QRRTStarImpl.h
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36 
37 /* Author: Andreas Orthey, Sohaib Akbar */
38 
39 #ifndef OMPL_MULTILEVEL_PLANNERS_BundleSpace_QRRTSTARIMPL_
40 #define OMPL_MULTILEVEL_PLANNERS_BundleSpace_QRRTSTARIMPL_
41 #include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
42 #include <ompl/datastructures/PDF.h>
43 
44 namespace ompl
45 {
46  namespace base
47  {
48  OMPL_CLASS_FORWARD(OptimizationObjective);
49  }
50  namespace multilevel
51  {
53  class QRRTStarImpl : public ompl::multilevel::BundleSpaceGraph
54  {
55  using BaseT = BundleSpaceGraph;
56 
57  void setKNearest(bool useKNearest)
58  {
59  useKNearest_ = useKNearest;
60  }
61 
62  bool getKNearest() const
63  {
64  return useKNearest_;
65  }
66  virtual bool getSolution(ompl::base::PathPtr &solution) override;
67  virtual void getPlannerData(ompl::base::PlannerData &data) const override;
68 
69  virtual void clear() override;
70  virtual void setup() override;
71 
72  void getNearestNeighbors(Configuration *x, std::vector<Configuration *> &nearest);
73  void removeFromParent(Configuration *q);
74  void calculateRewiringLowerBounds();
75 
76  public:
77  QRRTStarImpl(const ompl::base::SpaceInformationPtr &si, BundleSpace *parent_);
78  virtual ~QRRTStarImpl() override;
79 
81  virtual void grow() override;
82 
83  void updateChildCosts(Configuration *q);
84 
86  double k_rrt_Constant_{0};
87 
89  double r_rrt_Constant_{0};
90 
91  double rewireFactor_{1.1};
92 
94  bool symmetric_;
95 
97  bool useKNearest_{true};
98 
100  double d_{0};
101 
102  // /** \brief list of configurations that satisfy the goal condition */
103  // std::vector<Configuration *> goalConfigurations_;
104  };
105  } // namespace multilevel
106 } // namespace ompl
107 
108 #endif
A shared pointer wrapper for ompl::base::Path.
A shared pointer wrapper for ompl::base::SpaceInformation.
BundleSpace(const ompl::base::SpaceInformationPtr &si, BundleSpace *baseSpace_=nullptr)
Bundle Space contains three primary characters, the bundle space, the base space and the projection.
Definition: BundleSpace.cpp:60
double d_
store dimension of bundle space to calc radius
Definition: QRRTStarImpl.h:134
bool useKNearest_
option to use k nn or radius
Definition: QRRTStarImpl.h:131
A graph on a Bundle-space.
double r_rrt_Constant_
a constant value to calculate radius
Definition: QRRTStarImpl.h:123
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
bool symmetric_
true if cost from a to b is same as b to a
Definition: QRRTStarImpl.h:128
double k_rrt_Constant_
a constant value to calculate k
Definition: QRRTStarImpl.h:120
virtual void grow() override
One iteration of RRT with adjusted sampling function.
Main namespace. Contains everything in this library.