RRT.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_RRT_
38 #define OMPL_GEOMETRIC_PLANNERS_RRT_RRT_
39 
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include "ompl/datastructures/NearestNeighbors.h"
42 
43 namespace ompl
44 {
45  namespace geometric
46  {
65  class RRT : public base::Planner
66  {
67  public:
69  RRT(const base::SpaceInformationPtr &si);
70 
71  ~RRT() override;
72 
73  void getPlannerData(base::PlannerData &data) const override;
74 
76 
77  void clear() override;
78 
88  void setGoalBias(double goalBias)
89  {
90  goalBias_ = goalBias;
91  }
92 
94  double getGoalBias() const
95  {
96  return goalBias_;
97  }
98 
104  void setRange(double distance)
105  {
106  maxDistance_ = distance;
107  }
108 
110  double getRange() const
111  {
112  return maxDistance_;
113  }
114 
116  template <template <typename T> class NN>
118  {
119  if (nn_ && nn_->size() != 0)
120  OMPL_WARN("Calling setNearestNeighbors will clear all states.");
121  clear();
122  nn_ = std::make_shared<NN<Motion *>>();
123  setup();
124  }
125 
126  void setup() override;
127 
128  protected:
133  class Motion
134  {
135  public:
136  Motion() = default;
137 
139  Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
140  {
141  }
142 
143  ~Motion() = default;
144 
146  base::State *state{nullptr};
147 
149  Motion *parent{nullptr};
150  };
151 
153  void freeMemory();
154 
156  double distanceFunction(const Motion *a, const Motion *b) const
157  {
158  return si_->distance(a->state, b->state);
159  }
160 
163 
165  std::shared_ptr<NearestNeighbors<Motion *>> nn_;
166 
169  double goalBias_{.05};
170 
172  double maxDistance_{0.};
173 
176 
179  };
180  }
181 }
182 
183 #endif
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: RRT.h:172
base::StateSamplerPtr sampler_
State sampler.
Definition: RRT.h:162
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: RRT.h:139
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: RRT.h:165
double getGoalBias() const
Get the goal bias the planner is using.
Definition: RRT.h:94
Motion * parent
The parent motion in the exploration tree.
Definition: RRT.h:149
A shared pointer wrapper for ompl::base::StateSampler.
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: RRT.h:104
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: RRT.cpp:66
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: RRT.cpp:56
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
RNG rng_
The random number generator.
Definition: RRT.h:175
Base class for a planner.
Definition: Planner.h:223
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: RRT.cpp:95
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
Rapidly-exploring Random Trees.
Definition: RRT.h:65
A shared pointer wrapper for ompl::base::SpaceInformation.
void freeMemory()
Free the memory allocated by this planner.
Definition: RRT.cpp:80
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: RRT.h:156
Definition of an abstract state.
Definition: State.h:49
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: RRT.h:178
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition: Console.h:66
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: RRT.cpp:208
double getRange() const
Get the range the planner is using.
Definition: RRT.h:110
Representation of a motion.
Definition: RRT.h:133
RRT(const base::SpaceInformationPtr &si)
Constructor.
Definition: RRT.cpp:42
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: RRT.h:117
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:406
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
Definition: RRT.h:169
void setGoalBias(double goalBias)
Set the goal bias.
Definition: RRT.h:88
base::State * state
The state contained by the motion.
Definition: RRT.h:146