RRTConnect.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_RRT_CONNECT_
38 #define OMPL_GEOMETRIC_PLANNERS_RRT_RRT_CONNECT_
39 
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include "ompl/datastructures/NearestNeighbors.h"
42 
43 namespace ompl
44 {
45  namespace geometric
46  {
61  class RRTConnect : public base::Planner
62  {
63  public:
66 
67  ~RRTConnect() override;
68 
69  void getPlannerData(base::PlannerData &data) const override;
70 
72 
73  void clear() override;
74 
80  void setRange(double distance)
81  {
82  maxDistance_ = distance;
83  }
84 
86  double getRange() const
87  {
88  return maxDistance_;
89  }
90 
92  template <template <typename T> class NN>
94  {
95  if ((tStart_ && tStart_->size() != 0) || (tGoal_ && tGoal_->size() != 0))
96  OMPL_WARN("Calling setNearestNeighbors will clear all states.");
97  clear();
98  tStart_ = std::make_shared<NN<Motion *>>();
99  tGoal_ = std::make_shared<NN<Motion *>>();
100  setup();
101  }
102 
103  void setup() override;
104 
105  protected:
107  class Motion
108  {
109  public:
110  Motion() : root(nullptr), state(nullptr), parent(nullptr)
111  {
112  parent = nullptr;
113  state = nullptr;
114  }
115 
116  Motion(const base::SpaceInformationPtr &si) : root(nullptr), state(si->allocState()), parent(nullptr)
117  {
118  }
119 
120  ~Motion() = default;
121 
122  const base::State *root;
123  base::State *state;
124  Motion *parent;
125  };
126 
128  typedef std::shared_ptr<NearestNeighbors<Motion *>> TreeData;
129 
132  {
133  base::State *xstate;
134  Motion *xmotion;
135  bool start;
136  };
137 
140  {
147  };
148 
150  void freeMemory();
151 
153  double distanceFunction(const Motion *a, const Motion *b) const
154  {
155  return si_->distance(a->state, b->state);
156  }
157 
159  GrowState growTree(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion);
160 
163 
165  TreeData tStart_;
166 
168  TreeData tGoal_;
169 
171  double maxDistance_;
172 
175 
177  std::pair<base::State *, base::State *> connectionPoint_;
178  };
179  }
180 }
181 
182 #endif
RRTConnect(const base::SpaceInformationPtr &si)
Constructor.
Definition: RRTConnect.cpp:41
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
base::StateSamplerPtr sampler_
State sampler.
Definition: RRTConnect.h:162
TreeData tGoal_
The goal tree.
Definition: RRTConnect.h:168
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: RRTConnect.h:80
A shared pointer wrapper for ompl::base::StateSampler.
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: RRTConnect.cpp:104
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
no progress has been made
Definition: RRTConnect.h:142
void freeMemory()
Free the memory allocated by this planner.
Definition: RRTConnect.cpp:77
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: RRTConnect.h:153
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
Definition: RRTConnect.h:177
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: RRTConnect.h:93
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: RRTConnect.h:171
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
double getRange() const
Get the range the planner is using.
Definition: RRTConnect.h:86
Representation of a motion.
Definition: RRTConnect.h:107
Base class for a planner.
Definition: Planner.h:232
RRT-Connect (RRTConnect)
Definition: RRTConnect.h:61
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A shared pointer wrapper for ompl::base::SpaceInformation.
GrowState
The state of the tree after an attempt to extend it.
Definition: RRTConnect.h:139
RNG rng_
The random number generator.
Definition: RRTConnect.h:174
Definition of an abstract state.
Definition: State.h:49
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition: Console.h:66
the randomly sampled state was reached
Definition: RRTConnect.h:146
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: RRTConnect.cpp:57
Information attached to growing a tree of motions (used internally)
Definition: RRTConnect.h:131
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: RRTConnect.cpp:309
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:415
progress has been made towards the randomly sampled state
Definition: RRTConnect.h:144
std::shared_ptr< NearestNeighbors< Motion * > > TreeData
A nearest-neighbor datastructure representing a tree of motions.
Definition: RRTConnect.h:128
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: RRTConnect.cpp:161
GrowState growTree(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion)
Grow a tree towards a random state.
Definition: RRTConnect.cpp:116
TreeData tStart_
The start tree.
Definition: RRTConnect.h:165