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() = default;
111 
112  Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
113  {
114  }
115 
116  ~Motion() = default;
117 
118  const base::State *root{nullptr};
119  base::State *state{nullptr};
120  Motion *parent{nullptr};
121  };
122 
124  typedef std::shared_ptr<NearestNeighbors<Motion *>> TreeData;
125 
128  {
129  base::State *xstate;
130  Motion *xmotion;
131  bool start;
132  };
133 
136  {
143  };
144 
146  void freeMemory();
147 
149  double distanceFunction(const Motion *a, const Motion *b) const
150  {
151  return si_->distance(a->state, b->state);
152  }
153 
155  GrowState growTree(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion);
156 
159 
161  TreeData tStart_;
162 
164  TreeData tGoal_;
165 
167  double maxDistance_{0.};
168 
171 
173  std::pair<base::State *, base::State *> connectionPoint_;
174  };
175  }
176 }
177 
178 #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:158
TreeData tGoal_
The goal tree.
Definition: RRTConnect.h:164
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:102
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
no progress has been made
Definition: RRTConnect.h:138
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:149
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
Definition: RRTConnect.h:173
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:167
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: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:135
RNG rng_
The random number generator.
Definition: RRTConnect.h:170
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:142
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: RRTConnect.cpp:55
Information attached to growing a tree of motions (used internally)
Definition: RRTConnect.h:127
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:304
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:140
std::shared_ptr< NearestNeighbors< Motion * > > TreeData
A nearest-neighbor datastructure representing a tree of motions.
Definition: RRTConnect.h:124
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:156
GrowState growTree(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion)
Grow a tree towards a random state.
Definition: RRTConnect.cpp:114
TreeData tStart_
The start tree.
Definition: RRTConnect.h:161