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SST.h
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34
35/* Authors: Zakary Littlefield */
36
37#ifndef OMPL_GEOMETRIC_PLANNERS_SST_SST_
38#define OMPL_GEOMETRIC_PLANNERS_SST_SST_
39
40#include "ompl/geometric/planners/PlannerIncludes.h"
41#include "ompl/datastructures/NearestNeighbors.h"
42
43namespace ompl
44{
45 namespace geometric
46 {
59 class SST : public base::Planner
60 {
61 public:
63 SST(const base::SpaceInformationPtr &si);
64
65 ~SST() override;
66
67 void setup() override;
68
71
72 void getPlannerData(base::PlannerData &data) const override;
73
77 void clear() override;
78
86 void setGoalBias(double goalBias)
87 {
88 goalBias_ = goalBias;
89 }
90
92 double getGoalBias() const
93 {
94 return goalBias_;
95 }
96
102 void setRange(double distance)
103 {
104 maxDistance_ = distance;
105 }
106
108 double getRange() const
109 {
110 return maxDistance_;
111 }
112
121 void setSelectionRadius(double selectionRadius)
122 {
123 selectionRadius_ = selectionRadius;
124 }
125
127 double getSelectionRadius() const
128 {
129 return selectionRadius_;
130 }
131
142 void setPruningRadius(double pruningRadius)
143 {
144 pruningRadius_ = pruningRadius;
145 }
146
148 double getPruningRadius() const
149 {
150 return pruningRadius_;
151 }
152
154 template <template <typename T> class NN>
156 {
157 if (nn_ && nn_->size() != 0)
158 OMPL_WARN("Calling setNearestNeighbors will clear all states.");
159 clear();
160 nn_ = std::make_shared<NN<Motion *>>();
161 witnesses_ = std::make_shared<NN<Motion *>>();
162 setup();
163 }
164
165 protected:
170 class Motion
171 {
172 public:
173 Motion() = default;
174
176 Motion(const base::SpaceInformationPtr &si)
177 : state_(si->allocState())
178 {
179 }
180
181 virtual ~Motion() = default;
182
183 virtual base::State *getState() const
184 {
185 return state_;
186 }
187 virtual Motion *getParent() const
188 {
189 return parent_;
190 }
191 base::Cost accCost_{0.};
192
195
197 Motion *parent_{nullptr};
198
200 unsigned numChildren_{0};
201
203 bool inactive_{false};
204 };
205
206 class Witness : public Motion
207 {
208 public:
209 Witness() = default;
210
211 Witness(const base::SpaceInformationPtr &si) : Motion(si)
212 {
213 }
214 base::State *getState() const override
215 {
216 return rep_->state_;
217 }
218 Motion *getParent() const override
219 {
220 return rep_->parent_;
221 }
222
223 void linkRep(Motion *lRep)
224 {
225 rep_ = lRep;
226 }
227
229 Motion *rep_{nullptr};
230 };
231
233 Motion *selectNode(Motion *sample);
234
236 Witness *findClosestWitness(Motion *node);
237
239 base::State *monteCarloProp(Motion *m);
240
242 void freeMemory();
243
245 double distanceFunction(const Motion *a, const Motion *b) const
246 {
247 return si_->distance(a->state_, b->state_);
248 }
249
251 base::StateSamplerPtr sampler_;
252
254 std::shared_ptr<NearestNeighbors<Motion *>> nn_;
255
257 std::shared_ptr<NearestNeighbors<Motion *>> witnesses_;
258
261 double goalBias_{.05};
262
264 double maxDistance_{5.};
265
268
270 double pruningRadius_{3.};
271
274
276 std::vector<base::State *> prevSolution_;
277
279 base::Cost prevSolutionCost_{std::numeric_limits<double>::quiet_NaN()};
280
282 base::OptimizationObjectivePtr opt_;
283 };
284 }
285}
286
287#endif
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Base class for a planner.
Definition Planner.h:216
SpaceInformationPtr si_
The space information for which planning is done.
Definition Planner.h:410
Definition of an abstract state.
Definition State.h:50
Representation of a motion.
Definition SST.h:171
unsigned numChildren_
Number of children.
Definition SST.h:200
base::State * state_
The state contained by the motion.
Definition SST.h:194
Motion * parent_
The parent motion in the exploration tree.
Definition SST.h:197
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state and the control.
Definition SST.h:176
bool inactive_
If inactive, this node is not considered for selection.
Definition SST.h:203
Motion * rep_
The node in the tree that is within the pruning radius.
Definition SST.h:229
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition SST.h:264
base::StateSamplerPtr sampler_
State sampler.
Definition SST.h:251
double getPruningRadius() const
Get the pruning radius the planner is using.
Definition SST.h:148
base::Cost prevSolutionCost_
The best solution cost we found so far.
Definition SST.h:279
Witness * findClosestWitness(Motion *node)
Find the closest witness node to a newly generated potential node.
Definition SST.cpp:183
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition SST.h:155
double getSelectionRadius() const
Get the selection radius the planner is using.
Definition SST.h:127
void setPruningRadius(double pruningRadius)
Set the radius for pruning nodes.
Definition SST.h:142
void setGoalBias(double goalBias)
Definition SST.h:86
double getRange() const
Get the range the planner is using.
Definition SST.h:108
double getGoalBias() const
Get the goal bias the planner is using.
Definition SST.h:92
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition SST.cpp:65
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Continue solving for some amount of time. Return true if solution was found.
Definition SST.cpp:224
Motion * selectNode(Motion *sample)
Finds the best node in the tree withing the selection radius around a random sample.
Definition SST.cpp:154
void clear() override
Clear datastructures. Call this function if the input data to the planner has changed and you do not ...
Definition SST.cpp:108
base::OptimizationObjectivePtr opt_
The optimization objective.
Definition SST.h:282
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition SST.h:254
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 SST.cpp:416
std::shared_ptr< NearestNeighbors< Motion * > > witnesses_
A nearest-neighbors datastructure containing the tree of witness motions.
Definition SST.h:257
RNG rng_
The random number generator.
Definition SST.h:273
void setSelectionRadius(double selectionRadius)
Set the radius for selecting nodes relative to random sample.
Definition SST.h:121
double selectionRadius_
The radius for determining the node selected for extension.
Definition SST.h:267
void freeMemory()
Free the memory allocated by this planner.
Definition SST.cpp:121
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition SST.h:261
double pruningRadius_
The radius for determining the size of the pruning region.
Definition SST.h:270
std::vector< base::State * > prevSolution_
The best solution we found so far.
Definition SST.h:276
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition SST.h:245
base::State * monteCarloProp(Motion *m)
Randomly propagate a new edge.
Definition SST.cpp:207
void setRange(double distance)
Set the range the planner is supposed to use.
Definition SST.h:102
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition Console.h:66
Main namespace. Contains everything in this library.
A class to store the exit status of Planner::solve()