pSBL.cpp
43 ompl::geometric::pSBL::pSBL(const base::SpaceInformationPtr &si) : base::Planner(si, "pSBL"), samplerArray_(si)
50 Planner::declareParam<unsigned int>("thread_count", this, &pSBL::setThreadCount, &pSBL::getThreadCount, "1:64");
102 void ompl::geometric::pSBL::threadSolve(unsigned int tid, const base::PlannerTerminationCondition &ptc,
188 ompl::base::PlannerStatus ompl::geometric::pSBL::solve(const base::PlannerTerminationCondition &ptc)
252 OMPL_INFORM("%s: Created %u (%u start + %u goal) states in %u cells (%u start + %u goal)", getName().c_str(),
253 tStart_.size + tGoal_.size, tStart_.size, tGoal_.size, tStart_.grid.size() + tGoal_.grid.size(),
259 bool ompl::geometric::pSBL::checkSolution(RNG &rng, bool start, TreeData &tree, TreeData &otherTree, Motion *motion,
371 Motion *result = cell && !cell->data.empty() ? cell->data[rng.uniformInt(0, cell->data.size() - 1)] : nullptr;
376 void ompl::geometric::pSBL::removeMotion(TreeData &tree, Motion *motion, std::map<Motion *, bool> &seen)
477 data.addEdge(data.vertexIndex(connectionPoint_.first), data.vertexIndex(connectionPoint_.second));
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:89
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: pSBL.cpp:69
@ UNRECOGNIZED_GOAL_TYPE
The goal is of a type that a planner does not recognize.
Definition: PlannerStatus.h:188
bool multithreaded
Flag indicating whether multiple threads are used in the computation of the planner.
Definition: Planner.h:256
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:225
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: pSBL.cpp:188
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
Definition: SBL.h:366
bool isPathValid(TreeData &tree, Motion *motion)
Since solutions are computed in a lazy fashion, once trees are connected, the solution found needs to...
Definition: SBL.cpp:242
This class contains methods that automatically configure various parameters for motion planning....
Definition: SelfConfig.h:123
@ GOAL_STATE
This bit is set if casting to goal state (ompl::base::GoalState) is possible.
Definition: GoalTypes.h:155
base::ProjectionEvaluatorPtr projectionEvaluator_
The employed projection evaluator.
Definition: SBL.h:351
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: pSBL.cpp:451
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
virtual void checkValidity()
Check to see if the planner is in a working state (setup has been called, a goal was set,...
Definition: Planner.cpp:106
int uniformInt(int lower_bound, int upper_bound)
Generate a random integer within given bounds: [lower_bound, upper_bound].
Definition: RandomNumbers.h:144
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:127
const State * nextStart()
Return the next valid start state or nullptr if no more valid start states are available.
Definition: Planner.cpp:228
unsigned int vertexIndex(const PlannerDataVertex &v) const
Return the index for the vertex associated with the given data. INVALID_INDEX is returned if this ver...
Definition: PlannerData.cpp:315
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: pSBL.cpp:58
void setThreadCount(unsigned int nthreads)
Set the number of threads the planner should use. Default is 2.
Definition: pSBL.cpp:480
Definition: pSBL.h:252
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
Definition: pSBL.h:313
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 checkSolution(bool start, TreeData &tree, TreeData &otherTree, Motion *motion, std::vector< Motion * > &solution)
Check if a solution can be obtained by connecting two trees using a specified motion.
Definition: SBL.cpp:183
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
void removeMotion(TreeData &tree, Motion *motion)
Remove a motion from a tree.
Definition: SBL.cpp:274
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:122