KPIECE1.cpp
51 Planner::declareParam<double>("goal_bias", this, &KPIECE1::setGoalBias, &KPIECE1::getGoalBias, "0.:.05:1.");
52 Planner::declareParam<double>("border_fraction", this, &KPIECE1::setBorderFraction, &KPIECE1::getBorderFraction,
54 Planner::declareParam<unsigned int>("max_close_samples", this, &KPIECE1::setMaxCloseSamplesCount,
77 if (selectBorderFraction_ < std::numeric_limits<double>::epsilon() || selectBorderFraction_ > 1.0)
121 bool ompl::control::KPIECE1::CloseSamples::consider(Grid::Cell *cell, Motion *motion, double distance)
146 // this is the factor by which distances are inflated when considered for addition to closest samples
156 // average the highest & lowest distances and multiply by CLOSE_MOTION_DISTANCE_INFLATION_FACTOR
159 (samples.begin()->distance + samples.rbegin()->distance) * (CLOSE_MOTION_DISTANCE_INFLATION_FACTOR / 2.0);
167 unsigned int ompl::control::KPIECE1::findNextMotion(const std::vector<Grid::Coord> &coords, unsigned int index,
177 ompl::base::PlannerStatus ompl::control::KPIECE1::solve(const base::PlannerTerminationCondition &ptc)
199 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), tree_.size);
208 std::vector<Grid::Coord> coords(states.size(), Grid::Coord(projectionEvaluator_->getDimension()));
334 path->append(mpath[i]->state, mpath[i]->control, mpath[i]->steps * siC_->getPropagationStepSize());
346 OMPL_INFORM("%s: Created %u states in %u cells (%u internal + %u external)", getName().c_str(), tree_.size,
354 scell = rng_.uniform01() < std::max(selectBorderFraction_, tree_.grid.fracExternal()) ? tree_.grid.topExternal() :
385 ompl::control::KPIECE1::Grid::Cell *ompl::control::KPIECE1::addMotion(Motion *motion, double dist)
Information about a known good sample (closer to the goal than others)
Definition: KPIECE1.h:366
void freeCellData(CellData *cdata)
Free the memory for the data contained in a grid cell.
Definition: KPIECE1.cpp:105
bool canSample() const
Return true if samples can be selected from this set.
Definition: KPIECE1.h:413
A shared pointer wrapper for ompl::base::SpaceInformation.
Representation of an edge in PlannerData for planning with controls. This structure encodes a specifi...
Definition: PlannerData.h:124
std::vector< Motion * > motions
The set of motions contained in this grid cell.
Definition: KPIECE1.h:329
void setMaxCloseSamplesCount(unsigned int nCloseSamples)
When motions reach close to the goal, they are stored in a separate queue to allow biasing towards th...
Definition: KPIECE1.h:260
void setGoodCellScoreFactor(double good)
Set the factor that is to be applied to a cell's score when an expansion from that cell succeedes.
Definition: KPIECE1.h:239
This class contains methods that automatically configure various parameters for motion planning....
Definition: SelfConfig.h:123
Grid::Cell * addMotion(Motion *motion, double dist)
Add a motion to the grid containing motions. As a hint, dist specifies the distance to the goal from ...
Definition: KPIECE1.cpp:385
void setBorderFraction(double bp)
Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...
Definition: KPIECE1.h:207
double getGoodCellScoreFactor() const
Get the factor that is multiplied to a cell's score if extending a motion from that cell succeeded.
Definition: KPIECE1.h:246
Grid grid
A grid containing motions, imposed on a projection of the state space.
Definition: KPIECE1.h:432
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
bool tagState(const State *st, int tag)
Set the integer tag associated with the given state. If the given state does not exist in a vertex,...
Definition: PlannerData.cpp:569
static void computeImportance(Grid::Cell *cell, void *)
This function is provided as a calback to the grid datastructure to update the importance of a cell.
Definition: KPIECE1.h:445
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: KPIECE1.cpp:411
double getBadCellScoreFactor() const
Get the factor that is multiplied to a cell's score if extending a motion from that cell failed.
Definition: KPIECE1.h:253
bool consider(Grid::Cell *cell, Motion *motion, double distance)
Evaluate whether motion motion, part of cell cell is good enough to be part of the set of samples clo...
Definition: KPIECE1.cpp:121
typename GridN< CellData * >::CellArray CellArray
The datatype for arrays of cells.
Definition: GridB.h:122
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
Representation of a motion for this algorithm.
Definition: KPIECE1.h:296
void freeGridMotions(Grid &grid)
Free the memory for the motions contained in a grid.
Definition: KPIECE1.cpp:99
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:127
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: KPIECE1.cpp:177
bool selectMotion(Motion *&smotion, Grid::Cell *&scell)
Select the top sample (closest to the goal) and update its position in the set subsequently (pretend ...
Definition: KPIECE1.cpp:150
unsigned int getMaxCloseSamplesCount() const
Get the maximum number of samples to store in the queue of samples that are close to the goal.
Definition: KPIECE1.h:266
void setBadCellScoreFactor(double bad)
Set the factor that is to be applied to a cell's score when an expansion from that cell fails.
Definition: KPIECE1.h:232
bool selectMotion(Motion *&smotion, Grid::Cell *&scell)
Select a motion and the cell it is part of from the grid of motions. This is where preference is give...
Definition: KPIECE1.cpp:352
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:112
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: KPIECE1.cpp:67
unsigned int findNextMotion(const std::vector< Grid::Coord > &coords, unsigned int index, unsigned int count)
When generated motions are to be added to the tree of motions, they often need to be split,...
Definition: KPIECE1.cpp:167
The data held by a cell in the grid of motions.
Definition: KPIECE1.h:322
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
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
const SpaceInformation * siC_
The base::SpaceInformation cast as control::SpaceInformation, for convenience.
Definition: KPIECE1.h:490
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:122
virtual bool hasControls() const
Indicate whether any information about controls (ompl::control::Control) is stored in this instance.
Definition: PlannerData.cpp:784
double getBorderFraction() const
Get the fraction of time to focus exploration on boundary.
Definition: KPIECE1.h:214
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: KPIECE1.cpp:83