SBL.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_SBL_SBL_
38 #define OMPL_GEOMETRIC_PLANNERS_SBL_SBL_
39 
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include "ompl/base/ProjectionEvaluator.h"
42 #include "ompl/datastructures/Grid.h"
43 #include "ompl/datastructures/PDF.h"
44 #include <vector>
45 
46 namespace ompl
47 {
48  namespace geometric
49  {
84  class SBL : public base::Planner
85  {
86  public:
88  SBL(const base::SpaceInformationPtr &si);
89 
90  ~SBL() override;
91 
94  void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
95  {
96  projectionEvaluator_ = projectionEvaluator;
97  }
98 
101  void setProjectionEvaluator(const std::string &name)
102  {
103  projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
104  }
105 
108  {
109  return projectionEvaluator_;
110  }
111 
117  void setRange(double distance)
118  {
119  maxDistance_ = distance;
120  }
121 
123  double getRange() const
124  {
125  return maxDistance_;
126  }
127 
128  void setup() override;
129 
131 
132  void clear() override;
133 
134  void getPlannerData(base::PlannerData &data) const override;
135 
136  protected:
137  struct MotionInfo;
138 
141 
144 
146  class Motion
147  {
148  public:
150  Motion() = default;
151 
154  : state(si->allocState())
155  {
156  }
157 
159  const base::State *root{nullptr};
160 
162  base::State *state{nullptr};
163 
165  Motion *parent{nullptr};
166 
168  bool valid{false};
169 
171  std::vector<Motion *> children;
172  };
173 
175  struct MotionInfo
176  {
177  Motion *operator[](unsigned int i)
178  {
179  return motions_[i];
180  }
181  std::vector<Motion *>::iterator begin()
182  {
183  return motions_.begin();
184  }
185  void erase(std::vector<Motion *>::iterator iter)
186  {
187  motions_.erase(iter);
188  }
189  void push_back(Motion *m)
190  {
191  motions_.push_back(m);
192  }
193  unsigned int size() const
194  {
195  return motions_.size();
196  }
197  bool empty() const
198  {
199  return motions_.empty();
200  }
201 
202  std::vector<Motion *> motions_;
203  CellPDF::Element *elem_;
204  };
205 
207  struct TreeData
208  {
209  TreeData() = default;
210 
213 
215  unsigned int size{0};
216 
218  CellPDF pdf;
219  };
220 
222  void freeMemory()
223  {
226  }
227 
229  void freeGridMotions(Grid<MotionInfo> &grid);
230 
232  void addMotion(TreeData &tree, Motion *motion);
233 
235  Motion *selectMotion(TreeData &tree);
236 
238  void removeMotion(TreeData &tree, Motion *motion);
239 
245  bool isPathValid(TreeData &tree, Motion *motion);
246 
248  bool checkSolution(bool start, TreeData &tree, TreeData &otherTree, Motion *motion,
249  std::vector<Motion *> &solution);
250 
253 
256 
259 
262 
264  double maxDistance_{0.};
265 
268 
270  std::pair<base::State *, base::State *> connectionPoint_{nullptr, nullptr};
271  };
272  }
273 }
274 
275 #endif
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
TreeData tGoal_
The goal tree.
Definition: SBL.h:261
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: SBL.cpp:368
Motion * parent
The parent motion – it contains the state this motion originates at.
Definition: SBL.h:165
std::vector< Motion * > children
The set of motions descending from the current motion.
Definition: SBL.h:171
Representation of a simple grid.
Definition: Grid.h:50
A shared pointer wrapper for ompl::base::ValidStateSampler.
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: SBL.cpp:79
bool checkSolution(bool start, TreeData &tree, TreeData &otherTree, Motion *motion, std::vector< Motion *> &solution)
Check if a solution can be obtained by connecting two trees using a specified motion.
Definition: SBL.cpp:183
void addMotion(TreeData &tree, Motion *motion)
Add a motion to a tree.
Definition: SBL.cpp:330
void freeMemory()
Free the memory allocated by the planner.
Definition: SBL.h:222
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
base::ProjectionEvaluatorPtr projectionEvaluator_
The employed projection evaluator.
Definition: SBL.h:255
bool isPathValid(TreeData &tree, Motion *motion)
Since solutions are computed in a lazy fashion, once trees are connected, the solution found needs to...
Definition: SBL.cpp:242
base::State * state
The state this motion leads to.
Definition: SBL.h:162
Motion * selectMotion(TreeData &tree)
Select a motion from a tree.
Definition: SBL.cpp:268
void freeGridMotions(Grid< MotionInfo > &grid)
Free the memory used by the motions contained in a grid.
Definition: SBL.cpp:66
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state...
Definition: SBL.h:94
CellPDF pdf
The PDF used for selecting a cell from which to sample a motion.
Definition: SBL.h:218
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
double getRange() const
Get the range the planner is using.
Definition: SBL.h:123
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
A struct containing an array of motions and a corresponding PDF element.
Definition: SBL.h:175
Base class for a planner.
Definition: Planner.h:223
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SBL.cpp:55
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: SBL.h:107
A shared pointer wrapper for ompl::base::ProjectionEvaluator.
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
const base::State * root
The root of the tree this motion would get to, if we were to follow parent pointers.
Definition: SBL.h:159
A shared pointer wrapper for ompl::base::SpaceInformation.
void removeMotion(TreeData &tree, Motion *motion)
Remove a motion from a tree.
Definition: SBL.cpp:274
PDF< GridCell * > CellPDF
A PDF of grid cells.
Definition: SBL.h:143
SBL(const base::SpaceInformationPtr &si)
The constructor needs the instance of the space information.
Definition: SBL.cpp:43
Definition of an abstract state.
Definition: State.h:49
Grid< MotionInfo > grid
The grid of motions corresponding to this tree.
Definition: SBL.h:212
A class that will hold data contained in the PDF.
Definition: PDF.h:52
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: SBL.h:117
Motion()=default
Default constructor. Allocates no memory.
Definition of a cell in this grid.
Definition: Grid.h:57
base::ValidStateSamplerPtr sampler_
The employed state sampler.
Definition: SBL.h:252
Grid< MotionInfo >::Cell GridCell
A grid cell.
Definition: SBL.h:137
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates storage for a state.
Definition: SBL.h:153
bool valid
Flag indicating whether this motion has been checked for validity.
Definition: SBL.h:168
RNG rng_
The random number generator to be used.
Definition: SBL.h:267
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: SBL.cpp:350
Representation of a motion.
Definition: SBL.h:146
Representation of a search tree. Two instances will be used. One for start and one for goal...
Definition: SBL.h:207
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:406
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition: SBL.h:101
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
Definition: SBL.h:270
Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking.
Definition: SBL.h:84
double maxDistance_
The maximum length of a motion to be added in the tree.
Definition: SBL.h:264
TreeData tStart_
The start tree.
Definition: SBL.h:258