RRT.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_RRT_RRT_
38 #define OMPL_CONTROL_PLANNERS_RRT_RRT_
39 
40 #include "ompl/control/planners/PlannerIncludes.h"
41 #include "ompl/datastructures/NearestNeighbors.h"
42 
43 namespace ompl
44 {
45 
46  namespace control
47  {
48 
66  class RRT : public base::Planner
67  {
68  public:
69 
71  RRT(const SpaceInformationPtr &si);
72 
73  virtual ~RRT();
74 
77 
81  virtual void clear();
82 
90  void setGoalBias(double goalBias)
91  {
92  goalBias_ = goalBias;
93  }
94 
96  double getGoalBias() const
97  {
98  return goalBias_;
99  }
100 
103  {
104  return addIntermediateStates_;
105  }
106 
108  void setIntermediateStates(bool addIntermediateStates)
109  {
110  addIntermediateStates_ = addIntermediateStates;
111  }
112 
113  virtual void getPlannerData(base::PlannerData &data) const;
114 
116  template<template<typename T> class NN>
118  {
119  nn_.reset(new NN<Motion*>());
120  }
121 
122  virtual void setup();
123 
124  protected:
125 
126 
131  class Motion
132  {
133  public:
134 
135  Motion() : state(NULL), control(NULL), steps(0), parent(NULL)
136  {
137  }
138 
140  Motion(const SpaceInformation *si) : state(si->allocState()), control(si->allocControl()), steps(0), parent(NULL)
141  {
142  }
143 
144  ~Motion()
145  {
146  }
147 
150 
153 
155  unsigned int steps;
156 
159  };
160 
162  void freeMemory();
163 
165  double distanceFunction(const Motion *a, const Motion *b) const
166  {
167  return si_->distance(a->state, b->state);
168  }
169 
172 
175 
178 
180  boost::shared_ptr< NearestNeighbors<Motion*> > nn_;
181 
183  double goalBias_;
184 
187 
190 
193  };
194 
195  }
196 }
197 
198 #endif
DirectedControlSamplerPtr controlSampler_
Control sampler.
Definition: RRT.h:174
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: RRT.h:117
double getGoalBias() const
Get the goal bias the planner is using.
Definition: RRT.h:96
bool getIntermediateStates() const
Return true if the intermediate states generated along motions are to be added to the tree itself...
Definition: RRT.h:102
Definition of an abstract control.
Definition: Control.h:48
A boost shared pointer wrapper for ompl::base::StateSampler.
virtual void clear()
Clear datastructures. Call this function if the input data to the planner has changed and you do not ...
Definition: RRT.cpp:68
boost::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: RRT.h:180
virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc)
Continue solving for some amount of time. Return true if solution was found.
Definition: RRT.cpp:96
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
base::State * state
The state contained by the motion.
Definition: RRT.h:149
RRT(const SpaceInformationPtr &si)
Constructor.
Definition: RRT.cpp:42
void freeMemory()
Free the memory allocated by this planner.
Definition: RRT.cpp:79
bool addIntermediateStates_
Flag indicating whether intermediate states are added to the built tree of motions.
Definition: RRT.h:186
void setIntermediateStates(bool addIntermediateStates)
Specify whether the intermediate states generated along motions are to be added to the tree itself...
Definition: RRT.h:108
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: RRT.cpp:60
base::StateSamplerPtr sampler_
State sampler.
Definition: RRT.h:171
Motion * parent
The parent motion in the exploration tree.
Definition: RRT.h:158
Main namespace. Contains everything in this library.
Definition: Cost.h:42
Representation of a motion.
Definition: RRT.h:131
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:54
Base class for a planner.
Definition: Planner.h:232
Control * control
The control contained by the motion.
Definition: RRT.h:152
A boost shared pointer wrapper for ompl::control::DirectedControlSampler.
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: RRT.h:192
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
Definition of an abstract state.
Definition: State.h:50
Motion(const SpaceInformation *si)
Constructor that allocates memory for the state and the control.
Definition: RRT.h:140
A boost shared pointer wrapper for ompl::control::SpaceInformation.
void setGoalBias(double goalBias)
Definition: RRT.h:90
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: RRT.h:165
Rapidly-exploring Random Tree.
Definition: RRT.h:66
const SpaceInformation * siC_
The base::SpaceInformation cast as control::SpaceInformation, for convenience.
Definition: RRT.h:177
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:397
Space information containing necessary information for planning with controls. setup() needs to be ca...
virtual void getPlannerData(base::PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: RRT.cpp:266
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:183
unsigned int steps
The number of steps the control is applied for.
Definition: RRT.h:155
RNG rng_
The random number generator.
Definition: RRT.h:189