#include <ompl/control/planners/sst/SST.h>

Inheritance diagram for ompl::control::SST:


class  Motion
 Representation of a motion. More...
class  Witness

Public Member Functions

 SST (const SpaceInformationPtr &si)
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.
base::PlannerStatus solve (const base::PlannerTerminationCondition &ptc) override
 Continue solving for some amount of time. Return true if solution was found.
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).
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.
void setSelectionRadius (double selectionRadius)
 Set the radius for selecting nodes relative to random sample. More...
double getSelectionRadius () const
 Get the selection radius the planner is using.
void setPruningRadius (double pruningRadius)
 Set the radius for pruning nodes. More...
double getPruningRadius () const
 Get the pruning radius the planner is using.
template<template< typename T > class NN>
void setNearestNeighbors ()
 Set a different nearest neighbors datastructure.
- Public Member Functions inherited from ompl::base::Planner
 Planner (const Planner &)=delete
Planneroperator= (const Planner &)=delete
 Planner (SpaceInformationPtr si, std::string name)
virtual ~Planner ()=default
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 SpaceInformationPtrgetSpaceInformation () const
 Get the space information this planner is using.
const ProblemDefinitionPtrgetProblemDefinition () const
 Get the problem definition the planner is trying to solve.
const PlannerInputStatesgetPlannerInputStates () 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().
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.
const std::string & getName () const
 Get the name of the planner.
void setName (const std::string &name)
 Set the name of the planner.
const PlannerSpecsgetSpecs () 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.
ParamSetparams ()
 Get the parameters for this planner.
const ParamSetparams () const
 Get the parameters for this planner.
const PlannerProgressPropertiesgetPlannerProgressProperties () 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

MotionselectNode (Motion *sample)
 Finds the best node in the tree withing the selection radius around a random sample.
WitnessfindClosestWitness (Motion *node)
 Find the closest witness node to a newly generated potential node.
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.
ControlSamplerPtr controlSampler_
 Control sampler.
const SpaceInformationsiC_
 The base::SpaceInformation cast as control::SpaceInformation, for convenience.
std::shared_ptr< NearestNeighbors< Motion * > > nn_
 A nearest-neighbors datastructure containing the tree of motions.
std::shared_ptr< NearestNeighbors< Motion * > > witnesses_
 A nearest-neighbors datastructure containing the tree of witness 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)
double selectionRadius_ {0.2}
 The radius for determining the node selected for extension.
double pruningRadius_ {0.1}
 The radius for determining the size of the pruning region.
RNG rng_
 The random number generator.
std::vector< base::State * > prevSolution_
 The best solution we found so far.
std::vector< Control * > prevSolutionControls_
std::vector< unsigned > prevSolutionSteps_
base::Cost prevSolutionCost_
 The best solution cost we found so far.
base::OptimizationObjectivePtr opt_
 The optimization objective.
- 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
typedef std::function< std::string()> PlannerProgressProperty
 Definition of a function which returns a property about the planner's progress that can be queried by a benchmarking routine.
typedef std::map< std::string, PlannerProgressPropertyPlannerProgressProperties
 A dictionary which maps the name of a progress property to the function to be used for querying that property.

Detailed Description

Short description
SST (Stable Sparse RRT) is a asymptotically near-optimal incremental sampling-based motion planning algorithm for systems with dynamics. It makes use of random control inputs to perform a search for the best control inputs to explore the state space.
External documentation
Yanbo Li, Zakary Littlefield, Kostas E. Bekris, Sampling-based Asymptotically Optimal Sampling-based Kinodynamic Planning. [PDF]

Definition at line 59 of file SST.h.

Member Function Documentation

◆ setGoalBias()

void ompl::control::SST::setGoalBias ( double  goalBias)

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.

Definition at line 86 of file SST.h.

◆ setPruningRadius()

void ompl::control::SST::setPruningRadius ( double  pruningRadius)

Set the radius for pruning nodes.

This is the radius used to surround nodes in the witness set. Within this radius around a state in the witness set, only one active tree node can exist. This limits the size of the tree and forces computation to focus on low path costs nodes. If this value is too large, narrow passages will be impossible to traverse. In addition, children nodes may be removed if they are not at least this distance away from their parent nodes.

Definition at line 126 of file SST.h.

◆ setSelectionRadius()

void ompl::control::SST::setSelectionRadius ( double  selectionRadius)

Set the radius for selecting nodes relative to random sample.

This radius is used to mimic behavior of RRT* in that it promotes extending from nodes with good path cost from the root of the tree. Making this radius larger will provide higher quality paths, but has two major drawbacks; exploration will occur much more slowly and exploration around the boundary of the state space may become impossible.

Definition at line 105 of file SST.h.

The documentation for this class was generated from the following files:
  • ompl/control/planners/sst/SST.h
  • ompl/control/planners/sst/src/SST.cpp