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/datastructures/NearestNeighbors.h"
41 #include "ompl/geometric/planners/PlannerIncludes.h"
42 
43 namespace ompl
44 {
45  namespace geometric
46  {
61  class RRTConnect : public base::Planner
62  {
63  public:
65  RRTConnect(const base::SpaceInformationPtr &si, bool addIntermediateStates = false);
66 
67  ~RRTConnect() override;
68 
69  void getPlannerData(base::PlannerData &data) const override;
70 
72 
73  void clear() override;
74 
77  bool getIntermediateStates() const
78  {
80  }
81 
84  void setIntermediateStates(bool addIntermediateStates)
85  {
86  addIntermediateStates_ = addIntermediateStates;
87  }
88 
94  void setRange(double distance)
95  {
96  maxDistance_ = distance;
97  }
98 
100  double getRange() const
101  {
102  return maxDistance_;
103  }
104 
106  template <template <typename T> class NN>
108  {
109  if ((tStart_ && tStart_->size() != 0) || (tGoal_ && tGoal_->size() != 0))
110  OMPL_WARN("Calling setNearestNeighbors will clear all states.");
111  clear();
112  tStart_ = std::make_shared<NN<Motion *>>();
113  tGoal_ = std::make_shared<NN<Motion *>>();
114  setup();
115  }
116 
117  void setup() override;
118 
119  protected:
121  class Motion
122  {
123  public:
124  Motion() = default;
125 
126  Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
127  {
128  }
129 
130  ~Motion() = default;
131 
132  const base::State *root{nullptr};
133  base::State *state{nullptr};
134  Motion *parent{nullptr};
135  };
136 
138  typedef std::shared_ptr<NearestNeighbors<Motion *>> TreeData;
139 
142  {
143  base::State *xstate;
144  Motion *xmotion;
145  bool start;
146  };
147 
150  {
157  };
158 
160  void freeMemory();
161 
163  double distanceFunction(const Motion *a, const Motion *b) const
164  {
165  return si_->distance(a->state, b->state);
166  }
167 
169  GrowState growTree(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion);
170 
173 
176 
179 
181  double maxDistance_{0.};
182 
185 
188 
190  std::pair<base::State *, base::State *> connectionPoint_;
191 
194  };
195  }
196 }
197 
198 #endif
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:172
double distanceBetweenTrees_
Distance between the nearest pair of start tree and goal tree nodes.
Definition: RRTConnect.h:193
TreeData tGoal_
The goal tree.
Definition: RRTConnect.h:178
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: RRTConnect.h:94
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:102
bool getIntermediateStates() const
Return true if the intermediate states generated along motions are to be added to the tree itself...
Definition: RRTConnect.h:77
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
no progress has been made
Definition: RRTConnect.h:152
bool addIntermediateStates_
Flag indicating whether intermediate states are added to the built tree of motions.
Definition: RRTConnect.h:184
void freeMemory()
Free the memory allocated by this planner.
Definition: RRTConnect.cpp:75
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: RRTConnect.h:163
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
Definition: RRTConnect.h:190
RRTConnect(const base::SpaceInformationPtr &si, bool addIntermediateStates=false)
Constructor.
Definition: RRTConnect.cpp:41
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: RRTConnect.h:107
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: RRTConnect.h:181
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:56
double getRange() const
Get the range the planner is using.
Definition: RRTConnect.h:100
Representation of a motion.
Definition: RRTConnect.h:121
Base class for a planner.
Definition: Planner.h:223
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:149
RNG rng_
The random number generator.
Definition: RRTConnect.h:187
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:156
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: RRTConnect.cpp:61
Information attached to growing a tree of motions (used internally)
Definition: RRTConnect.h:141
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:376
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:406
progress has been made towards the randomly sampled state
Definition: RRTConnect.h:154
std::shared_ptr< NearestNeighbors< Motion * > > TreeData
A nearest-neighbor datastructure representing a tree of motions.
Definition: RRTConnect.h:138
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:185
void setIntermediateStates(bool addIntermediateStates)
Specify whether the intermediate states generated along motions are to be added to the tree itself...
Definition: RRTConnect.h:84
GrowState growTree(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion)
Grow a tree towards a random state.
Definition: RRTConnect.cpp:115
TreeData tStart_
The start tree.
Definition: RRTConnect.h:175