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LazyRRT.h
1
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35
36/* Author: Ioan Sucan */
37
38#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_LAZY_RRT_
39#define OMPL_GEOMETRIC_PLANNERS_RRT_LAZY_RRT_
40
41#include "ompl/geometric/planners/PlannerIncludes.h"
42#include "ompl/datastructures/NearestNeighbors.h"
43#include <vector>
44
45namespace ompl
46{
47 namespace geometric
48 {
81 class LazyRRT : public base::Planner
82 {
83 public:
85 LazyRRT(const base::SpaceInformationPtr &si);
86
87 ~LazyRRT() override;
88
89 void getPlannerData(base::PlannerData &data) const override;
90
92
93 void clear() override;
94
104 void setGoalBias(double goalBias)
105 {
106 goalBias_ = goalBias;
107 }
108
110 double getGoalBias() const
111 {
112 return goalBias_;
113 }
114
120 void setRange(double distance)
121 {
122 maxDistance_ = distance;
123 }
124
126 double getRange() const
127 {
128 return maxDistance_;
129 }
130
132 template <template <typename T> class NN>
134 {
135 if (nn_ && nn_->size() != 0)
136 OMPL_WARN("Calling setNearestNeighbors will clear all states.");
137 clear();
138 nn_ = std::make_shared<NN<Motion *>>();
139 setup();
140 }
141
142 void setup() override;
143
144 protected:
146 class Motion
147 {
148 public:
149 Motion() = default;
150
152 Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
153 {
154 }
155
156 ~Motion() = default;
157
160
162 Motion *parent{nullptr};
163
165 bool valid{false};
166
168 std::vector<Motion *> children;
169 };
170
172 void freeMemory();
173
175 void removeMotion(Motion *motion);
176
178 double distanceFunction(const Motion *a, const Motion *b) const
179 {
180 return si_->distance(a->state, b->state);
181 }
182
184 base::StateSamplerPtr sampler_;
185
187 std::shared_ptr<NearestNeighbors<Motion *>> nn_;
188
191 double goalBias_{.05};
192
194 double maxDistance_{0.};
195
198
201 };
202 }
203}
204
205#endif
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Base class for a planner.
Definition: Planner.h:223
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:417
Definition of an abstract state.
Definition: State.h:50
Representation of a motion.
Definition: LazyRRT.h:147
std::vector< Motion * > children
The set of motions that descend from this one.
Definition: LazyRRT.h:168
Motion * parent
The parent motion in the exploration tree.
Definition: LazyRRT.h:162
base::State * state
The state contained by the motion.
Definition: LazyRRT.h:159
bool valid
Flag indicating whether this motion has been validated.
Definition: LazyRRT.h:165
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: LazyRRT.h:152
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition: LazyRRT.h:191
void setGoalBias(double goalBias)
Set the goal biasing.
Definition: LazyRRT.h:104
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: LazyRRT.h:133
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: LazyRRT.h:120
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: LazyRRT.h:200
void removeMotion(Motion *motion)
Remove a motion from the tree datastructure.
Definition: LazyRRT.cpp:207
double getGoalBias() const
Get the goal bias the planner is using.
Definition: LazyRRT.h:110
base::StateSamplerPtr sampler_
State sampler.
Definition: LazyRRT.h:184
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: LazyRRT.h:194
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: LazyRRT.cpp:235
double getRange() const
Get the range the planner is using.
Definition: LazyRRT.h:126
RNG rng_
The random number generator.
Definition: LazyRRT.h:197
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: LazyRRT.h:178
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: LazyRRT.h:187
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: LazyRRT.cpp:94
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: LazyRRT.cpp:55
void freeMemory()
Free the memory allocated by this planner.
Definition: LazyRRT.cpp:79
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: LazyRRT.cpp:69
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition: Console.h:66
Main namespace. Contains everything in this library.
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49