SST.cpp
52 Planner::declareParam<double>("goal_bias", this, &SST::setGoalBias, &SST::getGoalBias, "0.:.05:1.");
53 Planner::declareParam<double>("selection_radius", this, &SST::setSelectionRadius, &SST::getSelectionRadius, "0.:.1:"
55 Planner::declareParam<double>("pruning_radius", this, &SST::setPruningRadius, &SST::getPruningRadius, "0.:.1:100");
57 addPlannerProgressProperty("best cost REAL", [this] { return std::to_string(this->prevSolutionCost_.value()); });
150 ompl::geometric::SST::Motion *ompl::geometric::SST::selectNode(ompl::geometric::SST::Motion *sample)
179 ompl::geometric::SST::Witness *ompl::geometric::SST::findClosestWitness(ompl::geometric::SST::Motion *node)
220 ompl::base::PlannerStatus ompl::geometric::SST::solve(const base::PlannerTerminationCondition &ptc)
244 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), nn_->size());
293 if (closestWitness->rep_ == rmotion || opt_->isCostBetterThan(cost, closestWitness->rep_->accCost_))
399 OMPL_INFORM("%s: Created %u states in %u iterations", getName().c_str(), nn_->size(), iterations);
void addPlannerProgressProperty(const std::string &progressPropertyName, const PlannerProgressProperty &prop)
Add a planner progress property called progressPropertyName with a property querying function prop to...
Definition: Planner.h:410
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:48
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: Planner.cpp:92
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
Objective for attempting to maximize the minimum clearance along a path.
Definition: MaximizeMinClearanceObjective.h:48
Witness * findClosestWitness(Motion *node)
Find the closest witness node to a newly generated potential node.
Definition: SST.cpp:179
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Continue solving for some amount of time. Return true if solution was found.
Definition: SST.cpp:220
Definition: SST.h:207
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
bool directed
Flag indicating whether the planner is able to account for the fact that the validity of a motion fro...
Definition: Planner.h:212
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49
void setSelectionRadius(double selectionRadius)
Set the radius for selecting nodes relative to random sample.
Definition: SST.h:121
double getSelectionRadius() const
Get the selection radius the planner is using.
Definition: SST.h:127
Motion * selectNode(Motion *sample)
Finds the best node in the tree withing the selection radius around a random sample.
Definition: SST.cpp:150
The cost of a path is defined as the worst state cost over the entire path. This objective attempts t...
Definition: MinimaxObjective.h:50
unsigned int addStartVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
Definition: PlannerData.cpp:413
bool approximateSolutions
Flag indicating whether the planner is able to compute approximate solutions.
Definition: Planner.h:202
virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0))
Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...
Definition: PlannerData.cpp:432
unsigned int addGoalVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
Definition: PlannerData.cpp:422
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:404
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:48
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:59
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SST.cpp:65