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| KPIECE1 (const SpaceInformationPtr &si) |
| | Constructor.
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base::PlannerStatus | solve (const base::PlannerTerminationCondition &ptc) override |
| | Function that can solve the motion planning problem. This function can be called multiple times on the same problem, without calling clear() in between. This allows the planner to continue work for more time on an unsolved problem, for example. If this option is used, it is assumed the problem definition is not changed (unpredictable results otherwise). The only change in the problem definition that is accounted for is the addition of starting or goal states (but not changing previously added start/goal states). If clearQuery() is called, the planner may retain prior datastructures generated from a previous query on a new problem definition. The function terminates if the call to ptc returns true.
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void | clear () override |
| | Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.
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| void | setGoalBias (double goalBias) |
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| double | getGoalBias () const |
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void | setBorderFraction (double bp) |
| | Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction used to select cells that are exterior (minimum because if 95% of cells are on the border, they will be selected with 95% chance, even if this fraction is set to 90%)
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double | getBorderFraction () const |
| | Get the fraction of time to focus exploration on boundary.
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void | setCellScoreFactor (double good, double bad) |
| | When extending a motion from a cell, the extension can be successful or it can fail. If the extension is successful, the score of the cell is multiplied by good. If the extension fails, the score of the cell is multiplied by bad. These numbers should be in the range (0, 1].
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void | setBadCellScoreFactor (double bad) |
| | Set the factor that is to be applied to a cell's score when an expansion from that cell fails.
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void | setGoodCellScoreFactor (double good) |
| | Set the factor that is to be applied to a cell's score when an expansion from that cell succeedes.
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double | getGoodCellScoreFactor () const |
| | Get the factor that is multiplied to a cell's score if extending a motion from that cell succeeded.
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double | getBadCellScoreFactor () const |
| | Get the factor that is multiplied to a cell's score if extending a motion from that cell failed.
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void | setMaxCloseSamplesCount (unsigned int nCloseSamples) |
| | When motions reach close to the goal, they are stored in a separate queue to allow biasing towards the goal. This function sets the maximum size of that queue.
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unsigned int | getMaxCloseSamplesCount () const |
| | Get the maximum number of samples to store in the queue of samples that are close to the goal.
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void | setProjectionEvaluator (const base::ProjectionEvaluatorPtr &projectionEvaluator) |
| | Set the projection evaluator. This class is able to compute the projection of a given state.
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void | setProjectionEvaluator (const std::string &name) |
| | Set the projection evaluator (select one from the ones registered with the state space).
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const base::ProjectionEvaluatorPtr & | getProjectionEvaluator () const |
| | Get the projection evaluator.
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void | setup () override |
| | Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceInformation::setup() if needed. This must be called before solving.
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void | getPlannerData (base::PlannerData &data) const override |
| | Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between).
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| Planner (const Planner &)=delete |
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Planner & | operator= (const Planner &)=delete |
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| Planner (SpaceInformationPtr si, std::string name) |
| | Constructor.
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virtual | ~Planner ()=default |
| | Destructor.
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| template<class T > |
| T * | as () |
| | Cast this instance to a desired type. More...
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| template<class T > |
| const T * | as () const |
| | Cast this instance to a desired type. More...
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const SpaceInformationPtr & | getSpaceInformation () const |
| | Get the space information this planner is using.
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const ProblemDefinitionPtr & | getProblemDefinition () const |
| | Get the problem definition the planner is trying to solve.
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ProblemDefinitionPtr & | getProblemDefinition () |
| | Get the problem definition the planner is trying to solve.
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const PlannerInputStates & | getPlannerInputStates () const |
| | Get the planner input states.
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virtual void | setProblemDefinition (const ProblemDefinitionPtr &pdef) |
| | Set the problem definition for the planner. The problem needs to be set before calling solve(). Note: If this problem definition replaces a previous one, it may also be necessary to call clear() or clearQuery().
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PlannerStatus | solve (const PlannerTerminationConditionFn &ptc, double checkInterval) |
| | Same as above except the termination condition is only evaluated at a specified interval.
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PlannerStatus | solve (double solveTime) |
| | Same as above except the termination condition is solely a time limit: the number of seconds the algorithm is allowed to spend planning.
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virtual void | clearQuery () |
| | Clears internal datastructures of any query-specific information from the previous query. Planner settings are not affected. The planner, if able, should retain all datastructures generated from previous queries that can be used to help solve the next query. Note that clear() should also clear all query-specific information along with all other datastructures in the planner. By default clearQuery() calls clear().
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const std::string & | getName () const |
| | Get the name of the planner.
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void | setName (const std::string &name) |
| | Set the name of the planner.
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const PlannerSpecs & | getSpecs () const |
| | Return the specifications (capabilities of this planner)
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virtual void | checkValidity () |
| | Check to see if the planner is in a working state (setup has been called, a goal was set, the input states seem to be in order). In case of error, this function throws an exception.
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bool | isSetup () const |
| | Check if setup() was called for this planner.
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ParamSet & | params () |
| | Get the parameters for this planner.
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const ParamSet & | params () const |
| | Get the parameters for this planner.
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const PlannerProgressProperties & | getPlannerProgressProperties () const |
| | Retrieve a planner's planner progress property map.
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virtual void | printProperties (std::ostream &out) const |
| | Print properties of the motion planner.
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virtual void | printSettings (std::ostream &out) const |
| | Print information about the motion planner's settings.
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void | freeMemory () |
| | Free all the memory allocated by this planner.
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void | freeGridMotions (Grid &grid) |
| | Free the memory for the motions contained in a grid.
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void | freeCellData (CellData *cdata) |
| | Free the memory for the data contained in a grid cell.
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void | freeMotion (Motion *motion) |
| | Free the memory for a motion.
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Grid::Cell * | addMotion (Motion *motion, double dist) |
| | Add a motion to the grid containing motions. As a hint, dist specifies the distance to the goal from the state of the motion being added. The function Returns the number of cells created to accommodate the new motion (0 or 1).
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bool | selectMotion (Motion *&smotion, Grid::Cell *&scell) |
| | Select a motion and the cell it is part of from the grid of motions. This is where preference is given to cells on the boundary of the grid.
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unsigned int | findNextMotion (const std::vector< Grid::Coord > &coords, unsigned int index, unsigned int count) |
| | When generated motions are to be added to the tree of motions, they often need to be split, so they don't cross cell boundaries. Given that a motion starts out in the cell origin and it crosses the cells in coords[index] through coords[last] (inclusively), return the index of the state to be used in the next part of the motion (that is within a cell). This will be a value between index and last.
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template<typename T , typename PlannerType , typename SetterType , typename GetterType > |
| void | declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter, const GetterType &getter, const std::string &rangeSuggestion="") |
| | This function declares a parameter for this planner instance, and specifies the setter and getter functions.
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template<typename T , typename PlannerType , typename SetterType > |
| void | declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter, const std::string &rangeSuggestion="") |
| | This function declares a parameter for this planner instance, and specifies the setter function.
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void | addPlannerProgressProperty (const std::string &progressPropertyName, const PlannerProgressProperty &prop) |
| | Add a planner progress property called progressPropertyName with a property querying function prop to this planner's progress property map.
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Kinodynamic Planning by Interior-Exterior Cell Exploration.
- Short description
- KPIECE is a tree-based planner that uses a discretization (multiple levels, in general) to guide the exploration of the continuous space. This implementation is a simplified one, using a single level of discretization: one grid. The grid is imposed on a projection of the state space. When exploring the space, preference is given to the boundary of this grid. The boundary is computed to be the set of grid cells that have less than 2n non-diagonal neighbors in an n-dimensional projection space. It is important to set the projection the algorithm uses (setProjectionEvaluator() function). If no projection is set, the planner will attempt to use the default projection associated to the state space. An exception is thrown if no default projection is available either. This implementation is intended for systems with differential constraints.
- External documentation
- I.A. Şucan and L.E. Kavraki, Kinodynamic motion planning by interior-exterior cell exploration, in Workshop on the Algorithmic Foundations of Robotics, Dec. 2008.
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Definition at line 139 of file KPIECE1.h.
Public Member Functions inherited from ompl::base::Planner