LazyRRT.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/geometric/planners/rrt/LazyRRT.h"
38 #include "ompl/base/goals/GoalSampleableRegion.h"
39 #include "ompl/tools/config/SelfConfig.h"
40 #include <cassert>
41 
42 ompl::geometric::LazyRRT::LazyRRT(const base::SpaceInformationPtr &si) : base::Planner(si, "LazyRRT")
43 {
44  specs_.directed = true;
45 
46  Planner::declareParam<double>("range", this, &LazyRRT::setRange, &LazyRRT::getRange, "0.:1.:10000.");
47  Planner::declareParam<double>("goal_bias", this, &LazyRRT::setGoalBias, &LazyRRT::getGoalBias, "0.:.05:1.");
48 }
49 
50 ompl::geometric::LazyRRT::~LazyRRT()
51 {
52  freeMemory();
53 }
54 
56 {
57  Planner::setup();
60 
61  if (!nn_)
62  nn_.reset(tools::SelfConfig::getDefaultNearestNeighbors<Motion *>(this));
63  nn_->setDistanceFunction([this](const Motion *a, const Motion *b)
64  {
65  return distanceFunction(a, b);
66  });
67 }
68 
70 {
71  Planner::clear();
72  sampler_.reset();
73  freeMemory();
74  if (nn_)
75  nn_->clear();
76  lastGoalMotion_ = nullptr;
77 }
78 
80 {
81  if (nn_)
82  {
83  std::vector<Motion *> motions;
84  nn_->list(motions);
85  for (auto &motion : motions)
86  {
87  if (motion->state != nullptr)
88  si_->freeState(motion->state);
89  delete motion;
90  }
91  }
92 }
93 
95 {
96  checkValidity();
97  base::Goal *goal = pdef_->getGoal().get();
98  auto *goal_s = dynamic_cast<base::GoalSampleableRegion *>(goal);
99 
100  while (const base::State *st = pis_.nextStart())
101  {
102  auto *motion = new Motion(si_);
103  si_->copyState(motion->state, st);
104  motion->valid = true;
105  nn_->add(motion);
106  }
107 
108  if (nn_->size() == 0)
109  {
110  OMPL_ERROR("%s: There are no valid initial states!", getName().c_str());
112  }
113 
114  if (!sampler_)
115  sampler_ = si_->allocStateSampler();
116 
117  OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), nn_->size());
118 
119  Motion *solution = nullptr;
120  double distsol = -1.0;
121  auto *rmotion = new Motion(si_);
122  base::State *rstate = rmotion->state;
123  base::State *xstate = si_->allocState();
124 
125  bool solutionFound = false;
126 
127  while (!ptc && !solutionFound)
128  {
129  /* sample random state (with goal biasing) */
130  if ((goal_s != nullptr) && rng_.uniform01() < goalBias_ && goal_s->canSample())
131  goal_s->sampleGoal(rstate);
132  else
133  sampler_->sampleUniform(rstate);
134 
135  /* find closest state in the tree */
136  Motion *nmotion = nn_->nearest(rmotion);
137  assert(nmotion != rmotion);
138  base::State *dstate = rstate;
139 
140  /* find state to add */
141  double d = si_->distance(nmotion->state, rstate);
142  if (d > maxDistance_)
143  {
144  si_->getStateSpace()->interpolate(nmotion->state, rstate, maxDistance_ / d, xstate);
145  dstate = xstate;
146  }
147 
148  /* create a motion */
149  auto *motion = new Motion(si_);
150  si_->copyState(motion->state, dstate);
151  motion->parent = nmotion;
152  nmotion->children.push_back(motion);
153  nn_->add(motion);
154 
155  double dist = 0.0;
156  if (goal->isSatisfied(motion->state, &dist))
157  {
158  distsol = dist;
159  solution = motion;
160  solutionFound = true;
161  lastGoalMotion_ = solution;
162 
163  // Check that the solution is valid:
164  // construct the solution path
165  std::vector<Motion *> mpath;
166  while (solution != nullptr)
167  {
168  mpath.push_back(solution);
169  solution = solution->parent;
170  }
171 
172  // check each segment along the path for validity
173  for (int i = mpath.size() - 1; i >= 0 && solutionFound; --i)
174  if (!mpath[i]->valid)
175  {
176  if (si_->checkMotion(mpath[i]->parent->state, mpath[i]->state))
177  mpath[i]->valid = true;
178  else
179  {
180  removeMotion(mpath[i]);
181  solutionFound = false;
182  lastGoalMotion_ = nullptr;
183  }
184  }
185 
186  if (solutionFound)
187  {
188  // set the solution path
189  auto path(std::make_shared<PathGeometric>(si_));
190  for (int i = mpath.size() - 1; i >= 0; --i)
191  path->append(mpath[i]->state);
192 
193  pdef_->addSolutionPath(path, false, distsol, getName());
194  }
195  }
196  }
197 
198  si_->freeState(xstate);
199  si_->freeState(rstate);
200  delete rmotion;
201 
202  OMPL_INFORM("%s: Created %u states", getName().c_str(), nn_->size());
203 
205 }
206 
208 {
209  nn_->remove(motion);
210 
211  /* remove self from parent list */
212 
213  if (motion->parent != nullptr)
214  {
215  for (unsigned int i = 0; i < motion->parent->children.size(); ++i)
216  if (motion->parent->children[i] == motion)
217  {
218  motion->parent->children.erase(motion->parent->children.begin() + i);
219  break;
220  }
221  }
222 
223  /* remove children */
224  for (auto &i : motion->children)
225  {
226  i->parent = nullptr;
227  removeMotion(i);
228  }
229 
230  if (motion->state != nullptr)
231  si_->freeState(motion->state);
232  delete motion;
233 }
234 
236 {
237  Planner::getPlannerData(data);
238 
239  std::vector<Motion *> motions;
240  if (nn_)
241  nn_->list(motions);
242 
243  if (lastGoalMotion_ != nullptr)
245 
246  for (auto &motion : motions)
247  {
248  if (motion->parent == nullptr)
249  data.addStartVertex(base::PlannerDataVertex(motion->state));
250  else
251  data.addEdge(base::PlannerDataVertex(motion->parent != nullptr ? motion->parent->state : nullptr),
252  base::PlannerDataVertex(motion->state));
253 
254  data.tagState(motion->state, motion->valid ? 1 : 0);
255  }
256 }
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
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 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
The planner failed to find a solution.
Definition: PlannerStatus.h:62
void setGoalBias(double goalBias)
Set the goal biasing.
Definition: LazyRRT.h:104
std::vector< Motion * > children
The set of motions that descend from this one.
Definition: LazyRRT.h:168
unsigned int addGoalVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
Abstract definition of goals.
Definition: Goal.h:62
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
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
ProblemDefinitionPtr pdef_
The user set problem definition.
Definition: Planner.h:409
bool directed
Flag indicating whether the planner is able to account for the fact that the validity of a motion fro...
Definition: Planner.h:213
void removeMotion(Motion *motion)
Remove a motion from the tree datastructure.
Definition: LazyRRT.cpp:207
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: LazyRRT.h:194
Representation of a motion.
Definition: LazyRRT.h:146
double uniform01()
Generate a random real between 0 and 1.
Definition: RandomNumbers.h:68
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:58
Invalid start state or no start state specified.
Definition: PlannerStatus.h:56
Abstract definition of a goal region that can be sampled.
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: LazyRRT.h:200
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: LazyRRT.h:120
#define OMPL_ERROR(fmt,...)
Log a formatted error string.
Definition: Console.h:64
bool tagState(const State *st, int tag)
Set the integer tag associated with the given state. If the given state does not exist in a vertex...
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
The planner found an exact solution.
Definition: PlannerStatus.h:66
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0))
Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...
RNG rng_
The random number generator.
Definition: LazyRRT.h:197
A shared pointer wrapper for ompl::base::SpaceInformation.
double getGoalBias() const
Get the goal bias the planner is using.
Definition: LazyRRT.h:110
unsigned int addStartVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
Definition of an abstract state.
Definition: State.h:49
virtual void checkValidity()
Check to see if the planner is in a working state (setup has been called, a goal was set...
Definition: Planner.cpp:101
virtual bool isSatisfied(const State *st) const =0
Return true if the state satisfies the goal constraints.
PlannerInputStates pis_
Utility class to extract valid input states.
Definition: Planner.h:412
base::State * state
The state contained by the motion.
Definition: LazyRRT.h:159
void freeMemory()
Free the memory allocated by this planner.
Definition: LazyRRT.cpp:79
PlannerSpecs specs_
The specifications of the planner (its capabilities)
Definition: Planner.h:418
const State * nextStart()
Return the next valid start state or nullptr if no more valid start states are available.
Definition: Planner.cpp:227
const std::string & getName() const
Get the name of the planner.
Definition: Planner.cpp:56
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:225
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: LazyRRT.h:187
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: LazyRRT.cpp:69
This class contains methods that automatically configure various parameters for motion planning...
Definition: SelfConfig.h:59
LazyRRT(const base::SpaceInformationPtr &si)
Constructor.
Definition: LazyRRT.cpp:42
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:406
Motion * parent
The parent motion in the exploration tree.
Definition: LazyRRT.h:162
base::StateSamplerPtr sampler_
State sampler.
Definition: LazyRRT.h:184
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: LazyRRT.h:178
#define OMPL_INFORM(fmt,...)
Log a formatted information string.
Definition: Console.h:68