BiEST.h
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34 
35 /* Author: Ryan Luna */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_EST_BIEST_
38 #define OMPL_GEOMETRIC_PLANNERS_EST_BIEST_
39 
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include "ompl/datastructures/NearestNeighbors.h"
42 #include "ompl/datastructures/PDF.h"
43 #include <vector>
44 
45 namespace ompl
46 {
47  namespace geometric
48  {
65  class BiEST : public base::Planner
66  {
67  public:
70 
71  ~BiEST() override;
72 
74 
75  void clear() override;
76 
82  void setRange(double distance)
83  {
84  maxDistance_ = distance;
85 
86  // Make the neighborhood radius smaller than sampling range to
87  // keep probabilities relatively high for rejection sampling
89  }
90 
92  double getRange() const
93  {
94  return maxDistance_;
95  }
96 
97  void setup() override;
98 
99  void getPlannerData(base::PlannerData &data) const override;
100 
101  protected:
103  class Motion
104  {
105  public:
106  Motion() = default;
107 
110  : state(si->allocState())
111  {
112  }
113 
114  ~Motion() = default;
115 
117  base::State *state{nullptr};
118 
120  Motion *parent{nullptr};
121 
124 
126  const base::State *root{nullptr};
127  };
128 
130  double distanceFunction(const Motion *a, const Motion *b) const
131  {
132  return si_->distance(a->state, b->state);
133  }
134 
136  std::shared_ptr<NearestNeighbors<Motion *>> nnStart_;
137  std::shared_ptr<NearestNeighbors<Motion *>> nnGoal_;
138 
140  std::vector<Motion *> startMotions_;
141  std::vector<Motion *> goalMotions_;
142 
145  PDF<Motion *> goalPdf_;
146 
148  void freeMemory();
149 
151  void addMotion(Motion *motion, std::vector<Motion *> &motions, PDF<Motion *> &pdf,
152  const std::shared_ptr<NearestNeighbors<Motion *>> &nn,
153  const std::vector<Motion *> &neighbors);
154 
157 
159  double maxDistance_{0.0};
160 
163 
166 
168  std::pair<base::State *, base::State *> connectionPoint_{nullptr,nullptr};
169  };
170  }
171 }
172 
173 #endif
PDF< Motion * >::Element * element
A pointer to the corresponding element in the probability distribution function.
Definition: BiEST.h:123
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
std::vector< Motion * > startMotions_
The set of all states in the start tree.
Definition: BiEST.h:140
base::ValidStateSamplerPtr sampler_
Valid state sampler.
Definition: BiEST.h:156
A shared pointer wrapper for ompl::base::ValidStateSampler.
double getRange() const
Get the range the planner is using.
Definition: BiEST.h:92
Motion * parent
The parent motion in the exploration tree.
Definition: BiEST.h:120
RNG rng_
The random number generator.
Definition: BiEST.h:165
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: BiEST.h:159
const base::State * root
The root node of the tree this motion is in.
Definition: BiEST.h:126
void freeMemory()
Free the memory allocated by this planner.
Definition: BiEST.cpp:103
A container that supports probabilistic sampling over weighted data.
Definition: PDF.h:48
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: BiEST.cpp:56
The definition of a motion.
Definition: BiEST.h:103
Base class for a planner.
Definition: Planner.h:223
base::State * state
The state contained by the motion.
Definition: BiEST.h:117
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: BiEST.cpp:120
BiEST(const base::SpaceInformationPtr &si)
Constructor.
Definition: BiEST.cpp:43
double nbrhoodRadius_
The radius considered for neighborhood.
Definition: BiEST.h:162
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:49
A class that will hold data contained in the PDF.
Definition: PDF.h:52
Abstract representation of a container that can perform nearest neighbors queries.
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: BiEST.cpp:299
void addMotion(Motion *motion, std::vector< Motion *> &motions, PDF< Motion *> &pdf, const std::shared_ptr< NearestNeighbors< Motion *>> &nn, const std::vector< Motion *> &neighbors)
Add a motion to the exploration tree.
Definition: BiEST.cpp:282
Bi-directional Expansive Space Trees.
Definition: BiEST.h:65
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: BiEST.h:130
PDF< Motion * > startPdf_
The probability distribution function over states in each tree.
Definition: BiEST.h:144
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: BiEST.cpp:84
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: BiEST.h:109
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
Definition: BiEST.h:168
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: BiEST.h:82
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:406
std::shared_ptr< NearestNeighbors< Motion * > > nnStart_
A nearest-neighbors datastructure containing the tree of motions.
Definition: BiEST.h:136