pRRT.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_pRRT_
38 #define OMPL_GEOMETRIC_PLANNERS_RRT_pRRT_
39 
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include "ompl/base/StateSamplerArray.h"
42 #include "ompl/datastructures/NearestNeighbors.h"
43 #include <thread>
44 #include <mutex>
45 
46 namespace ompl
47 {
48  namespace geometric
49  {
68  class pRRT : public base::Planner
69  {
70  public:
72 
73  ~pRRT() override;
74 
75  void getPlannerData(base::PlannerData &data) const override;
76 
78 
79  void clear() override;
80 
90  void setGoalBias(double goalBias)
91  {
92  goalBias_ = goalBias;
93  }
94 
96  double getGoalBias() const
97  {
98  return goalBias_;
99  }
100 
106  void setRange(double distance)
107  {
108  maxDistance_ = distance;
109  }
110 
112  double getRange() const
113  {
114  return maxDistance_;
115  }
116 
118  void setThreadCount(unsigned int nthreads);
119 
120  unsigned int getThreadCount() const
121  {
122  return threadCount_;
123  }
124 
126  template <template <typename T> class NN>
128  {
129  if (nn_ && nn_->size() != 0)
130  OMPL_WARN("Calling setNearestNeighbors will clear all states.");
131  clear();
132  nn_ = std::make_shared<NN<Motion *>>();
133  setup();
134  }
135 
136  void setup() override;
137 
138  protected:
139  class Motion
140  {
141  public:
142  Motion() = default;
143 
144  Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
145  {
146  }
147 
148  ~Motion() = default;
149 
150  base::State *state{nullptr};
151  Motion *parent{nullptr};
152  };
153 
155  {
156  Motion *solution;
157  Motion *approxsol;
158  double approxdif;
159  std::mutex lock;
160  };
161 
162  void threadSolve(unsigned int tid, const base::PlannerTerminationCondition &ptc, SolutionInfo *sol);
163  void freeMemory();
164 
165  double distanceFunction(const Motion *a, const Motion *b) const
166  {
167  return si_->distance(a->state, b->state);
168  }
169 
171  std::shared_ptr<NearestNeighbors<Motion *>> nn_;
172  std::mutex nnLock_;
173 
174  unsigned int threadCount_;
175 
176  double goalBias_{.05};
177  double maxDistance_{0.};
178 
181  };
182  }
183 }
184 
185 #endif
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
void setGoalBias(double goalBias)
Set the goal bias.
Definition: pRRT.h:90
Class to ease the creation of a set of samplers. This is especially useful for multi-threaded planner...
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: pRRT.h:180
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: pRRT.cpp:74
void setThreadCount(unsigned int nthreads)
Set the number of threads the planner should use. Default is 2.
Definition: pRRT.cpp:272
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: pRRT.cpp:60
Base class for a planner.
Definition: Planner.h:223
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: pRRT.h:106
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: pRRT.cpp:172
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: pRRT.h:127
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
double getRange() const
Get the range the planner is using.
Definition: pRRT.h:112
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:49
Parallel RRT.
Definition: pRRT.h:68
#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: pRRT.cpp:252
double getGoalBias() const
Get the goal bias the planner is using.
Definition: pRRT.h:96
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:406