RRT.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_RRT_
38 #define OMPL_GEOMETRIC_PLANNERS_RRT_RRT_
39 
40 #include "ompl/datastructures/NearestNeighbors.h"
41 #include "ompl/geometric/planners/PlannerIncludes.h"
42 
43 namespace ompl
44 {
45  namespace geometric
46  {
65  class RRT : public base::Planner
66  {
67  public:
69  RRT(const base::SpaceInformationPtr &si, bool addIntermediateStates = false);
70 
71  ~RRT() override;
72 
73  void getPlannerData(base::PlannerData &data) const override;
74 
75  base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
76 
77  void clear() override;
78 
88  void setGoalBias(double goalBias)
89  {
90  goalBias_ = goalBias;
91  }
92 
94  double getGoalBias() const
95  {
96  return goalBias_;
97  }
98 
101  bool getIntermediateStates() const
102  {
103  return addIntermediateStates_;
104  }
105 
108  void setIntermediateStates(bool addIntermediateStates)
109  {
110  addIntermediateStates_ = addIntermediateStates;
111  }
112 
118  void setRange(double distance)
119  {
120  maxDistance_ = distance;
121  }
122 
124  double getRange() const
125  {
126  return maxDistance_;
127  }
128 
130  template <template <typename T> class NN>
131  void setNearestNeighbors()
132  {
133  if (nn_ && nn_->size() != 0)
134  OMPL_WARN("Calling setNearestNeighbors will clear all states.");
135  clear();
136  nn_ = std::make_shared<NN<Motion *>>();
137  setup();
138  }
139 
140  void setup() override;
141 
142  protected:
147  class Motion
148  {
149  public:
150  Motion() = default;
151 
153  Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
154  {
155  }
156 
157  ~Motion() = default;
158 
160  base::State *state{nullptr};
161 
163  Motion *parent{nullptr};
164  };
165 
167  void freeMemory();
168 
170  double distanceFunction(const Motion *a, const Motion *b) const
171  {
172  return si_->distance(a->state, b->state);
173  }
174 
176  base::StateSamplerPtr sampler_;
177 
179  std::shared_ptr<NearestNeighbors<Motion *>> nn_;
180 
183  double goalBias_{.05};
184 
186  double maxDistance_{0.};
187 
190 
192  RNG rng_;
193 
195  Motion *lastGoalMotion_{nullptr};
196  };
197  }
198 }
199 
200 #endif
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:89
double getRange() const
Get the range the planner is using.
Definition: RRT.h:220
void freeMemory()
Free the memory allocated by this planner.
Definition: RRT.cpp:82
Motion * parent
The parent motion in the exploration tree.
Definition: RRT.h:259
base::State * state
The state contained by the motion.
Definition: RRT.h:256
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: RRT.cpp:71
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: RRT.cpp:61
void setIntermediateStates(bool addIntermediateStates)
Specify whether the intermediate states generated along motions are to be added to the tree itself.
Definition: RRT.h:204
RRT(const base::SpaceInformationPtr &si, bool addIntermediateStates=false)
Constructor.
Definition: RRT.cpp:42
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: RRT.h:266
bool addIntermediateStates_
Flag indicating whether intermediate states are added to the built tree of motions.
Definition: RRT.h:285
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: RRT.h:275
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: RRT.cpp:232
base::StateSamplerPtr sampler_
State sampler.
Definition: RRT.h:272
Representation of a motion.
Definition: RRT.h:243
bool getIntermediateStates() const
Return true if the intermediate states generated along motions are to be added to the tree itself.
Definition: RRT.h:197
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition: Console.h:66
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: RRT.h:291
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:474
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: RRT.h:227
void setGoalBias(double goalBias)
Set the goal bias.
Definition: RRT.h:184
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: RRT.h:214
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: RRT.h:282
double getGoalBias() const
Get the goal bias the planner is using.
Definition: RRT.h:190
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: RRT.cpp:97
RNG rng_
The random number generator.
Definition: RRT.h:288
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition: RRT.h:279
Main namespace. Contains everything in this library.
Definition: AppBase.h:21