A class to facilitate planning for a simple quadrotor model. More...

#include <omplapp/apps/QuadrotorPlanning.h>

Inheritance diagram for ompl::app::QuadrotorPlanning:

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Public Member Functions
bool	isSelfCollisionEnabled () const override

unsigned int	getRobotCount () const override

base::ScopedState	getDefaultStartState () const override

base::ScopedState	getFullStateFromGeometricComponent (const base::ScopedState<> &state) const override

const base::StateSpacePtr &	getGeometricComponentStateSpace () const override

double	getMass ()

void	setMass (double mass)

double	getDampingCoefficient ()

void	setDampingCoefficient (double beta)

virtual void	setDefaultBounds ()

Public Member Functions inherited from ompl::app::AppBase< AppType::CONTROL >
	AppBase (const typename AppTypeSelector< T >::SpaceType &space, MotionModel model)

AppType	getAppType ()

AppType	getAppType ()

const std::string &	getName ()

virtual bool	isSelfCollisionEnabled () const=0

virtual base::ScopedState	getDefaultStartState () const=0

virtual base::ScopedState	getGeometricComponentState (const base::ScopedState<> &state, unsigned int index) const

virtual const base::StateSpacePtr &	getGeometricComponentStateSpace () const=0

virtual unsigned int	getRobotCount () const=0

GeometricStateExtractor	getGeometricStateExtractor () const

virtual void	inferEnvironmentBounds ()

virtual void	inferProblemDefinitionBounds ()

void	setup () override
	This method will create the necessary classes for planning. The solve() method will call this function automatically.

void	setOptimizationObjectiveAndThreshold (const std::string &objective, double threshold)
	Convenience function for the omplapp GUI. The objective can be one of: "length", "max min clearance", or "mechanical work".

control::DecompositionPtr	allocDecomposition ()

Public Member Functions inherited from ompl::geometric::SimpleSetup
	SimpleSetup (const base::SpaceInformationPtr &si)
	Constructor needs the state space used for planning.

	SimpleSetup (const base::StateSpacePtr &space)
	Constructor needs the state space used for planning.

const base::SpaceInformationPtr &	getSpaceInformation () const
	Get the current instance of the space information.

const base::ProblemDefinitionPtr &	getProblemDefinition () const
	Get the current instance of the problem definition.

base::ProblemDefinitionPtr &	getProblemDefinition ()
	Get the current instance of the problem definition.

const base::StateSpacePtr &	getStateSpace () const
	Get the current instance of the state space.

const base::StateValidityCheckerPtr &	getStateValidityChecker () const
	Get the current instance of the state validity checker.

const base::GoalPtr &	getGoal () const
	Get the current goal definition.

const base::PlannerPtr &	getPlanner () const
	Get the current planner.

const base::PlannerAllocator &	getPlannerAllocator () const
	Get the planner allocator.

const PathSimplifierPtr &	getPathSimplifier () const
	Get the path simplifier.

PathSimplifierPtr &	getPathSimplifier ()
	Get the path simplifier.

const base::OptimizationObjectivePtr &	getOptimizationObjective () const
	Get the optimization objective to use.

bool	haveExactSolutionPath () const
	Return true if a solution path is available (previous call to solve() was successful) and the solution is exact (not approximate)

bool	haveSolutionPath () const
	Return true if a solution path is available (previous call to solve() was successful). The solution may be approximate.

const std::string	getSolutionPlannerName () const
	Get the best solution's planer name. Throw an exception if no solution is available.

PathGeometric &	getSolutionPath () const
	Get the solution path. Throw an exception if no solution is available.

void	getPlannerData (base::PlannerData &pd) const
	Get information about the exploration data structure the motion planner used.

void	setStateValidityChecker (const base::StateValidityCheckerPtr &svc)
	Set the state validity checker to use.

void	setStateValidityChecker (const base::StateValidityCheckerFn &svc)
	Set the state validity checker to use.

void	setOptimizationObjective (const base::OptimizationObjectivePtr &optimizationObjective)
	Set the optimization objective to use.

void	setStartAndGoalStates (const base::ScopedState<> &start, const base::ScopedState<> &goal, double threshold=std::numeric_limits< double >::epsilon())
	Set the start and goal states to use.

void	addStartState (const base::ScopedState<> &state)
	Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called.

void	clearStartStates ()
	Clear the currently set starting states.

void	setStartState (const base::ScopedState<> &state)
	Clear the currently set starting states and add state as the starting state.

void	setGoalState (const base::ScopedState<> &goal, double threshold=std::numeric_limits< double >::epsilon())
	A simple form of setGoal(). The goal will be an instance of ompl::base::GoalState.

void	setGoal (const base::GoalPtr &goal)
	Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called.

void	setPlanner (const base::PlannerPtr &planner)
	Set the planner to use. If the planner is not set, an attempt is made to use the planner allocator. If no planner allocator is available either, a default planner is set.

void	setPlannerAllocator (const base::PlannerAllocator &pa)
	Set the planner allocator to use. This is only used if no planner has been set. This is optional – a default planner will be used if no planner is otherwise specified.

virtual base::PlannerStatus	solve (double time=1.0)
	Run the planner for up to a specified amount of time (default is 1 second)

virtual base::PlannerStatus	solve (const base::PlannerTerminationCondition &ptc)
	Run the planner until ptc becomes true (at most)

base::PlannerStatus	getLastPlannerStatus () const
	Return the status of the last planning attempt.

double	getLastPlanComputationTime () const
	Get the amount of time (in seconds) spent during the last planning step.

double	getLastSimplificationTime () const
	Get the amount of time (in seconds) spend during the last path simplification step.

void	simplifySolution (double duration=0.0)
	Attempt to simplify the current solution path. Spent at most duration seconds in the simplification process. If duration is 0 (the default), a default simplification procedure is executed.

void	simplifySolution (const base::PlannerTerminationCondition &ptc)
	Attempt to simplify the current solution path. Stop computation when ptc becomes true at the latest.

virtual void	clear ()
	Clear all planning data. This only includes data generated by motion plan computation. Planner settings, start & goal states are not affected.

virtual void	print (std::ostream &out=std::cout) const
	Print information about the current setup.

Public Member Functions inherited from ompl::app::RigidBodyGeometry
	RigidBodyGeometry (MotionModel mtype, CollisionChecker ctype)
	Constructor expects a state space that can represent a rigid body. More...

	RigidBodyGeometry (MotionModel mtype)
	Constructor expects a state space that can represent a rigid body. More...

MotionModel	getMotionModel () const

CollisionChecker	getCollisionCheckerType () const

bool	hasEnvironment () const

bool	hasRobot () const

unsigned int	getLoadedRobotCount () const

aiVector3D	getRobotCenter (unsigned int robotIndex) const
	Get the robot's center (average of all the vertices of all its parts)

virtual bool	setEnvironmentMesh (const std::string &env)
	This function specifies the name of the CAD file representing the environment (env). Returns 1 on success, 0 on failure.

virtual bool	addEnvironmentMesh (const std::string &env)
	This function specifies the name of the CAD file representing a part of the environment (env). Returns 1 on success, 0 on failure.

virtual bool	setRobotMesh (const std::string &robot)
	This function specifies the name of the CAD file representing the robot (robot). Returns 1 on success, 0 on failure.

virtual bool	addRobotMesh (const std::string &robot)
	This function specifies the name of the CAD file representing a part of the robot (robot). Returns 1 on success, 0 on failure.

virtual void	setStateValidityCheckerType (CollisionChecker ctype)
	Change the type of collision checking for the rigid body.

const base::StateValidityCheckerPtr &	allocStateValidityChecker (const base::SpaceInformationPtr &si, const GeometricStateExtractor &se, bool selfCollision)
	Allocate default state validity checker using FCL.

const GeometrySpecification &	getGeometrySpecification () const

void	setBoundsFactor (double factor)
	The bounds of the environment are inferred based on the axis-aligned bounding box for the objects in the environment. The inferred size is multiplied by factor. By default factor = 1,.

double	getBoundsFactor () const
	Get the data set by setBoundsFactor()

void	setBoundsAddition (double add)
	The bounds of the environment are inferred based on the axis-aligned bounding box for the objects in the environment. add is added to the inferred size. By default add = 0,.

double	getBoundsAddition () const
	Get the data set by setBoundsAddition()

base::RealVectorBounds	inferEnvironmentBounds () const
	Given the representation of an environment, infer its bounds. The bounds will be 2-dimensional when planning in 2D and 3-dimensional when planning in 3D.

void	setMeshPath (const std::vector< boost::filesystem::path > &path)
	set path to search for mesh files

Protected Member Functions
const base::State *	getGeometricComponentStateInternal (const base::State *state, unsigned int) const override

virtual void	ode (const control::ODESolver::StateType &q, const control::Control *ctrl, control::ODESolver::StateType &qdot)

virtual void	postPropagate (const base::State state, const control::Control control, double duration, base::State *result)

Protected Member Functions inherited from ompl::app::RigidBodyGeometry
boost::filesystem::path	findMeshFile (const std::string &fname)
	return absolute path to mesh file if it exists and an empty path otherwise

void	computeGeometrySpecification ()

Static Protected Member Functions
static control::ControlSpacePtr	constructControlSpace ()

static base::StateSpacePtr	constructStateSpace ()

Protected Attributes
double	timeStep_ {1e-2}

double	massInv_ {1.}

double	beta_ {1.}

control::ODESolverPtr	odeSolver

Protected Attributes inherited from ompl::app::AppBase< AppType::CONTROL >
std::string	name_

Protected Attributes inherited from ompl::geometric::SimpleSetup
base::SpaceInformationPtr	si_
	The created space information.

base::ProblemDefinitionPtr	pdef_
	The created problem definition.

base::PlannerPtr	planner_
	The maintained planner instance.

base::PlannerAllocator	pa_
	The optional planner allocator.

PathSimplifierPtr	psk_
	The instance of the path simplifier.

bool	configured_
	Flag indicating whether the classes needed for planning are set up.

double	planTime_
	The amount of time the last planning step took.

double	simplifyTime_
	The amount of time the last path simplification step took.

base::PlannerStatus	lastStatus_
	The status of the last planning request.

Protected Attributes inherited from ompl::app::RigidBodyGeometry
MotionModel	mtype_

double	factor_
	The factor to multiply inferred environment bounds by (default 1)

double	add_
	The value to add to inferred environment bounds (default 0)

std::vector< std::shared_ptr< Assimp::Importer > >	importerEnv_
	Instance of assimp importer used to load environment.

std::vector< std::shared_ptr< Assimp::Importer > >	importerRobot_
	Instance of assimp importer used to load robot.

GeometrySpecification	geom_
	Object containing mesh data for robot and environment.

base::StateValidityCheckerPtr	validitySvc_
	Instance of the state validity checker for collision checking.

CollisionChecker	ctype_
	Value containing the type of collision checking to use.

std::vector< boost::filesystem::path >	meshPath_ {OMPLAPP_RESOURCE_DIR}
	Paths to search for mesh files if mesh file names do not correspond to absolute paths.

Detailed Description

A class to facilitate planning for a simple quadrotor model.

The dynamics of the quadrotor are described by the following equations:

\begin{eqnarray*} m\mathbf{\ddot p} &=& -u_0\mathbf{n}-\beta\mathbf{\dot p} -m\mathbf{g},\\ \mathbf{\alpha} &=& (u_1,u_2,u_3)^T,\end{eqnarray*}

where \(\mathbf{p}\) is the position, \(\mathbf{n}\) is the Z-axis of the body frame in world coordinates, \(\alpha\) is the angular acceleration, \(m\) is the mass, and \(\beta\) is a damping coefficient. The system is controlled through \(u=(u_0,u_1,u_2,u_3)\).

Definition at line 52 of file QuadrotorPlanning.h.

The documentation for this class was generated from the following files:

omplapp/apps/QuadrotorPlanning.h
omplapp/apps/QuadrotorPlanning.cpp

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description