Bi-directional Range-Limited Random Tree (Ryan Luna's Random Tree) More...

#include <ompl/geometric/planners/rlrt/BiRLRT.h>

Inheritance diagram for ompl::geometric::BiRLRT:

Classes
class	Motion
	A motion (tree node) with parent pointer. More...

Public Member Functions
	BiRLRT (const base::SpaceInformationPtr &si)

virtual void	getPlannerData (base::PlannerData &data) const
	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).

virtual base::PlannerStatus	solve (const base::PlannerTerminationCondition &ptc)
	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.

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

void	setRange (double distance)
	Set the maximum distance between states in the tree.

double	getRange () const
	Get the maximum distance between states in the tree.

void	setMaxDistanceNear (double dNear)
	Set the maximum distance (per dimension) when sampling near an existing state.

double	getMaxDistanceNear () const
	Get the maximum distance (per dimension) when sampling near an existing state.

bool	getKeepLast () const
	If true, the planner will not have the range limitation. Instead, if a collision is detected, the last valid state is retained.

void	setKeepLast (bool keepLast)
	Set whether the planner will use the range or keep last heuristic. If keepLast = false, motions are limited in distance to range_, otherwise the last valid state is retained when a collision is detected.

virtual void	setup ()
	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 Member Functions
void	freeMemory ()
	Free the memory allocated by this planner.

bool	growTreeRangeLimited (std::vector< Motion * > &tree, Motion *xmotion)
	Try to grow the tree randomly. Return true if a new state was added. More...

bool	growTreeKeepLast (std::vector< Motion * > &tree, Motion xmotion, std::pair< base::State , double > &lastValid)
	Try to grow the tree randomly. Return true if a new state was added. More...

int	connectToTree (const Motion motion, std::vector< Motion > &tree)

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
std::vector< Motion * >	tStart_
	Start tree.

std::vector< Motion * >	tGoal_
	Goal tree.

base::StateSamplerPtr	sampler_
	State sampler.

double	range_ {0.0}
	The maximum total length of a motion to be added to a tree.

double	maxDistNear_ {0.0}
	The maximum distance (per dimension) when sampling near an existing configuration.

RNG	rng_
	The random number generator.

std::pair< base::State , base::State >	connectionPoint_ {nullptr, nullptr}
	The pair of states in each tree connected during planning. Used for PlannerData computation.

bool	keepLast_ {false}

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

Bi-directional Range-Limited Random Tree (Ryan Luna's Random Tree)

BiRLRT is a basic bidirectional tree-based planner without any sophistic heuristics to guide the exploration. It should be used as a baseline for comparison against other bidirectional tree-based planners. In high-dimensional search spaces it can sometimes perform surprisingly well.

Associated publication:: R. Luna, M. Moll, J. Badger, and L. E. Kavraki, A Scalable Motion Planner for High-Dimensional Kinematic Systems, Intl. J. of Robotics Research, vol. 39, issue 4, pp. 361-388, Mar. 2020. DOI: 10.1177/0278364919890408
[PDF]

Definition at line 127 of file BiRLRT.h.

Member Function Documentation

◆ connectToTree()

int ompl::geometric::BiRLRT::connectToTree	(	const Motion *	motion,
		std::vector< Motion * > &	tree
	)

protected

Attempt to connect the given motion (presumed to be in a tree) to a state in another tree (presumed to be different from the tree motion is in). If connection is successful, the index of the motion in the other tree that the motion connects to is returned. -1 for failed connection.

Definition at line 154 of file BiRLRT.cpp.

◆ growTreeKeepLast()

bool ompl::geometric::BiRLRT::growTreeKeepLast	(	std::vector< Motion * > &	tree,
		Motion *	xmotion,
		std::pair< base::State *, double > &	lastValid
	)

protected

Try to grow the tree randomly. Return true if a new state was added.

Try to grow the tree randomly. Return true if a new state was added xmotion is scratch space for sampling, etc.

Definition at line 126 of file BiRLRT.cpp.

◆ growTreeRangeLimited()

bool ompl::geometric::BiRLRT::growTreeRangeLimited	(	std::vector< Motion * > &	tree,
		Motion *	xmotion
	)

protected

Try to grow the tree randomly. Return true if a new state was added.

Try to grow the tree randomly. Return true if a new state was added xmotion is scratch space for sampling, etc.

Definition at line 98 of file BiRLRT.cpp.

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

ompl/geometric/planners/rlrt/BiRLRT.h
ompl/geometric/planners/rlrt/src/BiRLRT.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ connectToTree()

◆ growTreeKeepLast()

◆ growTreeRangeLimited()