48 namespace ompl
82 STRIDE(const base::SpaceInformationPtr &si, bool useProjectedDistance = false, unsigned int degree = 16,
85 ~STRIDE() override;
87 void setup() override;
91 void clear() override;
102 goalBias_ = goalBias;
108 return goalBias_;
116 useProjectedDistance_ = useProjectedDistance;
123 return useProjectedDistance_;
129 degree_ = degree;
134 return degree_;
139 minDegree_ = minDegree;
144 return minDegree_;
149 maxDegree_ = maxDegree;
154 return maxDegree_;
160 maxNumPtsPerLeaf_ = maxNumPtsPerLeaf;
166 return maxNumPtsPerLeaf_;
173 estimatedDimension_ = estimatedDimension;
180 return estimatedDimension_;
190 maxDistance_ = distance;
196 return maxDistance_;
206 minValidPathFraction_ = fraction;
212 return minValidPathFraction_;
218 projectionEvaluator_ = projectionEvaluator;
231 return projectionEvaluator_;
241 Motion() = default;
248 ~Motion() = default;
258 void freeMemory();
261 void setupTree();
272 unsigned int num_dims = projectionEvaluator_->getDimension();
273 ompl::base::EuclideanProjection aproj(num_dims), bproj(num_dims);
Initialize GNAT data structure.
Search Tree with Resolution Independent Density Estimation.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
double getEstimatedDimension() const
Get estimated dimension of the free space, which is needed to compute the sampling weight for a node ...
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
This algorithm can optionally use a projection to guide the exploration.
Free the memory allocated by this planner.
A shared pointer wrapper for ompl::base::ValidStateSampler.
Motion * parent
The parent motion in the exploration tree.
Estimate of the local dimensionality of the free space around a state.
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...
void setMinDegree(unsigned int minDegree)
Set minimum degree of a node in the GNAT.
void setEstimatedDimension(double estimatedDimension)
Set estimated dimension of the free space, which is needed to compute the sampling weight for a node ...
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
unsigned int minDegree_
Minimum degree of an internal node in the GNAT.
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Whether to use distance in the projection (instead of distance in the state space) for the GNAT...
unsigned int maxDegree_
Maximum degree of an internal node in the GNAT.
double projectedDistanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between projections of contained states) ...
Valid state sampler.
double getMinValidPathFraction() const
Get the value of the fraction set by setMinValidPathFraction()
double getRange() const
Get the range the planner is using.
When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion. This is used only when extendWhileValid_ is true.
unsigned int getMaxDegree() const
Set maximum degree of a node in the GNAT.
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
void setDegree(unsigned int degree)
Set desired degree of a node in the GNAT.
void setMaxNumPtsPerLeaf(unsigned int maxNumPtsPerLeaf)
Set maximum number of elements stored in a leaf node of the GNAT.
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
The maximum length of a motion to be added to a tree.
bool getUseProjectedDistance() const
Return whether nearest neighbors are computed based on distances in a projection of the state rather ...
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
A shared pointer wrapper for ompl::base::ProjectionEvaluator.
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
A class to store the exit status of Planner::solve()
A shared pointer wrapper for ompl::base::SpaceInformation.
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
void setRange(double distance)
Set the range the planner is supposed to use.
unsigned int degree_
Desired degree of an internal node in the GNAT.
STRIDE(const base::SpaceInformationPtr &si, bool useProjectedDistance=false, unsigned int degree=16, unsigned int minDegree=12, unsigned int maxDegree=18, unsigned int maxNumPtsPerLeaf=6, double estimatedDimension=0.0)
Motion * selectMotion()
Select a motion to continue the expansion of the tree from.
unsigned int getDegree() const
Get desired degree of a node in the GNAT.
double getGoalBias() const
Get the goal bias the planner is using.
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
The space information for which planning is done.
void setMinValidPathFraction(double fraction)
When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion. This function sets the minimum acceptable fraction (between 0 and 1).
base::State * state
The state contained by the motion.
unsigned int getMinDegree() const
Get minimum degree of a node in the GNAT.
unsigned int maxNumPtsPerLeaf_
Maximum number of points stored in a leaf node in the GNAT.
unsigned int getMaxNumPtsPerLeaf() const
Get maximum number of elements stored in a leaf node of the GNAT.
void setUseProjectedDistance(bool useProjectedDistance)
Set whether nearest neighbors are computed based on distances in a projection of the state rather dis...
void setMaxDegree(unsigned int maxDegree)
Set maximum degree of a node in the GNAT.
void setGoalBias(double goalBias)
In the process of randomly selecting states in the state space to attempt to go towards, the algorithm may in fact choose the actual goal state, if it knows it, with some probability. This probability is a real number between 0.0 and 1.0; its value should usually be around 0.05 and should not be too large. It is probably a good idea to use the default value.
void addMotion(Motion *motion)
Add a motion to the exploration tree.
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state...
boost::scoped_ptr< NearestNeighborsGNAT< Motion * > > tree_
The exploration tree constructed by this algorithm.