LBTRRT.h
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34 
35 /* Author: Oren Salzman, Sertac Karaman, Ioan Sucan, Mark Moll */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_LBT_RRT_
38 #define OMPL_GEOMETRIC_PLANNERS_RRT_LBT_RRT_
39 
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include "ompl/base/OptimizationObjective.h"
42 #include "ompl/datastructures/NearestNeighbors.h"
43 #include "ompl/datastructures/DynamicSSSP.h"
44 
45 #include <fstream>
46 
47 namespace ompl
48 {
49  namespace geometric
50  {
68  class LBTRRT : public base::Planner
69  {
70  public:
72  LBTRRT(const base::SpaceInformationPtr &si);
73 
74  ~LBTRRT() override;
75 
76  void getPlannerData(base::PlannerData &data) const override;
77 
79 
80  void clear() override;
81 
91  void setGoalBias(double goalBias)
92  {
93  goalBias_ = goalBias;
94  }
95 
97  double getGoalBias() const
98  {
99  return goalBias_;
100  }
101 
107  void setRange(double distance)
108  {
109  maxDistance_ = distance;
110  }
111 
113  double getRange() const
114  {
115  return maxDistance_;
116  }
117 
119  template <template <typename T> class NN>
121  {
122  if (nn_ && nn_->size() != 0)
123  OMPL_WARN("Calling setNearestNeighbors will clear all states.");
124  clear();
125  nn_ = std::make_shared<NN<Motion *>>();
126  setup();
127  }
128 
129  void setup() override;
130 
132  void setApproximationFactor(double epsilon)
133  {
134  epsilon_ = epsilon;
135  }
136 
138  double getApproximationFactor() const
139  {
140  return epsilon_;
141  }
142 
144  // Planner progress property functions
145  std::string getIterationCount() const
146  {
147  return std::to_string(iterations_);
148  }
149  std::string getBestCost() const
150  {
151  return std::to_string(bestCost_);
152  }
153 
154  protected:
159  class Motion
160  {
161  public:
162  Motion() = default;
163 
165  Motion(const base::SpaceInformationPtr &si)
166  : state_(si->allocState())
167  {
168  }
169 
170  ~Motion() = default;
171 
173  base::State *state_{nullptr};
175  std::size_t id_;
181  double costLb_;
183  Motion *parentApx_{nullptr};
185  double costApx_{0.0};
187  std::vector<Motion *> childrenApx_;
188  };
189 
191  struct IsLessThan
192  {
193  IsLessThan(LBTRRT *plannerPtr, Motion *motion) : plannerPtr_(plannerPtr), motion_(motion)
194  {
195  }
196 
197  bool operator()(const Motion *motionA, const Motion *motionB)
198  {
199  double costA = motionA->costLb_;
200  double costB = motionB->costLb_;
201 
202  double distA = plannerPtr_->distanceFunction(motionA, motion_);
203  double distB = plannerPtr_->distanceFunction(motionB, motion_);
204 
205  return costA + distA < costB + distB;
206  }
207  LBTRRT *plannerPtr_;
208  Motion *motion_;
209  }; // IsLessThan
210 
213  {
214  IsLessThanLB(LBTRRT *plannerPtr) : plannerPtr_(plannerPtr)
215  {
216  }
217 
218  bool operator()(const Motion *motionA, const Motion *motionB) const
219  {
220  return motionA->costLb_ < motionB->costLb_;
221  }
222  LBTRRT *plannerPtr_;
223  }; // IsLessThanLB
224 
226  void considerEdge(Motion *parent, Motion *child, double c);
227 
229  double lazilyUpdateApxParent(Motion *child, Motion *parent);
230 
232  void updateChildCostsApx(Motion *m, double delta);
233 
235  void removeFromParentApx(Motion *m);
236 
238  void freeMemory();
239 
241  double distanceFunction(const Motion *a, const Motion *b) const
242  {
243  return si_->distance(a->state_, b->state_);
244  }
245 
247  bool checkMotion(const Motion *a, const Motion *b)
248  {
249  return checkMotion(a->state_, b->state_);
250  }
252  bool checkMotion(const base::State *a, const base::State *b)
253  {
254  return si_->checkMotion(a, b);
255  }
256 
258  Motion *getMotion(std::size_t i)
259  {
260  return idToMotionMap_[i];
261  }
262 
264  base::StateSamplerPtr sampler_;
265 
267  std::shared_ptr<NearestNeighbors<Motion *>> nn_;
268 
271 
273  std::vector<Motion *> idToMotionMap_;
274 
277  double goalBias_{.05};
278 
280  double maxDistance_{0.};
281 
283  double epsilon_{.4};
284 
287 
290 
292  // Planner progress properties
294  unsigned int iterations_{0u};
296  double bestCost_;
297  };
298  }
299 }
300 
301 #endif // OMPL_GEOMETRIC_PLANNERS_RRT_LBT_RRT_
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: LBTRRT.h:160
std::size_t id_
unique id of the motion
Definition: LBTRRT.h:175
double costLb_
The lower bound cost of the motion while it is stored in the lowerBoundGraph_ and this may seem redun...
Definition: LBTRRT.h:181
base::State * state_
The state contained by the motion.
Definition: LBTRRT.h:173
Motion * parentApx_
The parent motion in the approximation tree.
Definition: LBTRRT.h:183
double costApx_
The approximation cost.
Definition: LBTRRT.h:185
std::vector< Motion * > childrenApx_
The children in the approximation tree.
Definition: LBTRRT.h:187
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: LBTRRT.h:165
Lower Bound Tree Rapidly-exploring Random Trees.
Definition: LBTRRT.h:69
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: LBTRRT.cpp:84
double getGoalBias() const
Get the goal bias the planner is using.
Definition: LBTRRT.h:97
void removeFromParentApx(Motion *m)
remove motion from its parent in the approximation tree
Definition: LBTRRT.cpp:426
DynamicSSSP lowerBoundGraph_
A graph of motions Glb.
Definition: LBTRRT.h:270
void setApproximationFactor(double epsilon)
Set the apprimation factor.
Definition: LBTRRT.h:132
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: LBTRRT.h:241
double getRange() const
Get the range the planner is using.
Definition: LBTRRT.h:113
unsigned int iterations_
Number of iterations the algorithm performed.
Definition: LBTRRT.h:294
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: LBTRRT.h:267
double lazilyUpdateApxParent(Motion *child, Motion *parent)
lazily update the parent in the approximation tree without updating costs to cildren
Definition: LBTRRT.cpp:414
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: LBTRRT.h:107
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: LBTRRT.cpp:385
Motion * getMotion(std::size_t i)
get motion from id
Definition: LBTRRT.h:258
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: LBTRRT.h:289
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition: LBTRRT.h:277
double epsilon_
approximation factor
Definition: LBTRRT.h:283
bool checkMotion(const base::State *a, const base::State *b)
local planner
Definition: LBTRRT.h:252
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: LBTRRT.cpp:112
RNG rng_
The random number generator.
Definition: LBTRRT.h:286
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: LBTRRT.cpp:70
void freeMemory()
Free the memory allocated by this planner.
Definition: LBTRRT.cpp:98
double bestCost_
Best cost found so far by algorithm.
Definition: LBTRRT.h:296
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: LBTRRT.h:280
double getApproximationFactor() const
Get the apprimation factor.
Definition: LBTRRT.h:138
void considerEdge(Motion *parent, Motion *child, double c)
consider an edge for addition to the roadmap
Definition: LBTRRT.cpp:307
LBTRRT(const base::SpaceInformationPtr &si)
Constructor.
Definition: LBTRRT.cpp:44
void setGoalBias(double goalBias)
Set the goal bias.
Definition: LBTRRT.h:91
void updateChildCostsApx(Motion *m, double delta)
update the child cost of the approximation tree
Definition: LBTRRT.cpp:405
bool checkMotion(const Motion *a, const Motion *b)
local planner
Definition: LBTRRT.h:247
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: LBTRRT.h:120
base::StateSamplerPtr sampler_
State sampler.
Definition: LBTRRT.h:264
std::vector< Motion * > idToMotionMap_
mapping between a motion id and the motion
Definition: LBTRRT.h:273
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition: Console.h:66
Main namespace. Contains everything in this library.
Definition: AppBase.h:22
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49
comparator - metric is the lower bound cost
Definition: LBTRRT.h:213
comparator - metric is the cost to reach state via a specific state
Definition: LBTRRT.h:192