#include <ompl/geometric/planners/rrt/RRTConnect.h>

Inheritance diagram for ompl::geometric::RRTConnect:

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

struct	TreeGrowingInfo
	Information attached to growing a tree of motions (used internally) More...

Public Member Functions
	RRTConnect (const base::SpaceInformationPtr &si, bool addIntermediateStates=false)
	Constructor.

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).

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.

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	setRange (double distance)
	Set the range the planner is supposed to use. More...

double	getRange () const
	Get the range the planner is using.

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 Types
enum	GrowState { TRAPPED, ADVANCED, REACHED }
	The state of the tree after an attempt to extend it. More...

using	TreeData = std::shared_ptr< NearestNeighbors< Motion * > >
	A nearest-neighbor datastructure representing a tree of motions.

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)

GrowState	growTree (TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion)
	Grow a tree towards a random state.

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.

TreeData	tStart_
	The start tree.

TreeData	tGoal_
	The goal tree.

bool	startTree_ {true}
	A flag that toggles between expanding the start tree (true) or goal tree (false).

double	maxDistance_ {0.}
	The maximum length of a motion to be added to a tree.

bool	addIntermediateStates_
	Flag indicating whether intermediate states are added to the built tree of motions.

RNG	rng_
	The random number generator.

std::pair< base::State , base::State >	connectionPoint_
	The pair of states in each tree connected during planning. Used for PlannerData computation.

double	distanceBetweenTrees_
	Distance between the nearest pair of start tree and goal tree nodes.

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

RRT-Connect (RRTConnect)

Short description: The basic idea is to grow two RRTs, one from the start and one from the goal, and attempt to connect them.

External documentation: J. Kuffner and S.M. LaValle, RRT-connect: An efficient approach to single-query path planning, in Proc. 2000 IEEE Intl. Conf. on Robotics and Automation, pp. 995–1001, Apr. 2000. DOI: 10.1109/ROBOT.2000.844730
[PDF] [more]

Definition at line 125 of file RRTConnect.h.

Member Enumeration Documentation

◆ GrowState

enum ompl::geometric::RRTConnect::GrowState

protected

The state of the tree after an attempt to extend it.

Enumerator
TRAPPED	no progress has been made
ADVANCED	progress has been made towards the randomly sampled state
REACHED	the randomly sampled state was reached

Definition at line 245 of file RRTConnect.h.

Member Function Documentation

◆ setRange()

void ompl::geometric::RRTConnect::setRange ( double distance )

inline

Set the range the planner is supposed to use.

This parameter greatly influences the runtime of the algorithm. It represents the maximum length of a motion to be added in the tree of motions.

Definition at line 190 of file RRTConnect.h.

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

ompl/geometric/planners/rrt/RRTConnect.h
ompl/geometric/planners/rrt/src/RRTConnect.cpp

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ GrowState

Member Function Documentation

◆ setRange()