EST.h
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34 
35 /* Author: Ryan Luna */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_EST_EST_
38 #define OMPL_GEOMETRIC_PLANNERS_EST_EST_
39 
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include "ompl/datastructures/NearestNeighbors.h"
42 #include "ompl/datastructures/PDF.h"
43 #include <vector>
44 
45 namespace ompl
46 {
47  namespace geometric
48  {
65  class EST : public base::Planner
66  {
67  public:
69  EST(const base::SpaceInformationPtr &si);
70 
71  ~EST() override;
72 
74 
75  void clear() override;
76 
84  void setGoalBias(double goalBias)
85  {
86  goalBias_ = goalBias;
87  }
88 
90  double getGoalBias() const
91  {
92  return goalBias_;
93  }
94 
100  void setRange(double distance)
101  {
102  maxDistance_ = distance;
103  }
104 
106  double getRange() const
107  {
108  return maxDistance_;
109  }
110 
111  void setup() override;
112 
113  void getPlannerData(base::PlannerData &data) const override;
114 
115  protected:
117  class Motion
118  {
119  public:
120  Motion() = default;
121 
123  Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
124  {
125  }
126 
127  ~Motion() = default;
128 
130  base::State *state{nullptr};
131 
133  Motion *parent{nullptr};
134 
137  };
138 
140  double distanceFunction(const Motion *a, const Motion *b) const
141  {
142  return si_->distance(a->state, b->state);
143  }
144 
146  std::shared_ptr<NearestNeighbors<Motion *>> nn_;
147 
149  std::vector<Motion *> motions_;
150 
153 
155  void freeMemory();
156 
158  void addMotion(Motion *motion, const std::vector<Motion *> &neighbors);
159 
162 
165  double goalBias_{0.5};
166 
168  double maxDistance_{0.};
169 
172 
175 
178  };
179  }
180 }
181 
182 #endif
RNG rng_
The random number generator.
Definition: EST.h:174
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
PDF< Motion * >::Element * element
A pointer to the corresponding element in the probability distribution function.
Definition: EST.h:136
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: EST.h:177
double getGoalBias() const
Get the goal bias the planner is using.
Definition: EST.h:90
A shared pointer wrapper for ompl::base::ValidStateSampler.
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: EST.h:168
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: EST.cpp:57
base::ValidStateSamplerPtr sampler_
Valid state sampler.
Definition: EST.h:161
std::vector< Motion * > motions_
The set of all states in the tree.
Definition: EST.h:149
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
double nbrhoodRadius_
The radius considered for neighborhood.
Definition: EST.h:171
PDF< Motion * > pdf_
The probability distribution function over states in the tree.
Definition: EST.h:152
base::State * state
The state contained by the motion.
Definition: EST.h:130
The definition of a motion.
Definition: EST.h:117
A container that supports probabilistic sampling over weighted data.
Definition: PDF.h:48
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: EST.cpp:75
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: EST.h:140
Base class for a planner.
Definition: Planner.h:223
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: EST.h:123
double getRange() const
Get the range the planner is using.
Definition: EST.h:106
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:49
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: EST.h:100
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:98
A class that will hold data contained in the PDF.
Definition: PDF.h:52
void addMotion(Motion *motion, const std::vector< Motion *> &neighbors)
Add a motion to the exploration tree.
Definition: EST.cpp:230
void freeMemory()
Free the memory allocated by this planner.
Definition: EST.cpp:88
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:246
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.
Definition: EST.h:84
EST(const base::SpaceInformationPtr &si)
Constructor.
Definition: EST.cpp:43
Motion * parent
The parent motion in the exploration tree.
Definition: EST.h:133
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:406
Expansive Space Trees.
Definition: EST.h:65
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: EST.h:146
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:165