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| TRRT (const base::SpaceInformationPtr &si) |
| | Constructor.
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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).
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base::PlannerStatus | solve (const base::PlannerTerminationCondition &plannerTerminationCondition) 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.
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void | clear () override |
| | Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.
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| void | setGoalBias (double goalBias) |
| | Set the goal bias. More...
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double | getGoalBias () const |
| | Get the goal bias the planner is using.
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| void | setRange (double distance) |
| | Set the range the planner is supposed to use. More...
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double | getRange () const |
| | Get the range the planner is using.
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void | setTempChangeFactor (double factor) |
| | Set the factor by which the temperature is increased after a failed transition test. This value should be in the range (0, 1], typically close to zero (default is 0.1). This value is an exponential (e^factor) that is multiplied with the current temperature.
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double | getTempChangeFactor () const |
| | Get the factor by which the temperature rises based on current acceptance/rejection rate.
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void | setCostThreshold (double maxCost) |
| | Set the cost threshold (default is infinity). Any motion cost that is not better than this cost (according to the optimization objective) will not be expanded by the planner.
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double | getCostThreshold () const |
| | Get the cost threshold (default is infinity). Any motion cost that is not better than this cost (according to the optimization objective) will not be expanded by the planner.
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void | setInitTemperature (double initTemperature) |
| | Set the initial temperature at the beginning of the algorithm. Should be high to allow for initial exploration.
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double | getInitTemperature () const |
| | Get the temperature at the start of planning.
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void | setFrontierThreshold (double frontier_threshold) |
| | Set the distance between a new state and the nearest neighbor that qualifies that state as being a frontier.
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double | getFrontierThreshold () const |
| | Get the distance between a new state and the nearest neighbor that qualifies that state as being a frontier.
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void | setFrontierNodeRatio (double frontierNodeRatio) |
| | Set the ratio between adding nonfrontier nodes to frontier nodes, for example .1 is 1/10 or one nonfrontier node for every 10 frontier nodes added.
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double | getFrontierNodeRatio () const |
| | Get the ratio between adding nonfrontier nodes to frontier nodes, for example .1 is 1/10 or one nonfrontier node for every 10 frontier nodes added.
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template<template< typename T > class NN> |
| void | setNearestNeighbors () |
| | Set a different nearest neighbors datastructure.
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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.
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| Planner (const Planner &)=delete |
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Planner & | operator= (const Planner &)=delete |
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| Planner (SpaceInformationPtr si, std::string name) |
| | Constructor.
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virtual | ~Planner ()=default |
| | Destructor.
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| template<class T > |
| T * | as () |
| | Cast this instance to a desired type. More...
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| template<class T > |
| const T * | as () const |
| | Cast this instance to a desired type. More...
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const SpaceInformationPtr & | getSpaceInformation () const |
| | Get the space information this planner is using.
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const ProblemDefinitionPtr & | getProblemDefinition () const |
| | Get the problem definition the planner is trying to solve.
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ProblemDefinitionPtr & | getProblemDefinition () |
| | Get the problem definition the planner is trying to solve.
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const PlannerInputStates & | getPlannerInputStates () const |
| | Get the planner input states.
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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().
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PlannerStatus | solve (const PlannerTerminationConditionFn &ptc, double checkInterval) |
| | Same as above except the termination condition is only evaluated at a specified interval.
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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.
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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().
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const std::string & | getName () const |
| | Get the name of the planner.
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void | setName (const std::string &name) |
| | Set the name of the planner.
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const PlannerSpecs & | getSpecs () const |
| | Return the specifications (capabilities of this planner)
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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.
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bool | isSetup () const |
| | Check if setup() was called for this planner.
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ParamSet & | params () |
| | Get the parameters for this planner.
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const ParamSet & | params () const |
| | Get the parameters for this planner.
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const PlannerProgressProperties & | getPlannerProgressProperties () const |
| | Retrieve a planner's planner progress property map.
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virtual void | printProperties (std::ostream &out) const |
| | Print properties of the motion planner.
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virtual void | printSettings (std::ostream &out) const |
| | Print information about the motion planner's settings.
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void | freeMemory () |
| | Free the memory allocated by this planner.
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double | distanceFunction (const Motion *a, const Motion *b) const |
| | Compute distance between motions (actually distance between contained states)
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| bool | transitionTest (const base::Cost &motionCost) |
| | Filter irrelevant configuration regarding the search of low-cost paths before inserting into tree. More...
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bool | minExpansionControl (double randMotionDistance) |
| | Use ratio to prefer frontier nodes to nonfrontier ones.
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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.
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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.
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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.
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Transition-based Rapidly-exploring Random Trees.
- Short description
- T-RRT is an RRT variant and tree-based motion planner that takes into consideration state costs to compute low-cost paths that follow valleys and saddle points of the configuration-space costmap. It uses transition tests from stochastic optimization methods to accept or reject new potential states.
- Example usage
- Please see Dave Coleman's example to see how TRRT can be used.
- External documentation
- L. Jaillet, J. Cortés, T. Siméon, Sampling-Based Path Planning on Configuration-Space Costmaps, in IEEE TRANSACTIONS ON ROBOTICS, VOL. 26, NO. 4, AUGUST 2010. DOI: 10.1109/TRO.2010.2049527
[PDF]
D. Devaurs, T. Siméon, J. Cortés, Enhancing the Transition-based RRT to Deal with Complex Cost Spaces, in IEEE International Conference on Robotics and Automation, 2013, pp. 4120-4125. DOI: 10.1109/ICRA.2013.6631158
[PDF]
Definition at line 147 of file TRRT.h.
Public Member Functions inherited from ompl::base::Planner