ompl::geometric::RRTConnect Class Reference

RRT-Connect (RRTConnect) More...

#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)
 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). 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 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
 
Planneroperator= (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 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 Types

enum  GrowState { TRAPPED, ADVANCED, REACHED }
 The state of the tree after an attempt to extend it. More...
 
typedef std::shared_ptr< NearestNeighbors< Motion * > > TreeData
 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.
 
double maxDistance_
 The maximum length of a motion to be added to a tree.
 
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.
 
- 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

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 61 of file RRTConnect.h.

Member Enumeration Documentation

◆ GrowState

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 139 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 80 of file RRTConnect.h.


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