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

Inheritance diagram for ompl::geometric::STRRTstar:

Classes
struct	TreeGrowingInfo
	Information attached to growing a tree of motions (used internally) More...

Public Member Functions
	STRRTstar (const ompl::base::SpaceInformationPtr &si)
	Constructor.

void	clear () override
	Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.

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	setRange (double distance)
	Set the range the planner is supposed to use. More...

double	getRange () const
	Get the range the planner is using.

double	getOptimumApproxFactor () const
	The Optimum Approximation factor (0 - 1).

void	setOptimumApproxFactor (double optimumApproxFactor)
	Set the Optimum Approximation factor. This allows the planner to converge more quickly, but only yields approximately optimal solutions.

std::string	getRewiringState () const

void	setRewiringToOff ()
	Do not rewire at all.

void	setRewiringToRadius ()
	Rewire by radius.

void	setRewiringToKNearest ()
	Rewire by k-nearest.

double	getRewireFactor () const

void	setRewireFactor (double v)

unsigned int	getBatchSize () const
	The number of samples before the time bound is increased.

void	setBatchSize (int v)

void	setTimeBoundFactorIncrease (double f)
	The value by which the time bound factor is multiplied in each increase step.

void	setInitialTimeBoundFactor (double f)
	The initial time bound factor.

void	setSampleUniformForUnboundedTime (bool uniform)
	Whether the state space is sampled uniformly or centered at lower time values.

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.

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
enum	GrowState { TRAPPED, ADVANCED, REACHED }
	The state of the tree after an attempt to extend it. More...

enum	RewireState { RADIUS, KNEAREST, OFF }

using	TreeData = std::shared_ptr< ompl::NearestNeighbors< base::Motion * > >
	A nearest-neighbor datastructure representing a tree of motions.

Protected Member Functions
GrowState	growTreeSingle (TreeData &tree, TreeGrowingInfo &tgi, base::Motion rmotion, base::Motion nmotion)
	Grow a tree towards a random state for a single nearest state.

GrowState	growTree (TreeData &tree, TreeGrowingInfo &tgi, base::Motion rmotion, std::vector< base::Motion > &nbh, bool connect)
	Attempt to grow a tree towards a random state for the neighborhood of the random state. The neighborhood is determined by the used rewire state. For the start tree closest state with respect to distance are tried first. For the goal tree states with the minimum time root node are tried first. If connect is true, multiple vertices can be added to the tree until the random state is reached or an basestacle is met. If connect is false, the tree is only extended by a single new state.

void	increaseTimeBound (bool hasEqualBounds, double &oldBatchTimeBoundFactor, double &newBatchTimeBoundFactor, bool &startTree, unsigned int &batchSize, int &numBatchSamples)


void	getNeighbors (TreeData &tree, base::Motion motion, std::vector< base::Motion > &nbh) const
	Gets the neighbours of a given motion, using either k-nearest or radius_ as appropriate.

void	freeMemory ()
	Free the memory allocated by this planner.

double	distanceFunction (const base::Motion a, const base::Motion b) const
	Compute distance between motions (actually distance between contained states)

void	pruneStartTree ()
	Prune the start tree after a solution was found.

base::Motion *	pruneGoalTree ()
	Prune the goal tree after a solution was found. Return the goal motion, that is connected to the start tree, if a new solution was found. If no new solution was found, return nullpointer.

void	removeInvalidGoals (const std::vector< base::Motion * > &invalidGoals)
	Remove invalid goal states from the goal set.

base::State *	nextGoal (int n, double oldBatchTimeBoundFactor, double newBatchTimeBoundFactor)
	N tries to sample a goal.

base::State *	nextGoal (const base::PlannerTerminationCondition &ptc, double oldBatchTimeBoundFactor, double newBatchTimeBoundFactor)
	Samples a goal until successful or the termination condition is fulfilled.

base::State *	nextGoal (const base::PlannerTerminationCondition &ptc, int n, double oldBatchTimeBoundFactor, double newBatchTimeBoundFactor)
	Samples a goal until successful or the termination condition is fulfilled.

bool	sampleGoalTime (base::State *goal, double oldBatchTimeBoundFactor, double newBatchTimeBoundFactor)
	Samples the time component of a goal state dependant on its space component. Returns false, if goal can't be reached in time.

void	constructSolution (base::Motion startMotion, base::Motion goalMotion, const base::ReportIntermediateSolutionFn &intermediateSolutionCallback, const ompl::base::PlannerTerminationCondition &ptc)

void	calculateRewiringLowerBounds ()
	Calculate the k_RRG* and r_RRG* terms.

bool	rewireGoalTree (base::Motion *addedMotion)

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.

Static Protected Member Functions
static base::Motion *	computeSolutionMotion (base::Motion *motion)
	Find the solution (connecting) motion for a motion that is indirectly connected.

static void	removeFromParent (base::Motion *m)
	Removes the given motion from the parent's child list.

static void	addDescendants (base::Motion *m, const TreeData &tree)
	Adds given all descendants of the given motion to given tree and checks whether one of the added motions is the goal motion. More...

Protected Attributes
base::ConditionalStateSampler	sampler_
	State sampler.

TreeData	tStart_
	The start tree.

TreeData	tGoal_
	The goal tree.

double	maxDistance_ {0.}
	The maximum length of a motion to be added to a tree.

double	distanceBetweenTrees_
	Distance between the nearest pair of start tree and goal tree nodes.

base::PathPtr	bestSolution_ {nullptr}
	The current best solution path with respect to shortest time.

double	bestTime_ = std::numeric_limits<double>::infinity()
	The current best time i.e. cost of all found solutions.

unsigned int	numIterations_ = 0
	The number of while loop iterations.

int	numSolutions_ = 0
	The number of found solutions.

double	minimumTime_ = std::numeric_limits<double>::infinity()
	Minimum Time at which any goal can be reached, if moving on a straight line.

double	upperTimeBound_
	Upper bound for the time up to which solutions are searched for.

double	optimumApproxFactor_ = 1.0
	The factor to which found solution times need to be reduced compared to minimum time, (0, 1].

base::Motion *	startMotion_ {nullptr}
	The start Motion, used for conditional sampling and start tree pruning.

std::vector< base::Motion * >	goalMotions_ {}
	The goal Motions, used for conditional sampling and pruning.

std::vector< base::Motion * >	newBatchGoalMotions_ {}
	The goal Motions, that were added in the current expansion step, used for uniform sampling over a growing region.

base::State *	tempState_ {nullptr}

RewireState	rewireState_ = KNEAREST

double	rewireFactor_ {1.1}
	The rewiring factor, s, so that r_rrt = s \times r_rrt* > r_rrt* (or k_rrt = s \times k_rrt* > k_rrt*)

double	k_rrt_ {0u}
	A constant for k-nearest rewiring calculations.

double	r_rrt_ {0.}
	A constant for r-disc rewiring calculations.

bool	isTimeBounded_
	Whether the time is bounded or not. The first solution automatically bounds the time.

double	initialTimeBound_
	The time bound the planner is initialized with. Used to reset for repeated planning.

unsigned int	initialBatchSize_ = 512
	Number of samples of the first batch.

double	initialTimeBoundFactor_ = 2.0
	Initial factor, the minimum time of each goal is multiplied with to calculate the upper time bound.

double	timeBoundFactorIncrease_ = 2.0
	The factor, the time bound is increased with after the batch is full.

bool	sampleOldBatch_ = true

bool	sampleUniformForUnboundedTime_ = true
	Whether the samples are uniformly distributed over the whole space or are centered at lower times.

int	goalStateSampleRatio_ = 4
	The ratio, a goal state is sampled compared to the size of the goal tree.

ompl::RNG	rng_
	The random number generator.

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.

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

Space-Time RRT* (STRRTstar)

Short description: ST-RRT* is a bidirectional, time-optimal planner for planning in space-time. It operates similar to a bidirectional version of RRT*, but allows planning in unbounded time spaces by gradual time-bound extensions and is highly optimized for planning in space-time by employing Conditional Sampling and Simplified Rewiring.

Definition at line 129 of file STRRTstar.h.

Member Enumeration Documentation

◆ GrowState

enum ompl::geometric::STRRTstar::GrowState

protected

The state of the tree after an attempt to extend it.

Enumerator
TRAPPED	no progress has been made
ADVANCED	progress has been made towards the randomly sampled state
REACHED	the randomly sampled state was reached

Definition at line 237 of file STRRTstar.h.

Member Function Documentation

◆ addDescendants()

void ompl::geometric::STRRTstar::addDescendants	(	base::Motion *	m,
		const TreeData &	tree
	)

staticprotected

Adds given all descendants of the given motion to given tree and checks whether one of the added motions is the goal motion.

Adds all descendants of a motion to a given tree.

Parameters

m	The motion, which descendants are added
tree	The tree that the motions are added to

Definition at line 954 of file STRRTstar.cpp.

◆ setRange()

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

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 1134 of file STRRTstar.cpp.

Member Data Documentation

◆ tempState_

base::State* ompl::geometric::STRRTstar::tempState_ {nullptr}

protected

Goal Sampling is not handled by PlannerInputStates, but directly by the SpaceTimeRRT, because the time component of every goal sample is sampled dependent on the sampled space component.

Definition at line 340 of file STRRTstar.h.

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

ompl/geometric/planners/rrt/STRRTstar.h
ompl/geometric/planners/rrt/src/STRRTstar.cpp

Classes

Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members