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ompl::geometric::KPIECE1 Class Reference
Kinematic Planning by Interior-Exterior Cell Exploration. More...
#include <ompl/geometric/planners/kpiece/KPIECE1.h>
Inheritance diagram for ompl::geometric::KPIECE1:
Classes | |
| class | Motion |
| Representation of a motion for this algorithm. More... | |
Public Member Functions | |
| KPIECE1 (const base::SpaceInformationPtr &si) | |
| Constructor. | |
| 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. | |
| void | clear () override |
| Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work. | |
| void | setGoalBias (double goalBias) |
| Set the goal bias. More... | |
| double | getGoalBias () const |
| Get the goal bias the planner is using. | |
| void | setRange (double distance) |
| Set the range the planner is supposed to use. More... | |
| double | getRange () const |
| Get the range the planner is using. | |
| 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%) | |
| double | getBorderFraction () const |
| Get the fraction of time to focus exploration on boundary. | |
| void | setMinValidPathFraction (double fraction) |
| When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion. This function sets the minimum acceptable fraction (between 0 and 1). | |
| double | getMinValidPathFraction () const |
| Get the value of the fraction set by setMinValidPathFraction() | |
| void | setFailedExpansionCellScoreFactor (double factor) |
| When extending a motion from a cell, the extension can be successful or it can fail. If the extension fails, the score of the cell is multiplied by factor. These number should be in the range (0, 1]. | |
| double | getFailedExpansionCellScoreFactor () const |
| Get the factor that is multiplied to a cell's score if extending a motion from that cell failed. | |
| void | setProjectionEvaluator (const base::ProjectionEvaluatorPtr &projectionEvaluator) |
| Set the projection evaluator. This class is able to compute the projection of a given state. | |
| void | setProjectionEvaluator (const std::string &name) |
| Set the projection evaluator (select one from the ones registered with the state space). | |
| const base::ProjectionEvaluatorPtr & | getProjectionEvaluator () const |
| Get the projection evaluator. | |
| 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. | |
| 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). | |
 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 | freeMotion (Motion *motion) |
| Free the memory for a motion. | |
| 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_ |
| A state space sampler. | |
| Discretization< Motion > | disc_ |
| The tree datastructure and the grid that covers it. | |
| base::ProjectionEvaluatorPtr | projectionEvaluator_ |
| This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on a projection of the state space. | |
| double | failedExpansionScoreFactor_ {0.5} |
| When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multiplied by this factor. | |
| 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 | minValidPathFraction_ {0.2} |
| When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion. | |
| double | maxDistance_ {0.} |
| The maximum length of a motion to be added to a tree. | |
| 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
Kinematic 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.
- 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.
[PDF]
Member Function Documentation
◆ setGoalBias()
|
inline |
Set the goal bias.
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.
◆ setRange()
|
inline |
The documentation for this class was generated from the following files:
- ompl/geometric/planners/kpiece/KPIECE1.h
- ompl/geometric/planners/kpiece/src/KPIECE1.cpp