ompl::app::BlimpPlanning Class Reference

A class to facilitate planning for a simple blimp model. More...

#include <omplapp/apps/BlimpPlanning.h>

Inheritance diagram for ompl::app::BlimpPlanning:

Public Member Functions

bool isSelfCollisionEnabled () const override
 
unsigned int getRobotCount () const override
 
base::ScopedState getDefaultStartState () const override
 
base::ScopedState getFullStateFromGeometricComponent (const base::ScopedState<> &state) const override
 
const base::StateSpacePtrgetGeometricComponentStateSpace () const override
 
virtual void setDefaultBounds ()
 
- Public Member Functions inherited from ompl::app::AppBase< CONTROL >
 AppBase (const typename AppTypeSelector< T >::SpaceType &space, MotionModel model)
 
AppType getAppType ()
 
AppType getAppType ()
 
const std::string & getName ()
 
virtual base::ScopedState getGeometricComponentState (const base::ScopedState<> &state, unsigned int index) const
 
GeometricStateExtractor getGeometricStateExtractor () const
 
virtual void inferEnvironmentBounds ()
 
virtual void inferProblemDefinitionBounds ()
 
void setup () override
 This method will create the necessary classes for planning. The solve() method will call this function automatically.
 
void setOptimizationObjectiveAndThreshold (const std::string &objective, double threshold)
 Convenience function for the omplapp GUI. The objective can be one of: "length", "max min clearance", or "mechanical work".
 
control::DecompositionPtr allocDecomposition ()
 
- Public Member Functions inherited from ompl::geometric::SimpleSetup
 SimpleSetup (const base::SpaceInformationPtr &si)
 Constructor needs the state space used for planning.
 
 SimpleSetup (const base::StateSpacePtr &space)
 Constructor needs the state space used for planning.
 
const base::SpaceInformationPtrgetSpaceInformation () const
 Get the current instance of the space information.
 
const base::ProblemDefinitionPtrgetProblemDefinition () const
 Get the current instance of the problem definition.
 
const base::StateSpacePtrgetStateSpace () const
 Get the current instance of the state space.
 
const base::StateValidityCheckerPtrgetStateValidityChecker () const
 Get the current instance of the state validity checker.
 
const base::GoalPtrgetGoal () const
 Get the current goal definition.
 
const base::PlannerPtrgetPlanner () const
 Get the current planner.
 
const base::PlannerAllocatorgetPlannerAllocator () const
 Get the planner allocator.
 
const PathSimplifierPtrgetPathSimplifier () const
 Get the path simplifier.
 
PathSimplifierPtrgetPathSimplifier ()
 Get the path simplifier.
 
const base::OptimizationObjectivePtrgetOptimizationObjective () const
 Get the optimization objective to use.
 
bool haveExactSolutionPath () const
 Return true if a solution path is available (previous call to solve() was successful) and the solution is exact (not approximate)
 
bool haveSolutionPath () const
 Return true if a solution path is available (previous call to solve() was successful). The solution may be approximate.
 
const std::string getSolutionPlannerName () const
 Get the best solution's planer name. Throw an exception if no solution is available.
 
PathGeometricgetSolutionPath () const
 Get the solution path. Throw an exception if no solution is available.
 
void getPlannerData (base::PlannerData &pd) const
 Get information about the exploration data structure the motion planner used.
 
void setStateValidityChecker (const base::StateValidityCheckerPtr &svc)
 Set the state validity checker to use.
 
void setStateValidityChecker (const base::StateValidityCheckerFn &svc)
 Set the state validity checker to use.
 
void setOptimizationObjective (const base::OptimizationObjectivePtr &optimizationObjective)
 Set the optimization objective to use.
 
void setStartAndGoalStates (const base::ScopedState<> &start, const base::ScopedState<> &goal, const double threshold=std::numeric_limits< double >::epsilon())
 Set the start and goal states to use.
 
void addStartState (const base::ScopedState<> &state)
 Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called.
 
void clearStartStates ()
 Clear the currently set starting states.
 
void setStartState (const base::ScopedState<> &state)
 Clear the currently set starting states and add state as the starting state.
 
void setGoalState (const base::ScopedState<> &goal, const double threshold=std::numeric_limits< double >::epsilon())
 A simple form of setGoal(). The goal will be an instance of ompl::base::GoalState.
 
void setGoal (const base::GoalPtr &goal)
 Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called.
 
void setPlanner (const base::PlannerPtr &planner)
 Set the planner to use. If the planner is not set, an attempt is made to use the planner allocator. If no planner allocator is available either, a default planner is set.
 
void setPlannerAllocator (const base::PlannerAllocator &pa)
 Set the planner allocator to use. This is only used if no planner has been set. This is optional – a default planner will be used if no planner is otherwise specified.
 
virtual base::PlannerStatus solve (double time=1.0)
 Run the planner for up to a specified amount of time (default is 1 second)
 
virtual base::PlannerStatus solve (const base::PlannerTerminationCondition &ptc)
 Run the planner until ptc becomes true (at most)
 
base::PlannerStatus getLastPlannerStatus () const
 Return the status of the last planning attempt.
 
double getLastPlanComputationTime () const
 Get the amount of time (in seconds) spent during the last planning step.
 
double getLastSimplificationTime () const
 Get the amount of time (in seconds) spend during the last path simplification step.
 
void simplifySolution (double duration=0.0)
 Attempt to simplify the current solution path. Spent at most duration seconds in the simplification process. If duration is 0 (the default), a default simplification procedure is executed.
 
void simplifySolution (const base::PlannerTerminationCondition &ptc)
 Attempt to simplify the current solution path. Stop computation when ptc becomes true at the latest.
 
virtual void clear ()
 Clear all planning data. This only includes data generated by motion plan computation. Planner settings, start & goal states are not affected.
 
virtual void print (std::ostream &out=std::cout) const
 Print information about the current setup.
 
- Public Member Functions inherited from ompl::app::RigidBodyGeometry
 RigidBodyGeometry (MotionModel mtype, CollisionChecker ctype)
 Constructor expects a state space that can represent a rigid body. More...
 
 RigidBodyGeometry (MotionModel mtype)
 Constructor expects a state space that can represent a rigid body. More...
 
MotionModel getMotionModel () const
 
CollisionChecker getCollisionCheckerType () const
 
bool hasEnvironment () const
 
bool hasRobot () const
 
unsigned int getLoadedRobotCount () const
 
aiVector3D getRobotCenter (unsigned int robotIndex) const
 Get the robot's center (average of all the vertices of all its parts)
 
virtual bool setEnvironmentMesh (const std::string &env)
 This function specifies the name of the CAD file representing the environment (env). Returns 1 on success, 0 on failure.
 
virtual bool addEnvironmentMesh (const std::string &env)
 This function specifies the name of the CAD file representing a part of the environment (env). Returns 1 on success, 0 on failure.
 
virtual bool setRobotMesh (const std::string &robot)
 This function specifies the name of the CAD file representing the robot (robot). Returns 1 on success, 0 on failure.
 
virtual bool addRobotMesh (const std::string &robot)
 This function specifies the name of the CAD file representing a part of the robot (robot). Returns 1 on success, 0 on failure.
 
virtual void setStateValidityCheckerType (CollisionChecker ctype)
 Change the type of collision checking for the rigid body.
 
const base::StateValidityCheckerPtrallocStateValidityChecker (const base::SpaceInformationPtr &si, const GeometricStateExtractor &se, bool selfCollision)
 Allocate default state validity checker using PQP.
 
const GeometrySpecificationgetGeometrySpecification () const
 
void setBoundsFactor (double factor)
 The bounds of the environment are inferred based on the axis-aligned bounding box for the objects in the environment. The inferred size is multiplied by factor. By default factor = 1,.
 
double getBoundsFactor () const
 Get the data set by setBoundsFactor()
 
void setBoundsAddition (double add)
 The bounds of the environment are inferred based on the axis-aligned bounding box for the objects in the environment. add is added to the inferred size. By default add = 0,.
 
double getBoundsAddition () const
 Get the data set by setBoundsAddition()
 
base::RealVectorBounds inferEnvironmentBounds () const
 Given the representation of an environment, infer its bounds. The bounds will be 2-dimensional when planning in 2D and 3-dimensional when planning in 3D.
 

Protected Member Functions

const base::StategetGeometricComponentStateInternal (const base::State *state, unsigned int) const override
 
void postPropagate (const base::State *state, const control::Control *control, const double duration, base::State *result)
 
virtual void ode (const control::ODESolver::StateType &q, const control::Control *ctrl, control::ODESolver::StateType &qdot)
 
- Protected Member Functions inherited from ompl::app::RigidBodyGeometry
void computeGeometrySpecification ()
 

Static Protected Member Functions

static control::ControlSpacePtr constructControlSpace ()
 
static base::StateSpacePtr constructStateSpace ()
 

Protected Attributes

double timeStep_
 
control::ODESolverPtr odeSolver
 
- Protected Attributes inherited from ompl::app::AppBase< CONTROL >
std::string name_
 
- Protected Attributes inherited from ompl::geometric::SimpleSetup
base::SpaceInformationPtr si_
 The created space information.
 
base::ProblemDefinitionPtr pdef_
 The created problem definition.
 
base::PlannerPtr planner_
 The maintained planner instance.
 
base::PlannerAllocator pa_
 The optional planner allocator.
 
PathSimplifierPtr psk_
 The instance of the path simplifier.
 
bool configured_
 Flag indicating whether the classes needed for planning are set up.
 
double planTime_
 The amount of time the last planning step took.
 
double simplifyTime_
 The amount of time the last path simplification step took.
 
base::PlannerStatus lastStatus_
 The status of the last planning request.
 
- Protected Attributes inherited from ompl::app::RigidBodyGeometry
MotionModel mtype_
 
double factor_
 The factor to multiply inferred environment bounds by (default 1)
 
double add_
 The value to add to inferred environment bounds (default 0)
 
std::vector< std::shared_ptr< Assimp::Importer > > importerEnv_
 Instance of assimp importer used to load environment.
 
std::vector< std::shared_ptr< Assimp::Importer > > importerRobot_
 Instance of assimp importer used to load robot.
 
GeometrySpecification geom_
 Object containing mesh data for robot and environment.
 
base::StateValidityCheckerPtr validitySvc_
 Instance of the state validity checker for collision checking.
 
CollisionChecker ctype_
 Value containing the type of collision checking to use.
 

Detailed Description

A class to facilitate planning for a simple blimp model.

The dynamics of the blimp are described by the following equations:

\begin{eqnarray*} \ddot x &=& u_f\cos\theta,\\ \ddot y &=& u_f\sin\theta,\\ \ddot z &=& u_z,\\ \ddot\theta &=& u_\theta,\end{eqnarray*}

where $(x,y,z)$ is the position, $\theta$ the heading, and the controls $(u_f,u_z,u_\theta)$ control their rate of change.

Definition at line 36 of file BlimpPlanning.h.


The documentation for this class was generated from the following files: