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ompl::control::RRT Class Reference
Rapidly-exploring Random Tree. More...
#include <ompl/control/planners/rrt/RRT.h>
Inheritance diagram for ompl::control::RRT:
Classes | |
| class | Motion |
| Representation of a motion. More... | |
Public Member Functions | |
| RRT (const SpaceInformationPtr &si) | |
| Constructor. | |
| base::PlannerStatus | solve (const base::PlannerTerminationCondition &ptc) override |
| Continue solving for some amount of time. Return true if solution was found. | |
| void | clear () override |
| Clear datastructures. Call this function if the input data to the planner has changed and you do not want to continue planning. | |
| void | setGoalBias (double goalBias) |
| double | getGoalBias () const |
| Get the goal bias the planner is using. | |
| bool | getIntermediateStates () const |
| Return true if the intermediate states generated along motions are to be added to the tree itself. | |
| void | setIntermediateStates (bool addIntermediateStates) |
| Specify whether the intermediate states generated along motions are to be added to the tree itself. | |
| 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). | |
| template<template< typename T > class NN> | |
| void | setNearestNeighbors () |
| Set a different nearest neighbors datastructure. | |
| 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. | |
 Public Member Functions inherited from ompl::base::Planner | |
| Planner (const Planner &)=delete | |
| Planner & | operator= (const Planner &)=delete |
| Planner (SpaceInformationPtr si, std::string name) | |
| Constructor. | |
| virtual | ~Planner ()=default |
| Destructor. | |
| template<class T > | |
| T * | as () |
| Cast this instance to a desired type. More... | |
| template<class T > | |
| const T * | as () const |
| Cast this instance to a desired type. More... | |
| const SpaceInformationPtr & | getSpaceInformation () const |
| Get the space information this planner is using. | |
| const ProblemDefinitionPtr & | getProblemDefinition () const |
| Get the problem definition the planner is trying to solve. | |
| ProblemDefinitionPtr & | getProblemDefinition () |
| Get the problem definition the planner is trying to solve. | |
| const PlannerInputStates & | getPlannerInputStates () const |
| Get the planner input states. | |
| 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(). | |
| PlannerStatus | solve (const PlannerTerminationConditionFn &ptc, double checkInterval) |
| Same as above except the termination condition is only evaluated at a specified interval. | |
| 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. | |
| 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(). | |
| const std::string & | getName () const |
| Get the name of the planner. | |
| void | setName (const std::string &name) |
| Set the name of the planner. | |
| const PlannerSpecs & | getSpecs () const |
| Return the specifications (capabilities of this planner) | |
| 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. | |
| bool | isSetup () const |
| Check if setup() was called for this planner. | |
| ParamSet & | params () |
| Get the parameters for this planner. | |
| const ParamSet & | params () const |
| Get the parameters for this planner. | |
| const PlannerProgressProperties & | getPlannerProgressProperties () const |
| Retrieve a planner's planner progress property map. | |
| virtual void | printProperties (std::ostream &out) const |
| Print properties of the motion planner. | |
| virtual void | printSettings (std::ostream &out) const |
| Print information about the motion planner's settings. | |
Protected Member Functions | |
| void | freeMemory () |
| Free the memory allocated by this planner. | |
| double | distanceFunction (const Motion *a, const Motion *b) const |
| Compute distance between motions (actually distance between contained states) | |
| Protected Member Functions inherited from ompl::base::Planner | |
| 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. | |
| 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. | |
| 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. | |
Protected Attributes | |
| base::StateSamplerPtr | sampler_ |
| State sampler. | |
| DirectedControlSamplerPtr | controlSampler_ |
| Control sampler. | |
| const SpaceInformation * | siC_ |
| The base::SpaceInformation cast as control::SpaceInformation, for convenience. | |
| std::shared_ptr< NearestNeighbors< Motion * > > | nn_ |
| A nearest-neighbors datastructure containing the tree of motions. | |
| double | goalBias_ {0.05} |
| The fraction of time the goal is picked as the state to expand towards (if such a state is available) | |
| bool | addIntermediateStates_ {false} |
| Flag indicating whether intermediate states are added to the built tree of motions. | |
| RNG | rng_ |
| The random number generator. | |
| Motion * | lastGoalMotion_ {nullptr} |
| The most recent goal motion. Used for PlannerData computation. | |
| Protected Attributes inherited from ompl::base::Planner | |
| SpaceInformationPtr | si_ |
| The space information for which planning is done. | |
| ProblemDefinitionPtr | pdef_ |
| The user set problem definition. | |
| PlannerInputStates | pis_ |
| Utility class to extract valid input states | |
| std::string | name_ |
| The name of this planner. | |
| PlannerSpecs | specs_ |
| The specifications of the planner (its capabilities) | |
| ParamSet | params_ |
| A map from parameter names to parameter instances for this planner. This field is populated by the declareParam() function. | |
| PlannerProgressProperties | plannerProgressProperties_ |
| A mapping between this planner's progress property names and the functions used for querying those progress properties. | |
| bool | setup_ |
| Flag indicating whether setup() has been called. | |
Additional Inherited Members | |
| Public Types inherited from ompl::base::Planner | |
| using | PlannerProgressProperty = std::function< std::string()> |
| Definition of a function which returns a property about the planner's progress that can be queried by a benchmarking routine. | |
| using | PlannerProgressProperties = std::map< std::string, PlannerProgressProperty > |
| A dictionary which maps the name of a progress property to the function to be used for querying that property. | |
Detailed Description
Rapidly-exploring Random Tree.
- Short description
- RRT is a tree-based motion planner that uses the following idea: RRT samples a random state qr in the state space, then finds the state qc among the previously seen states that is closest to qr and expands from qc towards qr, until a state qm is reached. qm is then added to the exploration tree. This implementation is intended for systems with differential constraints.
- External documentation
- S.M. LaValle and J.J. Kuffner, Randomized kinodynamic planning, Intl. J. of Robotics Research, vol. 20, pp. 378–400, May 2001. DOI: 10.1177/02783640122067453
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Member Function Documentation
◆ setGoalBias()
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inline |
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.
The documentation for this class was generated from the following files: