric::SPARSdb::edgeWeightMap
ompl::base::SamplerSelector< base::StateSampler >
ompl::base::SamplerSelector< base::ValidStateSampler >
ompl::base::StateSamplerArray< base::StateSampler >
ompl::base::StateSamplerArray< base::ValidStateSampler >
std::exception	STL class
std::runtime_error	STL class
ompl::Exception	The exception type for ompl
std::hash< std::pair< U, V > >
std::vector< T >	STL class
ompl::Permutation	A permutation of indices into an array