ProjEST.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_EST_PROJEST_
38 #define OMPL_GEOMETRIC_PLANNERS_EST_PROJEST_
39 
40 #include "ompl/datastructures/Grid.h"
41 #include "ompl/geometric/planners/PlannerIncludes.h"
42 #include "ompl/base/ProjectionEvaluator.h"
43 #include "ompl/datastructures/PDF.h"
44 #include <vector>
45 
46 namespace ompl
47 {
48  namespace geometric
49  {
72  class ProjEST : public base::Planner
73  {
74  public:
76  ProjEST(const base::SpaceInformationPtr &si);
77 
78  ~ProjEST() override;
79 
81 
82  void clear() override;
83 
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 
120  void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
121  {
122  projectionEvaluator_ = projectionEvaluator;
123  }
124 
127  void setProjectionEvaluator(const std::string &name)
128  {
129  projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
130  }
131 
133  const base::ProjectionEvaluatorPtr &getProjectionEvaluator() const
134  {
135  return projectionEvaluator_;
136  }
137 
138  void setup() override;
139 
140  void getPlannerData(base::PlannerData &data) const override;
141 
142  protected:
144  class Motion
145  {
146  public:
147  Motion() = default;
148 
150  Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
151  {
152  }
153 
154  ~Motion() = default;
155 
157  base::State *state{nullptr};
158 
160  Motion *parent{nullptr};
161  };
162 
163  struct MotionInfo;
164 
167 
170 
172  struct MotionInfo
173  {
174  Motion *operator[](unsigned int i)
175  {
176  return motions_[i];
177  }
178  const Motion *operator[](unsigned int i) const
179  {
180  return motions_[i];
181  }
182  void push_back(Motion *m)
183  {
184  motions_.push_back(m);
185  }
186  unsigned int size() const
187  {
188  return motions_.size();
189  }
190  bool empty() const
191  {
192  return motions_.empty();
193  }
194  std::vector<Motion *> motions_;
195  CellPDF::Element *elem_;
196  };
197 
199  struct TreeData
200  {
201  TreeData() = default;
202 
205 
207  unsigned int size{0};
208  };
209 
211  void freeMemory();
212 
214  void addMotion(Motion *motion);
215 
217  Motion *selectMotion();
218 
220  base::ValidStateSamplerPtr sampler_;
221 
224 
227  base::ProjectionEvaluatorPtr projectionEvaluator_;
228 
231  double goalBias_{0.05};
232 
234  double maxDistance_{0.};
235 
238 
241 
244  };
245  }
246 }
247 
248 #endif
Representation of a simple grid.
Definition: Grid.h:52
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
The definition of a motion.
Definition: ProjEST.h:145
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: ProjEST.h:150
Motion * parent
The parent motion in the exploration tree.
Definition: ProjEST.h:160
base::State * state
The state contained by the motion.
Definition: ProjEST.h:157
Expansive Space Trees.
Definition: ProjEST.h:73
TreeData tree_
The exploration tree constructed by this algorithm.
Definition: ProjEST.h:223
RNG rng_
The random number generator.
Definition: ProjEST.h:237
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: ProjEST.h:243
double getRange() const
Get the range the planner is using.
Definition: ProjEST.h:113
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: ProjEST.cpp:57
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: ProjEST.cpp:91
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: ProjEST.h:133
void addMotion(Motion *motion)
Add a motion to the exploration tree.
Definition: ProjEST.cpp:197
CellPDF pdf_
The PDF used for selecting a cell from which to sample a motion.
Definition: ProjEST.h:240
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: ProjEST.cpp:217
void freeMemory()
Free the memory allocated by this planner.
Definition: ProjEST.cpp:78
base::ProjectionEvaluatorPtr projectionEvaluator_
This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...
Definition: ProjEST.h:227
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition: ProjEST.h:231
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition: ProjEST.h:127
base::ValidStateSamplerPtr sampler_
Valid state sampler.
Definition: ProjEST.h:220
double getGoalBias() const
Get the goal bias the planner is using.
Definition: ProjEST.h:97
Motion * selectMotion()
Select a motion to continue the expansion of the tree from.
Definition: ProjEST.cpp:191
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: ProjEST.h:234
void setGoalBias(double goalBias)
In the process of randomly selecting states in the state space to attempt to go towards,...
Definition: ProjEST.h:91
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: ProjEST.cpp:67
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state.
Definition: ProjEST.h:120
ProjEST(const base::SpaceInformationPtr &si)
Constructor.
Definition: ProjEST.cpp:43
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: ProjEST.h:107
Main namespace. Contains everything in this library.
Definition: AppBase.h:22
Definition of a cell in this grid.
Definition: Grid.h:59
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49
A struct containing an array of motions and a corresponding PDF element.
Definition: ProjEST.h:173
The data contained by a tree of exploration.
Definition: ProjEST.h:200
unsigned int size
The total number of motions in the grid.
Definition: ProjEST.h:207
Grid< MotionInfo > grid
A grid where each cell contains an array of motions.
Definition: ProjEST.h:204