BKPIECE1.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_BKPIECE1_
38 #define OMPL_GEOMETRIC_PLANNERS_KPIECE_BKPIECE1_
39 
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include "ompl/geometric/planners/kpiece/Discretization.h"
42 
43 namespace ompl
44 {
45  namespace geometric
46  {
73  class BKPIECE1 : public base::Planner
74  {
75  public:
78 
79  ~BKPIECE1() override;
80 
83  void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
84  {
85  projectionEvaluator_ = projectionEvaluator;
86  }
87 
90  void setProjectionEvaluator(const std::string &name)
91  {
92  projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
93  }
94 
97  {
98  return projectionEvaluator_;
99  }
100 
106  void setRange(double distance)
107  {
108  maxDistance_ = distance;
109  }
110 
112  double getRange() const
113  {
114  return maxDistance_;
115  }
116 
123  void setBorderFraction(double bp)
124  {
125  dStart_.setBorderFraction(bp);
126  dGoal_.setBorderFraction(bp);
127  }
128 
131  double getBorderFraction() const
132  {
133  return dStart_.getBorderFraction();
134  }
135 
141  {
143  }
144 
148  {
150  }
151 
158  void setMinValidPathFraction(double fraction)
159  {
160  minValidPathFraction_ = fraction;
161  }
162 
164  double getMinValidPathFraction() const
165  {
166  return minValidPathFraction_;
167  }
168 
169  void setup() override;
170 
172  void clear() override;
173 
174  void getPlannerData(base::PlannerData &data) const override;
175 
176  protected:
178  class Motion
179  {
180  public:
181  Motion() = default;
182 
184  Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
185  {
186  }
187 
188  ~Motion() = default;
189 
191  const base::State *root{nullptr};
192 
194  base::State *state{nullptr};
195 
197  Motion *parent{nullptr};
198  };
199 
201  void freeMotion(Motion *motion);
202 
205 
208 
211 
214 
219 
226 
228  double maxDistance_{0.};
229 
232 
234  std::pair<base::State *, base::State *> connectionPoint_{nullptr, nullptr};
235  };
236  }
237 }
238 
239 #endif
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: BKPIECE1.h:96
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: BKPIECE1.h:106
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
Discretization< Motion > dGoal_
The goal tree.
Definition: BKPIECE1.h:213
const base::State * root
The root state (start state) that leads to this motion.
Definition: BKPIECE1.h:191
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
Definition: BKPIECE1.h:234
A shared pointer wrapper for ompl::base::ValidStateSampler.
Bi-directional KPIECE with one level of discretization.
Definition: BKPIECE1.h:73
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition: BKPIECE1.h:90
void freeMotion(Motion *motion)
Free the memory for a motion.
Definition: BKPIECE1.cpp:241
base::ProjectionEvaluatorPtr projectionEvaluator_
The employed projection evaluator.
Definition: BKPIECE1.h:207
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state...
Definition: BKPIECE1.h:83
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: BKPIECE1.cpp:66
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
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: BKPIECE1.cpp:258
double failedExpansionScoreFactor_
When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...
Definition: BKPIECE1.h:218
Discretization< Motion > dStart_
The start tree.
Definition: BKPIECE1.h:210
RNG rng_
The random number generator.
Definition: BKPIECE1.h:231
double getFailedExpansionCellScoreFactor() const
Get the factor that is multiplied to a cell&#39;s score if extending a motion from that cell failed...
Definition: BKPIECE1.h:147
double getRange() const
Get the range the planner is using.
Definition: BKPIECE1.h:112
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: BKPIECE1.h:184
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: BKPIECE1.h:228
One-level discretization used for KPIECE.
Base class for a planner.
Definition: Planner.h:223
Representation of a motion for this algorithm.
Definition: BKPIECE1.h:178
A shared pointer wrapper for ompl::base::ProjectionEvaluator.
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A shared pointer wrapper for ompl::base::SpaceInformation.
void setMinValidPathFraction(double fraction)
When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion. This function sets the minimum acceptable fraction.
Definition: BKPIECE1.h:158
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: BKPIECE1.cpp:248
Definition of an abstract state.
Definition: State.h:49
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: BKPIECE1.cpp:82
void setFailedExpansionCellScoreFactor(double factor)
When extending a motion from a cell, the extension can be successful or it can fail. If the extension fails, the score of the cell is multiplied by factor. These number should be in the range (0, 1].
Definition: BKPIECE1.h:140
base::State * state
The state contained by this motion.
Definition: BKPIECE1.h:194
Motion * parent
The parent motion in the exploration tree.
Definition: BKPIECE1.h:197
double getBorderFraction() const
Get the fraction of time to focus exploration on boundary.
Definition: BKPIECE1.h:131
double getMinValidPathFraction() const
Get the value of the fraction set by setMinValidPathFraction()
Definition: BKPIECE1.h:164
double minValidPathFraction_
When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion.
Definition: BKPIECE1.h:225
BKPIECE1(const base::SpaceInformationPtr &si)
Constructor.
Definition: BKPIECE1.cpp:42
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:406
void setBorderFraction(double bp)
Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...
Definition: BKPIECE1.h:123
base::ValidStateSamplerPtr sampler_
The employed state sampler.
Definition: BKPIECE1.h:204