LBTRRT.cpp
50 Planner::declareParam<double>("range", this, &LBTRRT::setRange, &LBTRRT::getRange, "0.:1.:10000.");
51 Planner::declareParam<double>("goal_bias", this, &LBTRRT::setGoalBias, &LBTRRT::getGoalBias, "0.:.05:1.");
52 Planner::declareParam<double>("epsilon", this, &LBTRRT::setApproximationFactor, &LBTRRT::getApproximationFactor,
112 ompl::base::PlannerStatus ompl::geometric::LBTRRT::solve(const base::PlannerTerminationCondition &ptc)
144 OMPL_ERROR("%s: There are multiple start states - currently not supported!", getName().c_str());
151 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), nn_->size());
158 boost::math::constants::e<double>() + boost::math::constants::e<double>() / (double)si_->getStateDimension();
165 bestCost_ = lastGoalMotion_ != nullptr ? lastGoalMotion_->costApx_ : std::numeric_limits<double>::infinity();
181 if (d == 0) // this takes care of the case that the goal is a single point and we re-sample it multiple times
312 // this prevents the update of the graph due to the edge insertion and then the re-update as it is removed
401 data.addEdge(base::PlannerDataVertex(motion->parentApx_->state_), base::PlannerDataVertex(motion->state_));
double lazilyUpdateApxParent(Motion *child, Motion *parent)
lazily update the parent in the approximation tree without updating costs to cildren
Definition: LBTRRT.cpp:414
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:225
void setApproximate(double difference)
Specify that the solution is approximate and set the difference to the goal.
Definition: ProblemDefinition.h:153
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: LBTRRT.cpp:84
comparator - metric is the lower bound cost
Definition: LBTRRT.h:308
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:467
This class contains methods that automatically configure various parameters for motion planning....
Definition: SelfConfig.h:123
Representation of a solution to a planning problem.
Definition: ProblemDefinition.h:133
void log(const char *file, int line, LogLevel level, const char *m,...)
Root level logging function. This should not be invoked directly, but rather used via a logging macro...
Definition: Console.cpp:120
comparator - metric is the cost to reach state via a specific state
Definition: LBTRRT.h:287
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:127
bool directed
Flag indicating whether the planner is able to account for the fact that the validity of a motion fro...
Definition: Planner.h:269
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: LBTRRT.cpp:70
void updateChildCostsApx(Motion *m, double delta)
update the child cost of the approximation tree
Definition: LBTRRT.cpp:405
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:112
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: LBTRRT.cpp:385
void removeFromParentApx(Motion *m)
remove motion from its parent in the approximation tree
Definition: LBTRRT.cpp:426
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
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: LBTRRT.cpp:112
bool approximateSolutions
Flag indicating whether the planner is able to compute approximate solutions.
Definition: Planner.h:259
double costLb_
The lower bound cost of the motion while it is stored in the lowerBoundGraph_ and this may seem redun...
Definition: LBTRRT.h:277
void setPlannerName(const std::string &name)
Set the name of the planner used to compute this solution.
Definition: ProblemDefinition.h:169
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
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:111
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:122
void considerEdge(Motion *parent, Motion *child, double c)
consider an edge for addition to the roadmap
Definition: LBTRRT.cpp:307