ompl::geometric::LazyLBTRRT Class Reference

Rapidly-exploring Random Trees. More...

#include <ompl/geometric/planners/rrt/LazyLBTRRT.h>

Inheritance diagram for ompl::geometric::LazyLBTRRT:

Classes
class	CostEstimatorApx
class	CostEstimatorLb
class	Motion
	Representation of a motion. More...

Public Member Functions
	LazyLBTRRT (const base::SpaceInformationPtr &si)
	Constructor.
void	getPlannerData (base::PlannerData &data) const override
	Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between).
base::PlannerStatus	solve (const base::PlannerTerminationCondition &ptc) override
	Function that can solve the motion planning problem. This function can be called multiple times on the same problem, without calling clear() in between. This allows the planner to continue work for more time on an unsolved problem, for example. If this option is used, it is assumed the problem definition is not changed (unpredictable results otherwise). The only change in the problem definition that is accounted for is the addition of starting or goal states (but not changing previously added start/goal states). If clearQuery() is called, the planner may retain prior datastructures generated from a previous query on a new problem definition. The function terminates if the call to ptc returns true.
void	clear () override
	Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.
void	setGoalBias (double goalBias)
	Set the goal bias. More...
double	getGoalBias () const
	Get the goal bias the planner is using.
void	setRange (double distance)
	Set the range the planner is supposed to use. More...
double	getRange () const
	Get the range the planner is using.
template<template< typename T > class NN>
void	setNearestNeighbors ()
	Set a different nearest neighbors datastructure.
void	setup () override
	Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceInformation::setup() if needed. This must be called before solving.
void	setApproximationFactor (double epsilon)
	Set the apprimation factor.
std::string	getIterationCount () const
std::string	getBestCost () const
Public Member Functions inherited from ompl::base::Planner
	Planner (const Planner &)=delete
Planner &	operator= (const Planner &)=delete
	Planner (SpaceInformationPtr si, std::string name)
	Constructor.
virtual	~Planner ()=default
	Destructor.
template<class T >
T *	as ()
	Cast this instance to a desired type. More...
template<class T >
const T *	as () const
	Cast this instance to a desired type. More...
const SpaceInformationPtr &	getSpaceInformation () const
	Get the space information this planner is using.
const ProblemDefinitionPtr &	getProblemDefinition () const
	Get the problem definition the planner is trying to solve.
ProblemDefinitionPtr &	getProblemDefinition ()
	Get the problem definition the planner is trying to solve.
const PlannerInputStates &	getPlannerInputStates () const
	Get the planner input states.
virtual void	setProblemDefinition (const ProblemDefinitionPtr &pdef)
	Set the problem definition for the planner. The problem needs to be set before calling solve(). Note: If this problem definition replaces a previous one, it may also be necessary to call clear() or clearQuery().
PlannerStatus	solve (const PlannerTerminationConditionFn &ptc, double checkInterval)
	Same as above except the termination condition is only evaluated at a specified interval.
PlannerStatus	solve (double solveTime)
	Same as above except the termination condition is solely a time limit: the number of seconds the algorithm is allowed to spend planning.
virtual void	clearQuery ()
	Clears internal datastructures of any query-specific information from the previous query. Planner settings are not affected. The planner, if able, should retain all datastructures generated from previous queries that can be used to help solve the next query. Note that clear() should also clear all query-specific information along with all other datastructures in the planner. By default clearQuery() calls clear().
const std::string &	getName () const
	Get the name of the planner.
void	setName (const std::string &name)
	Set the name of the planner.
const PlannerSpecs &	getSpecs () const
	Return the specifications (capabilities of this planner)
virtual void	checkValidity ()
	Check to see if the planner is in a working state (setup has been called, a goal was set, the input states seem to be in order). In case of error, this function throws an exception.
bool	isSetup () const
	Check if setup() was called for this planner.
ParamSet &	params ()
	Get the parameters for this planner.
const ParamSet &	params () const
	Get the parameters for this planner.
const PlannerProgressProperties &	getPlannerProgressProperties () const
	Retrieve a planner's planner progress property map.
virtual void	printProperties (std::ostream &out) const
	Print properties of the motion planner.
virtual void	printSettings (std::ostream &out) const
	Print information about the motion planner's settings.

Protected Types
using	WeightProperty = boost::property< boost::edge_weight_t, double >
using	BoostGraph = boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, std::size_t, WeightProperty >
using	LPAstarApx = LPAstarOnGraph< BoostGraph, CostEstimatorApx >
using	LPAstarLb = LPAstarOnGraph< BoostGraph, CostEstimatorLb >

Protected Member Functions
void	sampleBiased (const base::GoalSampleableRegion *goal_s, base::State *rstate)
	sample with goal biasing
void	freeMemory ()
	Free the memory allocated by this planner.
double	distanceFunction (const base::State *a, const base::State *b) const
	Compute distance between motions (actually distance between contained states)
double	distanceFunction (const Motion *a, const Motion *b) const
bool	checkMotion (const base::State *a, const base::State *b) const
bool	checkMotion (const Motion *a, const Motion *b) const
Motion *	getMotion (std::size_t id) const
void	addVertex (const Motion *a)
void	addEdgeApx (Motion *a, Motion *b, double c)
void	addEdgeLb (const Motion *a, const Motion *b, double c)
bool	edgeExistsApx (std::size_t a, std::size_t b)
bool	edgeExistsApx (const Motion *a, const Motion *b)
bool	edgeExistsLb (const Motion *a, const Motion *b)
void	removeEdgeLb (const Motion *a, const Motion *b)
std::tuple< Motion *, base::State *, double >	rrtExtend (const base::GoalSampleableRegion *goal_s, base::State *xstate, Motion *rmotion, double &approxdif)
void	rrt (const base::PlannerTerminationCondition &ptc, base::GoalSampleableRegion *goal_s, base::State *xstate, Motion *rmotion, double &approxdif)
Motion *	createMotion (const base::GoalSampleableRegion *goal_s, const base::State *st)
Motion *	createGoalMotion (const base::GoalSampleableRegion *goal_s)
void	closeBounds (const base::PlannerTerminationCondition &ptc)
double	getApproximationFactor () const
	Get the apprimation factor.
Protected Member Functions inherited from ompl::base::Planner
template<typename T , typename PlannerType , typename SetterType , typename GetterType >
void	declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter, const GetterType &getter, const std::string &rangeSuggestion="")
	This function declares a parameter for this planner instance, and specifies the setter and getter functions.
template<typename T , typename PlannerType , typename SetterType >
void	declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter, const std::string &rangeSuggestion="")
	This function declares a parameter for this planner instance, and specifies the setter function.
void	addPlannerProgressProperty (const std::string &progressPropertyName, const PlannerProgressProperty &prop)
	Add a planner progress property called progressPropertyName with a property querying function prop to this planner's progress property map.

Protected Attributes
base::StateSamplerPtr	sampler_
	State sampler.
std::shared_ptr< NearestNeighbors< Motion * > >	nn_
	A nearest-neighbors datastructure containing the tree of motions.
double	goalBias_ {0.05}
	The fraction of time the goal is picked as the state to expand towards (if such a state is available)
double	maxDistance_ {0.}
	The maximum length of a motion to be added to a tree.
RNG	rng_
	The random number generator.
double	epsilon_ {.4}
	approximation factor
Motion *	lastGoalMotion_ {nullptr}
	The most recent goal motion. Used for PlannerData computation.
BoostGraph	graphLb_
BoostGraph	graphApx_
Motion *	startMotion_
Motion *	goalMotion_ {nullptr}
LPAstarApx *	LPAstarApx_ {nullptr}
LPAstarLb *	LPAstarLb_ {nullptr}
std::vector< Motion * >	idToMotionMap_
unsigned int	iterations_ {0}
	Number of iterations the algorithm performed.
double	bestCost_
	Best cost found so far by algorithm.
Protected Attributes inherited from ompl::base::Planner
SpaceInformationPtr	si_
	The space information for which planning is done.
ProblemDefinitionPtr	pdef_
	The user set problem definition.
PlannerInputStates	pis_
	Utility class to extract valid input states
std::string	name_
	The name of this planner.
PlannerSpecs	specs_
	The specifications of the planner (its capabilities)
ParamSet	params_
	A map from parameter names to parameter instances for this planner. This field is populated by the declareParam() function.
PlannerProgressProperties	plannerProgressProperties_
	A mapping between this planner's progress property names and the functions used for querying those progress properties.
bool	setup_
	Flag indicating whether setup() has been called.

Friends
class	CostEstimatorApx

Additional Inherited Members
Public Types inherited from ompl::base::Planner
using	PlannerProgressProperty = std::function< std::string()>
	Definition of a function which returns a property about the planner's progress that can be queried by a benchmarking routine.
using	PlannerProgressProperties = std::map< std::string, PlannerProgressProperty >
	A dictionary which maps the name of a progress property to the function to be used for querying that property.

Detailed Description

Rapidly-exploring Random Trees.

Definition at line 122 of file LazyLBTRRT.h.

Member Function Documentation

setGoalBias()

void ompl::geometric::LazyLBTRRT::setGoalBias ( double  goalBias )

inline

Set the goal bias.

In the process of randomly selecting states in the state space to attempt to go towards, the algorithm may in fact choose the actual goal state, if it knows it, with some probability. This probability is a real number between 0.0 and 1.0; its value should usually be around 0.05 and should not be too large. It is probably a good idea to use the default value.

Definition at line 177 of file LazyLBTRRT.h.

setRange()

void ompl::geometric::LazyLBTRRT::setRange ( double  distance )

inline

Set the range the planner is supposed to use.

This parameter greatly influences the runtime of the algorithm. It represents the maximum length of a motion to be added in the tree of motions.

Definition at line 193 of file LazyLBTRRT.h.

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

• ompl/geometric/planners/rrt/LazyLBTRRT.h
• ompl/geometric/planners/rrt/src/LazyLBTRRT.cpp