BiRLRT.h
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34 
35 /* Author: Ryan Luna */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_RLRT_BIRLRT_H_
38 #define OMPL_GEOMETRIC_PLANNERS_RLRT_BIRLRT_H_
39 
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include <vector>
42 
43 namespace ompl
44 {
45  namespace geometric
46  {
62  class BiRLRT : public base::Planner
64  {
65  public:
66  BiRLRT(const base::SpaceInformationPtr &si);
67 
68  virtual ~BiRLRT();
69 
70  virtual void getPlannerData(base::PlannerData &data) const;
71 
72  virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
73 
74  virtual void clear();
75 
77  void setRange(double distance)
78  {
79  range_ = distance;
80  }
81 
83  double getRange() const
84  {
85  return range_;
86  }
87 
90  void setMaxDistanceNear(double dNear)
91  {
92  maxDistNear_ = dNear;
93  }
94 
97  double getMaxDistanceNear() const
98  {
99  return maxDistNear_;
100  }
101 
105  bool getKeepLast() const
106  {
107  return keepLast_;
108  }
109 
114  void setKeepLast(bool keepLast)
115  {
116  keepLast_ = keepLast;
117  }
118 
119  virtual void setup();
120 
121  protected:
123  class Motion
124  {
125  public:
127  Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
128  {
129  }
130 
131  ~Motion() = default;
132 
134  base::State *state{nullptr};
135 
137  Motion *parent{nullptr};
138 
140  const base::State *root{nullptr};
141  };
142 
144  void freeMemory();
145 
148  bool growTreeRangeLimited(std::vector<Motion *> &tree, Motion *xmotion);
149 
152  bool growTreeKeepLast(std::vector<Motion *> &tree, Motion *xmotion,
153  std::pair<base::State *, double> &lastValid);
154 
160  int connectToTree(const Motion *motion, std::vector<Motion *> &tree);
161 
163  std::vector<Motion *> tStart_;
165  std::vector<Motion *> tGoal_;
166 
168  base::StateSamplerPtr sampler_;
169 
171  double range_{0.0};
172 
175  double maxDistNear_{0.0};
176 
178  RNG rng_;
179 
182  std::pair<base::State *, base::State *> connectionPoint_{nullptr, nullptr};
183 
184  bool keepLast_{false};
185  };
186 
187  } // namespace geometric
188 } // namespace ompl
189 
190 #endif
double maxDistNear_
The maximum distance (per dimension) when sampling near an existing configuration.
Definition: BiRLRT.h:271
bool getKeepLast() const
If true, the planner will not have the range limitation. Instead, if a collision is detected,...
Definition: BiRLRT.h:201
Motion * parent
The parent motion in the exploration tree.
Definition: BiRLRT.h:233
void freeMemory()
Free the memory allocated by this planner.
Definition: BiRLRT.cpp:78
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
Definition: BiRLRT.h:278
Definition of an abstract state.
Definition: State.h:114
int connectToTree(const Motion *motion, std::vector< Motion * > &tree)
Definition: BiRLRT.cpp:154
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: BiRLRT.cpp:58
void setKeepLast(bool keepLast)
Set whether the planner will use the range or keep last heuristic. If keepLast = false,...
Definition: BiRLRT.h:210
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: BiRLRT.cpp:66
void setRange(double distance)
Set the maximum distance between states in the tree.
Definition: BiRLRT.h:173
virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc)
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: BiRLRT.cpp:173
base::StateSamplerPtr sampler_
State sampler.
Definition: BiRLRT.h:264
const base::State * root
Pointer to the root of the tree this motion is connected to.
Definition: BiRLRT.h:236
double getMaxDistanceNear() const
Get the maximum distance (per dimension) when sampling near an existing state.
Definition: BiRLRT.h:193
base::State * state
The state contained by the motion.
Definition: BiRLRT.h:230
std::vector< Motion * > tStart_
Start tree.
Definition: BiRLRT.h:259
virtual void getPlannerData(base::PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: BiRLRT.cpp:299
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: BiRLRT.h:223
void setMaxDistanceNear(double dNear)
Set the maximum distance (per dimension) when sampling near an existing state.
Definition: BiRLRT.h:186
double getRange() const
Get the maximum distance between states in the tree.
Definition: BiRLRT.h:179
double range_
The maximum total length of a motion to be added to a tree.
Definition: BiRLRT.h:267
std::vector< Motion * > tGoal_
Goal tree.
Definition: BiRLRT.h:261
bool growTreeKeepLast(std::vector< Motion * > &tree, Motion *xmotion, std::pair< base::State *, double > &lastValid)
Try to grow the tree randomly. Return true if a new state was added.
Definition: BiRLRT.cpp:126
bool growTreeRangeLimited(std::vector< Motion * > &tree, Motion *xmotion)
Try to grow the tree randomly. Return true if a new state was added.
Definition: BiRLRT.cpp:98
RNG rng_
The random number generator.
Definition: BiRLRT.h:274
Main namespace. Contains everything in this library.
Definition: AppBase.h:22