STRIDE.cpp
46 ompl::geometric::STRIDE::STRIDE(const base::SpaceInformationPtr &si, bool useProjectedDistance, unsigned int degree,
62 Planner::declareParam<double>("range", this, &STRIDE::setRange, &STRIDE::getRange, "0.:1.:10000.");
63 Planner::declareParam<double>("goal_bias", this, &STRIDE::setGoalBias, &STRIDE::getGoalBias, "0.:.05:1.");
66 Planner::declareParam<unsigned int>("degree", this, &STRIDE::setDegree, &STRIDE::getDegree, "2:20");
67 Planner::declareParam<unsigned int>("max_degree", this, &STRIDE::setMaxDegree, &STRIDE::getMaxDegree, "2:20");
68 Planner::declareParam<unsigned int>("min_degree", this, &STRIDE::setMinDegree, &STRIDE::getMinDegree, "2:20");
94 new NearestNeighborsGNAT<Motion *>(degree_, minDegree_, maxDegree_, maxNumPtsPerLeaf_, estimatedDimension_));
131 ompl::base::PlannerStatus ompl::geometric::STRIDE::solve(const base::PlannerTerminationCondition &ptc)
153 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), tree_->size());
173 bool keep = si_->checkMotion(existing->state, xstate, fail) || fail.second > minValidPathFraction_;
253 data.addEdge(base::PlannerDataVertex(motion->parent->state, 1), base::PlannerDataVertex(motion->state, 1));
void setMaxDegree(unsigned int maxDegree)
Set maximum degree of a node in the GNAT.
Definition: STRIDE.h:179
void setGoalBias(double goalBias)
In the process of randomly selecting states in the state space to attempt to go towards,...
Definition: STRIDE.h:132
void setDegree(unsigned int degree)
Set desired degree of a node in the GNAT.
Definition: STRIDE.h:159
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:225
Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search.
Definition: NearestNeighborsGNAT.h:104
void setMinValidPathFraction(double fraction)
When extending a motion, the planner can decide to keep the first valid part of it,...
Definition: STRIDE.h:236
This class contains methods that automatically configure various parameters for motion planning....
Definition: SelfConfig.h:123
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: STRIDE.cpp:82
void setUseProjectedDistance(bool useProjectedDistance)
Set whether nearest neighbors are computed based on distances in a projection of the state rather dis...
Definition: STRIDE.h:146
void setEstimatedDimension(double estimatedDimension)
Set estimated dimension of the free space, which is needed to compute the sampling weight for a node ...
Definition: STRIDE.h:203
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: STRIDE.cpp:131
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
STRIDE(const base::SpaceInformationPtr &si, bool useProjectedDistance=false, unsigned int degree=16, unsigned int minDegree=12, unsigned int maxDegree=18, unsigned int maxNumPtsPerLeaf=6, double estimatedDimension=0.0)
Constructor.
Definition: STRIDE.cpp:46
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:127
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: STRIDE.cpp:242
double getMinValidPathFraction() const
Get the value of the fraction set by setMinValidPathFraction()
Definition: STRIDE.h:242
unsigned int getMaxNumPtsPerLeaf() const
Get maximum number of elements stored in a leaf node of the GNAT.
Definition: STRIDE.h:196
void setMinDegree(unsigned int minDegree)
Set minimum degree of a node in the GNAT.
Definition: STRIDE.h:169
double estimatedDimension_
Estimate of the local dimensionality of the free space around a state.
Definition: STRIDE.h:345
Motion * selectMotion()
Select a motion to continue the expansion of the tree from.
Definition: STRIDE.cpp:237
double getEstimatedDimension() const
Get estimated dimension of the free space, which is needed to compute the sampling weight for a node ...
Definition: STRIDE.h:210
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
void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj)
If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...
Definition: SelfConfig.cpp:231
bool approximateSolutions
Flag indicating whether the planner is able to compute approximate solutions.
Definition: Planner.h:259
void setMaxNumPtsPerLeaf(unsigned int maxNumPtsPerLeaf)
Set maximum number of elements stored in a leaf node of the GNAT.
Definition: STRIDE.h:190
bool getUseProjectedDistance() const
Return whether nearest neighbors are computed based on distances in a projection of the state rather ...
Definition: STRIDE.h:153
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
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:111
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: STRIDE.cpp:107
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:122