EST.h
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34 
35 /* Author: Ryan Luna */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_EST_EST_
38 #define OMPL_CONTROL_PLANNERS_EST_EST_
39 
40 #include "ompl/datastructures/Grid.h"
41 #include "ompl/control/planners/PlannerIncludes.h"
42 #include "ompl/base/ProjectionEvaluator.h"
43 #include "ompl/datastructures/PDF.h"
44 #include <unordered_map>
45 #include <vector>
46 
47 namespace ompl
48 {
49  namespace control
50  {
73  class EST : public base::Planner
74  {
75  public:
77  EST(const SpaceInformationPtr &si);
78 
79  ~EST() override;
80 
82 
83  void clear() override;
84 
92  void setGoalBias(double goalBias)
93  {
94  goalBias_ = goalBias;
95  }
96 
98  double getGoalBias() const
99  {
100  return goalBias_;
101  }
102 
108  void setRange(double distance)
109  {
110  maxDistance_ = distance;
111  }
112 
114  double getRange() const
115  {
116  return maxDistance_;
117  }
118 
121  void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
122  {
123  projectionEvaluator_ = projectionEvaluator;
124  }
125 
128  void setProjectionEvaluator(const std::string &name)
129  {
130  projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
131  }
132 
134  const base::ProjectionEvaluatorPtr &getProjectionEvaluator() const
135  {
136  return projectionEvaluator_;
137  }
138 
139  void setup() override;
140 
141  void getPlannerData(base::PlannerData &data) const override;
142 
143  protected:
148  class Motion
149  {
150  public:
151  Motion() = default;
152 
155  : state(si->allocState()), control(si->allocControl())
156  {
157  }
158 
159  ~Motion() = default;
160 
162  base::State *state{nullptr};
163 
165  Control *control{nullptr};
166 
168  unsigned int steps{0};
169 
171  Motion *parent{nullptr};
172  };
173 
174  struct MotionInfo;
175 
178 
181 
183  struct MotionInfo
184  {
185  Motion *operator[](unsigned int i)
186  {
187  return motions_[i];
188  }
189  const Motion *operator[](unsigned int i) const
190  {
191  return motions_[i];
192  }
193  void push_back(Motion *m)
194  {
195  motions_.push_back(m);
196  }
197  unsigned int size() const
198  {
199  return motions_.size();
200  }
201  bool empty() const
202  {
203  return motions_.empty();
204  }
205  std::vector<Motion *> motions_;
206  CellPDF::Element *elem_;
207  };
208 
210  struct TreeData
211  {
212  TreeData() = default;
213 
216 
218  unsigned int size{0};
219  };
220 
222  void freeMemory();
223 
225  void addMotion(Motion *motion);
226 
228  Motion *selectMotion();
229 
231  base::ValidStateSamplerPtr sampler_;
232 
235 
238 
241 
244  base::ProjectionEvaluatorPtr projectionEvaluator_;
245 
248  double goalBias_{0.05};
249 
251  double maxDistance_{0.};
252 
255 
258 
261  };
262  }
263 }
264 
265 #endif
Grid< MotionInfo > grid
A grid where each cell contains an array of motions.
Definition: EST.h:215
base::ProjectionEvaluatorPtr projectionEvaluator_
This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...
Definition: EST.h:244
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: EST.h:260
Motion(const SpaceInformation *si)
Constructor that allocates memory for the state and the control.
Definition: EST.h:154
Base class for a planner.
Definition: Planner.h:223
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition: EST.h:128
Expansive Space Trees.
Definition: EST.h:74
RNG rng_
The random number generator.
Definition: EST.h:254
The data contained by a tree of exploration.
Definition: EST.h:211
Definition of an abstract control.
Definition: Control.h:48
A shared pointer wrapper for ompl::base::SpaceInformation.
Motion * parent
The parent motion in the exploration tree.
Definition: EST.h:171
void addMotion(Motion *motion)
Add a motion to the exploration tree.
Definition: EST.cpp:225
void setGoalBias(double goalBias)
In the process of randomly selecting states in the state space to attempt to go towards,...
Definition: EST.h:92
Definition of an abstract state.
Definition: State.h:50
unsigned int steps
The number of steps the control is applied for.
Definition: EST.h:168
DirectedControlSamplerPtr controlSampler_
Directed control sampler.
Definition: EST.h:234
TreeData tree_
The exploration tree constructed by this algorithm.
Definition: EST.h:240
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: EST.cpp:94
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: EST.h:251
double getRange() const
Get the range the planner is using.
Definition: EST.h:114
Control * control
The control contained by the motion.
Definition: EST.h:165
EST(const SpaceInformationPtr &si)
Constructor.
Definition: EST.cpp:43
void freeMemory()
Free the memory allocated by this planner.
Definition: EST.cpp:79
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
double getGoalBias() const
Get the goal bias the planner is using.
Definition: EST.h:98
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: EST.h:108
unsigned int size
The total number of motions in the grid.
Definition: EST.h:218
const SpaceInformation * siC_
The base::SpaceInformation cast as control::SpaceInformation, for convenience.
Definition: EST.h:237
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: EST.cpp:57
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49
Definition of a cell in this grid.
Definition: Grid.h:59
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state.
Definition: EST.h:121
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: EST.cpp:245
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: EST.cpp:67
Space information containing necessary information for planning with controls. setup() needs to be ca...
A shared pointer wrapper for ompl::control::DirectedControlSampler.
base::State * state
The state contained by the motion.
Definition: EST.h:162
Representation of a motion.
Definition: EST.h:149
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:417
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition: EST.h:248
Motion * selectMotion()
Select a motion to continue the expansion of the tree from.
Definition: EST.cpp:219
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: EST.h:134
A struct containing an array of motions and a corresponding PDF element.
Definition: EST.h:184
base::ValidStateSamplerPtr sampler_
Valid state sampler.
Definition: EST.h:231
CellPDF pdf_
The PDF used for selecting a cell from which to sample a motion.
Definition: EST.h:257
Representation of a simple grid.
Definition: Grid.h:52
Main namespace. Contains everything in this library.
Definition: AppBase.h:22