RRT-Connect (RRTConnect) More...
#include <RRTConnect.h>
Classes | |
class | Motion |
Representation of a motion. More... | |
struct | TreeGrowingInfo |
Information attached to growing a tree of motions (used internally) More... |
Public Member Functions | |
RRTConnect (const base::SpaceInformationPtr &si) | |
Constructor. | |
virtual void | getPlannerData (base::PlannerData &data) const |
Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between). | |
virtual base::PlannerStatus | solve (const base::PlannerTerminationCondition &ptc) |
Function that can solve the motion planning problem. This function can be called multiple times on the same problem, without calling clear() in between. This allows the planner to continue work for 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 ptc returns true. | |
virtual void | clear (void) |
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work. | |
void | setRange (double distance) |
Set the range the planner is supposed to use. | |
double | getRange (void) const |
Get the range the planner is using. | |
template<template< typename T > class NN> | |
void | setNearestNeighbors (void) |
Set a different nearest neighbors datastructure. | |
virtual void | setup (void) |
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceInformation::setup() if needed. This must be called before solving. | |
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Planner (const SpaceInformationPtr &si, const std::string &name) | |
Constructor. | |
virtual | ~Planner (void) |
Destructor. | |
template<class T > | |
T * | as (void) |
Cast this instance to a desired type. | |
template<class T > | |
const T * | as (void) const |
Cast this instance to a desired type. | |
const SpaceInformationPtr & | getSpaceInformation (void) const |
Get the space information this planner is using. | |
const ProblemDefinitionPtr & | getProblemDefinition (void) const |
Get the problem definition the planner is trying to solve. | |
const PlannerInputStates & | getPlannerInputStates (void) const |
Get the planner input states. | |
virtual void | setProblemDefinition (const ProblemDefinitionPtr &pdef) |
Set the problem definition for the planner. The problem needs to be set before calling solve(). Note: If this problem definition replaces a previous one, it may also be necessary to call clear(). | |
PlannerStatus | solve (const PlannerTerminationConditionFn &ptc, double checkInterval) |
Same as above except the termination condition is only evaluated at a specified interval. | |
PlannerStatus | solve (double solveTime) |
Same as above except the termination condition is solely a time limit: the number of seconds the algorithm is allowed to spend planning. | |
const std::string & | getName (void) const |
Get the name of the planner. | |
void | setName (const std::string &name) |
Set the name of the planner. | |
const PlannerSpecs & | getSpecs (void) const |
Return the specifications (capabilities of this planner) | |
virtual void | checkValidity (void) |
Check to see if the planner is in a working state (setup has been called, a goal was set, the input states seem to be in order). In case of error, this function throws an exception. | |
bool | isSetup (void) const |
Check if setup() was called for this planner. | |
ParamSet & | params (void) |
Get the parameters for this planner. | |
const ParamSet & | params (void) const |
Get the parameters for this planner. | |
virtual void | printProperties (std::ostream &out) const |
Print properties of the motion planner. | |
virtual void | printSettings (std::ostream &out) const |
Print information about the motion planner's settings. |
Protected Types | |
enum | GrowState { TRAPPED, ADVANCED, REACHED } |
The state of the tree after an attempt to extend it. More... | |
typedef boost::shared_ptr < NearestNeighbors< Motion * > > | TreeData |
A nearest-neighbor datastructure representing a tree of motions. |
Protected Member Functions | |
void | freeMemory (void) |
Free the memory allocated by this planner. | |
double | distanceFunction (const Motion *a, const Motion *b) const |
Compute distance between motions (actually distance between contained states) | |
GrowState | growTree (TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion) |
Grow a tree towards a random state. | |
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template<typename T , typename PlannerType , typename SetterType , typename GetterType > | |
void | declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter, const GetterType &getter) |
This function declares a parameter for this planner instance, and specifies the setter and getter functions. | |
template<typename T , typename PlannerType , typename SetterType > | |
void | declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter) |
This function declares a parameter for this planner instance, and specifies the setter function. |
Protected Attributes | |
base::StateSamplerPtr | sampler_ |
State sampler. | |
TreeData | tStart_ |
The start tree. | |
TreeData | tGoal_ |
The goal tree. | |
double | maxDistance_ |
The maximum length of a motion to be added to a tree. | |
RNG | rng_ |
The random number generator. | |
std::pair< base::State *, base::State * > | connectionPoint_ |
The pair of states in each tree connected during planning. Used for PlannerData computation. | |
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SpaceInformationPtr | si_ |
The space information for which planning is done. | |
ProblemDefinitionPtr | pdef_ |
The user set problem definition. | |
PlannerInputStates | pis_ |
Utility class to extract valid input states. | |
std::string | name_ |
The name of this planner. | |
PlannerSpecs | specs_ |
The specifications of the planner (its capabilities) | |
ParamSet | params_ |
A map from parameter names to parameter instances for this planner. This field is populated by the declareParam() function. | |
bool | setup_ |
Flag indicating whether setup() has been called. |
RRT-Connect (RRTConnect)
Definition at line 61 of file RRTConnect.h.
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protected |
The state of the tree after an attempt to extend it.
TRAPPED |
no progress has been made |
ADVANCED |
progress has been made towards the randomly sampled state |
REACHED |
the randomly sampled state was reached |
Definition at line 141 of file RRTConnect.h.
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inline |
Set the range the planner is supposed to use.
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.
Definition at line 81 of file RRTConnect.h.