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ompl::geometric::STRIDE Class Reference
Search Tree with Resolution Independent Density Estimation. More...
#include <ompl/geometric/planners/stride/STRIDE.h>
Inheritance diagram for ompl::geometric::STRIDE:
Classes  
class  Motion 
The definition of a motion. More...  
Public Member Functions  
STRIDE (const base::SpaceInformationPtr &si, bool useProjectedDistance=false, unsigned int degree=16, unsigned int minDegree=12, unsigned int maxDegree=18, unsigned int maxNumPtsPerLeaf=6, double estimatedDimension=0.0)  
Constructor.  
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 
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  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.  
double  getGoalBias () const 
Get the goal bias the planner is using.  
void  setUseProjectedDistance (bool useProjectedDistance) 
Set whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself.  
bool  getUseProjectedDistance () const 
Return whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself.  
void  setDegree (unsigned int degree) 
Set desired degree of a node in the GNAT.  
unsigned int  getDegree () const 
Get desired degree of a node in the GNAT.  
void  setMinDegree (unsigned int minDegree) 
Set minimum degree of a node in the GNAT.  
unsigned int  getMinDegree () const 
Get minimum degree of a node in the GNAT.  
void  setMaxDegree (unsigned int maxDegree) 
Set maximum degree of a node in the GNAT.  
unsigned int  getMaxDegree () const 
Set maximum degree of a node in the GNAT.  
void  setMaxNumPtsPerLeaf (unsigned int maxNumPtsPerLeaf) 
Set maximum number of elements stored in a leaf node of the GNAT.  
unsigned int  getMaxNumPtsPerLeaf () const 
Get maximum number of elements stored in a leaf node of the GNAT.  
void  setEstimatedDimension (double estimatedDimension) 
Set estimated dimension of the free space, which is needed to compute the sampling weight for a node in the GNAT.  
double  getEstimatedDimension () const 
Get estimated dimension of the free space, which is needed to compute the sampling weight for a node in the GNAT.  
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  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  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  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.  
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().  
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 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.  
void  setupTree () 
Initialize GNAT data structure.  
double  distanceFunction (const Motion *a, const Motion *b) const 
Compute distance between motions (actually distance between contained states)  
double  projectedDistanceFunction (const Motion *a, const Motion *b) const 
Compute distance between motions (actually distance between projections of contained states)  
void  addMotion (Motion *motion) 
Add a motion to the exploration tree.  
Motion *  selectMotion () 
Select a motion to continue the expansion of the tree from.  
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::ValidStateSamplerPtr  sampler_ 
Valid state sampler.  
base::ProjectionEvaluatorPtr  projectionEvaluator_ 
This algorithm can optionally use a projection to guide the exploration.  
boost::scoped_ptr< NearestNeighborsGNAT< Motion * > >  tree_ 
The exploration tree constructed by this algorithm.  
double  goalBias_ 
The fraction of time the goal is picked as the state to expand towards (if such a state is available)  
double  maxDistance_ 
The maximum length of a motion to be added to a tree.  
bool  useProjectedDistance_ 
Whether to use distance in the projection (instead of distance in the state space) for the GNAT.  
unsigned int  degree_ 
Desired degree of an internal node in the GNAT.  
unsigned int  minDegree_ 
Minimum degree of an internal node in the GNAT.  
unsigned int  maxDegree_ 
Maximum degree of an internal node in the GNAT.  
unsigned int  maxNumPtsPerLeaf_ 
Maximum number of points stored in a leaf node in the GNAT.  
double  estimatedDimension_ 
Estimate of the local dimensionality of the free space around a state.  
double  minValidPathFraction_ 
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 is used only when extendWhileValid_ is true.  
RNG  rng_ 
The random number generator.  
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, PlannerProgressProperty >  PlannerProgressProperties 
A dictionary which maps the name of a progress property to the function to be used for querying that property.  
Detailed Description
Search Tree with Resolution Independent Density Estimation.
 Short description
 STRIDE (Search Tree with Resolution Independent Density Estimation) is a treebased motion planner that attempts to detect the less explored area of the space through the use of a GNAT nearestneighbor data structure. It is similar to EST, but unlike the EST implementation in OMPL does not require a projection. However, in case the state space has many dimensions, a projection can be specified and the GNAT can be built using distances in the projected space. This has the advantage over the EST implementation that no grid cell sizes have to be specified.
 External documentation
 B. Gipson, M. Moll, and L.E. Kavraki, Resolution independent density estimation for motion planning in highdimensional spaces, in IEEE Intl. Conf. on Robotics and Automation, pp. 24292435, 2013. [PDF]
Member Function Documentation
◆ setRange()

inline 
The documentation for this class was generated from the following files:
 ompl/geometric/planners/stride/STRIDE.h
 ompl/geometric/planners/stride/src/STRIDE.cpp