LazyRRT.h
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35 
36 /* Author: Ioan Sucan */
37 
38 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_LAZY_RRT_
39 #define OMPL_GEOMETRIC_PLANNERS_RRT_LAZY_RRT_
40 
41 #include "ompl/geometric/planners/PlannerIncludes.h"
42 #include "ompl/datastructures/NearestNeighbors.h"
43 #include <vector>
44 
45 namespace ompl
46 {
47  namespace geometric
48  {
81  class LazyRRT : public base::Planner
82  {
83  public:
86 
87  ~LazyRRT() override;
88 
89  void getPlannerData(base::PlannerData &data) const override;
90 
92 
93  void clear() override;
94 
104  void setGoalBias(double goalBias)
105  {
106  goalBias_ = goalBias;
107  }
108 
110  double getGoalBias() const
111  {
112  return goalBias_;
113  }
114 
120  void setRange(double distance)
121  {
122  maxDistance_ = distance;
123  }
124 
126  double getRange() const
127  {
128  return maxDistance_;
129  }
130 
132  template <template <typename T> class NN>
134  {
135  if (nn_ && nn_->size() != 0)
136  OMPL_WARN("Calling setNearestNeighbors will clear all states.");
137  clear();
138  nn_ = std::make_shared<NN<Motion *>>();
139  setup();
140  }
141 
142  void setup() override;
143 
144  protected:
146  class Motion
147  {
148  public:
149  Motion() = default;
150 
152  Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
153  {
154  }
155 
156  ~Motion() = default;
157 
159  base::State *state{nullptr};
160 
162  Motion *parent{nullptr};
163 
165  bool valid{false};
166 
168  std::vector<Motion *> children;
169  };
170 
172  void freeMemory();
173 
175  void removeMotion(Motion *motion);
176 
178  double distanceFunction(const Motion *a, const Motion *b) const
179  {
180  return si_->distance(a->state, b->state);
181  }
182 
185 
187  std::shared_ptr<NearestNeighbors<Motion *>> nn_;
188 
191  double goalBias_{.05};
192 
194  double maxDistance_{0.};
195 
198 
201  };
202  }
203 }
204 
205 #endif
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: LazyRRT.h:133
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
void setGoalBias(double goalBias)
Set the goal biasing.
Definition: LazyRRT.h:104
A shared pointer wrapper for ompl::base::StateSampler.
std::vector< Motion * > children
The set of motions that descend from this one.
Definition: LazyRRT.h:168
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
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
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
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
Base class for a planner.
Definition: Planner.h:223
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
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
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
Definition of an abstract state.
Definition: State.h:49
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition: Console.h:66
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
bool valid
Flag indicating whether this motion has been validated.
Definition: LazyRRT.h:165
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
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
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: LazyRRT.h:152
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: LazyRRT.h:178