TSRRT.h
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34 
35 /* Author: Ryan Luna */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_TSRRT_
38 #define OMPL_GEOMETRIC_PLANNERS_RRT_TSRRT_
39 
40 #include "ompl/base/ProjectionEvaluator.h"
41 #include "ompl/geometric/planners/PlannerIncludes.h"
42 #include "ompl/datastructures/NearestNeighbors.h"
43 
44 namespace ompl
45 {
46  namespace geometric
47  {
48  OMPL_CLASS_FORWARD(TaskSpaceConfig);
49 
50  class TaskSpaceConfig
51  {
52  public:
53  virtual ~TaskSpaceConfig()
54  {
55  }
56  // Returns the dimension of the task space.
57  virtual int getDimension() const = 0;
58  // Project the c-space state into the task-space.
59  virtual void project(const base::State *state, Eigen::Ref<Eigen::VectorXd> ts_proj) const = 0;
60 
61  // Sample point uniformly in task-space.
62  virtual void sample(Eigen::Ref<Eigen::VectorXd> ts_proj) const = 0;
63 
64  // Given a point in task-space, generate a configuraton space state
65  // that projects to this point. seed is the nearest task-space neighbor.
66  virtual bool lift(const Eigen::Ref<Eigen::VectorXd> &ts_proj, const base::State *seed,
67  base::State *state) const = 0;
68  };
69 
87  class TSRRT : public base::Planner
88  {
89  public:
91  TSRRT(const base::SpaceInformationPtr &si, const TaskSpaceConfigPtr &task_space);
92 
93  virtual ~TSRRT();
94 
95  virtual void getPlannerData(base::PlannerData &data) const;
96 
97  virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
98 
99  virtual void clear();
100 
110  void setGoalBias(double goalBias)
111  {
112  goalBias_ = goalBias;
113  }
114 
116  double getGoalBias() const
117  {
118  return goalBias_;
119  }
120 
126  void setRange(double distance)
127  {
128  maxDistance_ = distance;
129  }
130 
132  double getRange() const
133  {
134  return maxDistance_;
135  }
136 
138  template <template <typename T> class NN>
139  void setNearestNeighbors()
140  {
141  nn_.reset(new NN<Motion *>());
142  }
143 
144  virtual void setup();
145 
146  protected:
151  class Motion
152  {
153  public:
155  Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(nullptr)
156  {
157  }
158 
159  ~Motion() = default;
160 
162  base::State *state{nullptr};
163 
165  Motion *parent{nullptr};
166 
167  // Projection of the state into the task space.
168  Eigen::VectorXd proj;
169  };
170 
172  void freeMemory();
173 
175  double distanceFunction(const Motion *a, const Motion *b) const
176  {
177  double sqr_dist = 0.0;
178  for (int ix = 0; ix < a->proj.size(); ++ix)
179  {
180  double sqr_val = (*b).proj[ix] - (*a).proj[ix];
181  sqr_val *= sqr_val;
182 
183  sqr_dist += sqr_val;
184  }
185  return sqr_dist;
186  }
187 
189  std::shared_ptr<NearestNeighbors<Motion *>> nn_;
190 
193  double goalBias_{0.05};
194 
196  double maxDistance_{0.};
197 
199  RNG rng_;
200 
202  Motion *lastGoalMotion_{nullptr};
203 
204  // Mapping to/from task space.
205  TaskSpaceConfigPtr task_space_;
206  };
207 
208  } // namespace geometric
209 } // namespace ompl
210 
211 #endif
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:90
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: TSRRT.h:190
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: TSRRT.h:219
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: TSRRT.cpp:57
void freeMemory()
Free the memory allocated by this planner.
Definition: TSRRT.cpp:77
Definition of an abstract state.
Definition: State.h:114
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: TSRRT.h:239
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: TSRRT.h:203
RNG rng_
The random number generator.
Definition: TSRRT.h:263
base::State * state
The state contained by the motion.
Definition: TSRRT.h:226
TSRRT(const base::SpaceInformationPtr &si, const TaskSpaceConfigPtr &task_space)
Constructor.
Definition: TSRRT.cpp:42
void setGoalBias(double goalBias)
Set the goal bias.
Definition: TSRRT.h:174
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: TSRRT.h:253
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: TSRRT.h:260
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition: TSRRT.h:257
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: TSRRT.cpp:66
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: TSRRT.h:266
virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc)
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: TSRRT.cpp:92
Motion * parent
The parent motion in the exploration tree.
Definition: TSRRT.h:229
virtual void getPlannerData(base::PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: TSRRT.cpp:225
double getGoalBias() const
Get the goal bias the planner is using.
Definition: TSRRT.h:180
double getRange() const
Get the range the planner is using.
Definition: TSRRT.h:196
Representation of a motion.
Definition: TSRRT.h:216
Main namespace. Contains everything in this library.
Definition: AppBase.h:22