SST.h
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34 
35 /* Authors: Zakary Littlefield */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_SST_SST_
38 #define OMPL_CONTROL_PLANNERS_SST_SST_
39 
40 #include "ompl/control/planners/PlannerIncludes.h"
41 #include "ompl/datastructures/NearestNeighbors.h"
42 
43 namespace ompl
44 {
45  namespace control
46  {
59  class SST : public base::Planner
60  {
61  public:
63  SST(const SpaceInformationPtr &si);
64 
65  ~SST() override;
66 
67  void setup() override;
68 
70  base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
71 
72  void getPlannerData(base::PlannerData &data) const override;
73 
77  void clear() override;
78 
86  void setGoalBias(double goalBias)
87  {
88  goalBias_ = goalBias;
89  }
90 
92  double getGoalBias() const
93  {
94  return goalBias_;
95  }
96 
105  void setSelectionRadius(double selectionRadius)
106  {
107  selectionRadius_ = selectionRadius;
108  }
109 
111  double getSelectionRadius() const
112  {
113  return selectionRadius_;
114  }
115 
126  void setPruningRadius(double pruningRadius)
127  {
128  pruningRadius_ = pruningRadius;
129  }
130 
132  double getPruningRadius() const
133  {
134  return pruningRadius_;
135  }
136 
138  template <template <typename T> class NN>
139  void setNearestNeighbors()
140  {
141  if (nn_ && nn_->size() != 0)
142  OMPL_WARN("Calling setNearestNeighbors will clear all states.");
143  clear();
144  nn_ = std::make_shared<NN<Motion *>>();
145  witnesses_ = std::make_shared<NN<Motion *>>();
146  setup();
147  }
148 
149  protected:
154  class Motion
155  {
156  public:
157  Motion() = default;
158 
160  Motion(const SpaceInformation *si)
161  : state_(si->allocState()), control_(si->allocControl())
162  {
163  }
164 
165  virtual ~Motion() = default;
166 
167  virtual base::State *getState() const
168  {
169  return state_;
170  }
171  virtual Motion *getParent() const
172  {
173  return parent_;
174  }
175 
176  base::Cost accCost_{0};
177 
179  base::State *state_{nullptr};
180 
182  Control *control_{nullptr};
183 
185  unsigned int steps_{0};
186 
188  Motion *parent_{nullptr};
189 
191  unsigned numChildren_{0};
192 
194  bool inactive_{false};
195  };
196 
197  class Witness : public Motion
198  {
199  public:
200  Witness() = default;
201 
202  Witness(const SpaceInformation *si) : Motion(si)
203  {
204  }
205  base::State *getState() const override
206  {
207  return rep_->state_;
208  }
209  Motion *getParent() const override
210  {
211  return rep_->parent_;
212  }
213 
214  void linkRep(Motion *lRep)
215  {
216  rep_ = lRep;
217  }
218 
220  Motion *rep_{nullptr};
221  };
222 
224  Motion *selectNode(Motion *sample);
225 
228 
230  void freeMemory();
231 
233  double distanceFunction(const Motion *a, const Motion *b) const
234  {
235  return si_->distance(a->state_, b->state_);
236  }
237 
239  base::StateSamplerPtr sampler_;
240 
243 
245  const SpaceInformation *siC_;
246 
248  std::shared_ptr<NearestNeighbors<Motion *>> nn_;
249 
251  std::shared_ptr<NearestNeighbors<Motion *>> witnesses_;
252 
255  double goalBias_{0.05};
256 
258  double selectionRadius_{0.2};
259 
261  double pruningRadius_{0.1};
262 
264  RNG rng_;
265 
267  std::vector<base::State *> prevSolution_;
268  std::vector<Control *> prevSolutionControls_;
269  std::vector<unsigned> prevSolutionSteps_;
270 
273 
275  base::OptimizationObjectivePtr opt_;
276  };
277  }
278 }
279 
280 #endif
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:89
Control * control_
The control contained by the motion.
Definition: SST.h:278
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: SST.h:235
bool inactive_
If inactive, this node is not considered for selection.
Definition: SST.h:290
Definition of an abstract control.
Definition: Control.h:111
A shared pointer wrapper for ompl::base::SpaceInformation.
Representation of a motion.
Definition: SST.h:250
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SST.cpp:65
double selectionRadius_
The radius for determining the node selected for extension.
Definition: SST.h:354
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: SST.cpp:413
base::State * state_
The state contained by the motion.
Definition: SST.h:275
Definition of an abstract state.
Definition: State.h:113
unsigned int steps_
The number of steps_ the control is applied for.
Definition: SST.h:281
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition: SST.h:351
base::OptimizationObjectivePtr opt_
The optimization objective.
Definition: SST.h:371
base::StateSamplerPtr sampler_
State sampler.
Definition: SST.h:335
void freeMemory()
Free the memory allocated by this planner.
Definition: SST.cpp:118
void clear() override
Clear datastructures. Call this function if the input data to the planner has changed and you do not ...
Definition: SST.cpp:104
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:111
void setPruningRadius(double pruningRadius)
Set the radius for pruning nodes.
Definition: SST.h:222
double getPruningRadius() const
Get the pruning radius the planner is using.
Definition: SST.h:228
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: SST.h:344
std::vector< base::State * > prevSolution_
The best solution we found so far.
Definition: SST.h:363
Motion * rep_
The node in the tree that is within the pruning radius.
Definition: SST.h:316
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Continue solving for some amount of time. Return true if solution was found.
Definition: SST.cpp:210
const SpaceInformation * siC_
The base::SpaceInformation cast as control::SpaceInformation, for convenience.
Definition: SST.h:341
base::Cost prevSolutionCost_
The best solution cost we found so far.
Definition: SST.h:368
RNG rng_
The random number generator.
Definition: SST.h:360
Witness * findClosestWitness(Motion *node)
Find the closest witness node to a newly generated potential node.
Definition: SST.cpp:186
void setGoalBias(double goalBias)
Definition: SST.h:182
Motion * parent_
The parent motion in the exploration tree.
Definition: SST.h:284
ControlSamplerPtr controlSampler_
Control sampler.
Definition: SST.h:338
void setSelectionRadius(double selectionRadius)
Set the radius for selecting nodes relative to random sample.
Definition: SST.h:201
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition: Console.h:66
A shared pointer wrapper for ompl::control::ControlSampler.
Space information containing necessary information for planning with controls. setup() needs to be ca...
double getGoalBias() const
Get the goal bias the planner is using.
Definition: SST.h:188
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: SST.h:329
unsigned numChildren_
Number of children.
Definition: SST.h:287
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:474
SST(const SpaceInformationPtr &si)
Constructor.
Definition: SST.cpp:46
std::shared_ptr< NearestNeighbors< Motion * > > witnesses_
A nearest-neighbors datastructure containing the tree of witness motions.
Definition: SST.h:347
double getSelectionRadius() const
Get the selection radius the planner is using.
Definition: SST.h:207
double pruningRadius_
The radius for determining the size of the pruning region.
Definition: SST.h:357
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Motion * selectNode(Motion *sample)
Finds the best node in the tree withing the selection radius around a random sample.
Definition: SST.cpp:157