SyclopRRT.h
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34 
35 /* Author: Matt Maly */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPRRT_
38 #define OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPRRT_
39 
40 #include "ompl/control/planners/syclop/Syclop.h"
41 #include "ompl/control/planners/syclop/Decomposition.h"
42 #include "ompl/control/planners/syclop/GridDecomposition.h"
43 #include "ompl/datastructures/NearestNeighbors.h"
44 
45 namespace ompl
46 {
47  namespace control
48  {
52  class SyclopRRT : public Syclop
53  {
54  public:
57  : Syclop(si, d, "SyclopRRT"), regionalNN_(false)
58  {
59  }
60 
61  ~SyclopRRT() override
62  {
63  freeMemory();
64  }
65 
66  void setup() override;
67  void clear() override;
68  void getPlannerData(base::PlannerData &data) const override;
69 
80  void setRegionalNearestNeighbors(bool enabled)
81  {
82  regionalNN_ = enabled;
83  }
84 
86  template <template <typename T> class NN>
88  {
89  if (nn_ && nn_->size() != 0)
90  OMPL_WARN("Calling setNearestNeighbors will clear all states.");
91  clear();
92  regionalNN_ = false;
93  nn_ = std::make_shared<NN<Motion *>>();
94  setup();
95  }
96 
97  protected:
98  Syclop::Motion *addRoot(const base::State *s) override;
99  void selectAndExtend(Region &region, std::vector<Motion *> &newMotions) override;
100 
102  void freeMemory();
103 
105  double distanceFunction(const Motion *a, const Motion *b) const
106  {
107  return si_->distance(a->state, b->state);
108  }
109 
110  base::StateSamplerPtr sampler_;
111  DirectedControlSamplerPtr controlSampler_;
112  std::shared_ptr<NearestNeighbors<Motion *>> nn_;
113  bool regionalNN_;
114 
117  };
118  }
119 }
120 #endif
void selectAndExtend(Region &region, std::vector< Motion *> &newMotions) override
Select a Motion from the given Region, and extend the tree from the Motion. Add any new motions creat...
Definition: SyclopRRT.cpp:106
Synergistic Combination of Layers of Planning.
Definition: Syclop.h:73
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
base::State * state
The state contained by the motion.
Definition: Syclop.h:269
SyclopRRT is Syclop with RRT as its low-level tree planner.
Definition: SyclopRRT.h:52
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SyclopRRT.cpp:41
void setRegionalNearestNeighbors(bool enabled)
If regionalNearestNeighbors is enabled, then when computing the closest Motion to a generated state i...
Definition: SyclopRRT.h:80
A shared pointer wrapper for ompl::base::StateSampler.
Representation of a region in the Decomposition assigned to Syclop.
Definition: Syclop.h:281
SyclopRRT(const SpaceInformationPtr &si, const DecompositionPtr &d)
Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.
Definition: SyclopRRT.h:56
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: SyclopRRT.h:116
Representation of a motion.
Definition: Syclop.h:257
void freeMemory()
Free the memory allocated by this planner.
Definition: SyclopRRT.cpp:171
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
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: SyclopRRT.cpp:69
Syclop::Motion * addRoot(const base::State *s) override
Add State s as a new root in the low-level tree, and return the Motion corresponding to s...
Definition: SyclopRRT.cpp:95
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: SyclopRRT.cpp:60
A shared pointer wrapper for ompl::control::DirectedControlSampler.
Definition of an abstract state.
Definition: State.h:49
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: SyclopRRT.h:105
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition: Console.h:66
A shared pointer wrapper for ompl::control::SpaceInformation.
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: SyclopRRT.h:87
A shared pointer wrapper for ompl::control::Decomposition.
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:406