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Rapidly-exploring Random Trees. More...

#include <ompl/geometric/planners/rrt/LazyLBTRRT.h>

Inheritance diagram for ompl::geometric::LazyLBTRRT:

Classes

class  CostEstimatorApx
 
class  CostEstimatorLb
 
class  Motion
 Representation of a motion. More...
 

Public Member Functions

 LazyLBTRRT (const base::SpaceInformationPtr &si)
 Constructor.
 
void getPlannerData (base::PlannerData &data) const override
 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).

 
base::PlannerStatus solve (const base::PlannerTerminationCondition &ptc) override
 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.
 
void clear () override
 Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.
 
void setGoalBias (double goalBias)
 Set the goal bias.
 
double getGoalBias () const
 Get the goal bias the planner is using.
 
void setRange (double distance)
 Set the range the planner is supposed to use.
 
double getRange () const
 Get the range the planner is using.
 
template<template< typename T > class NN>
void setNearestNeighbors ()
 Set a different nearest neighbors datastructure.
 
void setup () override
 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.
 
void setApproximationFactor (double epsilon)
 Set the apprimation factor.
 
std::string getIterationCount () const
 
std::string getBestCost () const
 
- Public Member Functions inherited from ompl::base::Planner
 Planner (const Planner &)=delete
 
Planneroperator= (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.
 
template<class T >
const T * as () const
 Cast this instance to a desired type.
 
const SpaceInformationPtrgetSpaceInformation () const
 Get the space information this planner is using.
 
const ProblemDefinitionPtrgetProblemDefinition () const
 Get the problem definition the planner is trying to solve.
 
ProblemDefinitionPtrgetProblemDefinition ()
 Get the problem definition the planner is trying to solve.
 
const PlannerInputStatesgetPlannerInputStates () 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 PlannerSpecsgetSpecs () 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.
 
ParamSetparams ()
 Get the parameters for this planner.
 
const ParamSetparams () const
 Get the parameters for this planner.
 
const PlannerProgressPropertiesgetPlannerProgressProperties () 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 Types

using WeightProperty = boost::property< boost::edge_weight_t, double >
 
using BoostGraph = boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, std::size_t, WeightProperty >
 
using LPAstarApx = LPAstarOnGraph< BoostGraph, CostEstimatorApx >
 
using LPAstarLb = LPAstarOnGraph< BoostGraph, CostEstimatorLb >
 

Protected Member Functions

void sampleBiased (const base::GoalSampleableRegion *goal_s, base::State *rstate)
 sample with goal biasing
 
void freeMemory ()
 Free the memory allocated by this planner.
 
double distanceFunction (const base::State *a, const base::State *b) const
 Compute distance between motions (actually distance between contained states)
 
double distanceFunction (const Motion *a, const Motion *b) const
 
bool checkMotion (const base::State *a, const base::State *b) const
 
bool checkMotion (const Motion *a, const Motion *b) const
 
MotiongetMotion (std::size_t id) const
 
void addVertex (const Motion *a)
 
void addEdgeApx (Motion *a, Motion *b, double c)
 
void addEdgeLb (const Motion *a, const Motion *b, double c)
 
bool edgeExistsApx (std::size_t a, std::size_t b)
 
bool edgeExistsApx (const Motion *a, const Motion *b)
 
bool edgeExistsLb (const Motion *a, const Motion *b)
 
void removeEdgeLb (const Motion *a, const Motion *b)
 
std::tuple< Motion *, base::State *, double > rrtExtend (const base::GoalSampleableRegion *goal_s, base::State *xstate, Motion *rmotion, double &approxdif)
 
void rrt (const base::PlannerTerminationCondition &ptc, base::GoalSampleableRegion *goal_s, base::State *xstate, Motion *rmotion, double &approxdif)
 
MotioncreateMotion (const base::GoalSampleableRegion *goal_s, const base::State *st)
 
MotioncreateGoalMotion (const base::GoalSampleableRegion *goal_s)
 
void closeBounds (const base::PlannerTerminationCondition &ptc)
 
double getApproximationFactor () const
 Get the apprimation factor.
 
- 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

base::StateSamplerPtr sampler_
 State sampler.
 
std::shared_ptr< NearestNeighbors< Motion * > > nn_
 A nearest-neighbors datastructure containing the tree of motions.
 
double goalBias_ {0.05}
 The fraction of time the goal is picked as the state to expand towards (if such a state is available)
 
double maxDistance_ {0.}
 The maximum length of a motion to be added to a tree.
 
RNG rng_
 The random number generator.
 
double epsilon_ {.4}
 approximation factor
 
MotionlastGoalMotion_ {nullptr}
 The most recent goal motion. Used for PlannerData computation.
 
BoostGraph graphLb_
 
BoostGraph graphApx_
 
MotionstartMotion_
 
MotiongoalMotion_ {nullptr}
 
LPAstarApxLPAstarApx_ {nullptr}
 
LPAstarLbLPAstarLb_ {nullptr}
 
std::vector< Motion * > idToMotionMap_
 
unsigned int iterations_ {0}
 Number of iterations the algorithm performed.
 
double bestCost_
 Best cost found so far by algorithm.
 
- 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.
 

Friends

class CostEstimatorApx
 

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

Rapidly-exploring Random Trees.

Definition at line 58 of file LazyLBTRRT.h.

Member Typedef Documentation

◆ BoostGraph

using ompl::geometric::LazyLBTRRT::BoostGraph = boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, std::size_t, WeightProperty >
protected

Definition at line 160 of file LazyLBTRRT.h.

◆ LPAstarApx

Definition at line 207 of file LazyLBTRRT.h.

◆ LPAstarLb

Definition at line 208 of file LazyLBTRRT.h.

◆ WeightProperty

using ompl::geometric::LazyLBTRRT::WeightProperty = boost::property<boost::edge_weight_t, double>
protected

Definition at line 159 of file LazyLBTRRT.h.

Constructor & Destructor Documentation

◆ LazyLBTRRT()

ompl::geometric::LazyLBTRRT::LazyLBTRRT ( const base::SpaceInformationPtr &  si)

Constructor.

Definition at line 51 of file LazyLBTRRT.cpp.

◆ ~LazyLBTRRT()

ompl::geometric::LazyLBTRRT::~LazyLBTRRT ( )
override

Definition at line 72 of file LazyLBTRRT.cpp.

Member Function Documentation

◆ addEdgeApx()

void ompl::geometric::LazyLBTRRT::addEdgeApx ( Motion a,
Motion b,
double  c 
)
inlineprotected

Definition at line 245 of file LazyLBTRRT.h.

◆ addEdgeLb()

void ompl::geometric::LazyLBTRRT::addEdgeLb ( const Motion a,
const Motion b,
double  c 
)
inlineprotected

Definition at line 252 of file LazyLBTRRT.h.

◆ addVertex()

void ompl::geometric::LazyLBTRRT::addVertex ( const Motion a)
inlineprotected

Definition at line 239 of file LazyLBTRRT.h.

◆ checkMotion() [1/2]

bool ompl::geometric::LazyLBTRRT::checkMotion ( const base::State a,
const base::State b 
) const
inlineprotected

Definition at line 225 of file LazyLBTRRT.h.

◆ checkMotion() [2/2]

bool ompl::geometric::LazyLBTRRT::checkMotion ( const Motion a,
const Motion b 
) const
inlineprotected

Definition at line 229 of file LazyLBTRRT.h.

◆ clear()

void ompl::geometric::LazyLBTRRT::clear ( )
overridevirtual

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

Reimplemented from ompl::base::Planner.

Definition at line 77 of file LazyLBTRRT.cpp.

◆ closeBounds()

void ompl::geometric::LazyLBTRRT::closeBounds ( const base::PlannerTerminationCondition ptc)
protected

Definition at line 384 of file LazyLBTRRT.cpp.

◆ createGoalMotion()

ompl::geometric::LazyLBTRRT::Motion * ompl::geometric::LazyLBTRRT::createGoalMotion ( const base::GoalSampleableRegion goal_s)
protected

Definition at line 370 of file LazyLBTRRT.cpp.

◆ createMotion()

ompl::geometric::LazyLBTRRT::Motion * ompl::geometric::LazyLBTRRT::createMotion ( const base::GoalSampleableRegion goal_s,
const base::State st 
)
protected

Definition at line 353 of file LazyLBTRRT.cpp.

◆ distanceFunction() [1/2]

double ompl::geometric::LazyLBTRRT::distanceFunction ( const base::State a,
const base::State b 
) const
inlineprotected

Compute distance between motions (actually distance between contained states)

Definition at line 217 of file LazyLBTRRT.h.

◆ distanceFunction() [2/2]

double ompl::geometric::LazyLBTRRT::distanceFunction ( const Motion a,
const Motion b 
) const
inlineprotected

Definition at line 221 of file LazyLBTRRT.h.

◆ edgeExistsApx() [1/2]

bool ompl::geometric::LazyLBTRRT::edgeExistsApx ( const Motion a,
const Motion b 
)
inlineprotected

Definition at line 263 of file LazyLBTRRT.h.

◆ edgeExistsApx() [2/2]

bool ompl::geometric::LazyLBTRRT::edgeExistsApx ( std::size_t  a,
std::size_t  b 
)
inlineprotected

Definition at line 259 of file LazyLBTRRT.h.

◆ edgeExistsLb()

bool ompl::geometric::LazyLBTRRT::edgeExistsLb ( const Motion a,
const Motion b 
)
inlineprotected

Definition at line 267 of file LazyLBTRRT.h.

◆ freeMemory()

void ompl::geometric::LazyLBTRRT::freeMemory ( )
protected

Free the memory allocated by this planner.

Definition at line 106 of file LazyLBTRRT.cpp.

◆ getApproximationFactor()

double ompl::geometric::LazyLBTRRT::getApproximationFactor ( ) const
inlineprotected

Get the apprimation factor.

Definition at line 288 of file LazyLBTRRT.h.

◆ getBestCost()

std::string ompl::geometric::LazyLBTRRT::getBestCost ( ) const
inline

Definition at line 133 of file LazyLBTRRT.h.

◆ getGoalBias()

double ompl::geometric::LazyLBTRRT::getGoalBias ( ) const
inline

Get the goal bias the planner is using.

Definition at line 87 of file LazyLBTRRT.h.

◆ getIterationCount()

std::string ompl::geometric::LazyLBTRRT::getIterationCount ( ) const
inline

Definition at line 129 of file LazyLBTRRT.h.

◆ getMotion()

Motion * ompl::geometric::LazyLBTRRT::getMotion ( std::size_t  id) const
inlineprotected

Definition at line 234 of file LazyLBTRRT.h.

◆ getPlannerData()

void ompl::geometric::LazyLBTRRT::getPlannerData ( base::PlannerData data) const
overridevirtual

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).

Reimplemented from ompl::base::Planner.

Definition at line 318 of file LazyLBTRRT.cpp.

◆ getRange()

double ompl::geometric::LazyLBTRRT::getRange ( ) const
inline

Get the range the planner is using.

Definition at line 103 of file LazyLBTRRT.h.

◆ removeEdgeLb()

void ompl::geometric::LazyLBTRRT::removeEdgeLb ( const Motion a,
const Motion b 
)
inlineprotected

Definition at line 271 of file LazyLBTRRT.h.

◆ rrt()

void ompl::geometric::LazyLBTRRT::rrt ( const base::PlannerTerminationCondition ptc,
base::GoalSampleableRegion goal_s,
base::State xstate,
Motion rmotion,
double &  approxdif 
)
protected

Definition at line 295 of file LazyLBTRRT.cpp.

◆ rrtExtend()

std::tuple< ompl::geometric::LazyLBTRRT::Motion *, ompl::base::State *, double > ompl::geometric::LazyLBTRRT::rrtExtend ( const base::GoalSampleableRegion goal_s,
base::State xstate,
Motion rmotion,
double &  approxdif 
)
protected

Definition at line 259 of file LazyLBTRRT.cpp.

◆ sampleBiased()

void ompl::geometric::LazyLBTRRT::sampleBiased ( const base::GoalSampleableRegion goal_s,
base::State rstate 
)
protected

sample with goal biasing

Definition at line 344 of file LazyLBTRRT.cpp.

◆ setApproximationFactor()

void ompl::geometric::LazyLBTRRT::setApproximationFactor ( double  epsilon)
inline

Set the apprimation factor.

Definition at line 122 of file LazyLBTRRT.h.

◆ setGoalBias()

void ompl::geometric::LazyLBTRRT::setGoalBias ( double  goalBias)
inline

Set the goal bias.

In the process of randomly selecting states in the state space to attempt to go towards, the algorithm may in fact choose the actual goal state, if it knows it, with some probability. This probability is a real number between 0.0 and 1.0; its value should usually be around 0.05 and should not be too large. It is probably a good idea to use the default value.

Definition at line 81 of file LazyLBTRRT.h.

◆ setNearestNeighbors()

template<template< typename T > class NN>
void ompl::geometric::LazyLBTRRT::setNearestNeighbors ( )
inline

Set a different nearest neighbors datastructure.

Definition at line 110 of file LazyLBTRRT.h.

◆ setRange()

void ompl::geometric::LazyLBTRRT::setRange ( double  distance)
inline

Set the range the planner is supposed to use.

This parameter greatly influences the runtime of the algorithm. It represents the maximum length of a motion to be added in the tree of motions.

Definition at line 97 of file LazyLBTRRT.h.

◆ setup()

void ompl::geometric::LazyLBTRRT::setup ( )
overridevirtual

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.

Reimplemented from ompl::base::Planner.

Definition at line 92 of file LazyLBTRRT.cpp.

◆ solve()

ompl::base::PlannerStatus ompl::geometric::LazyLBTRRT::solve ( const base::PlannerTerminationCondition ptc)
overridevirtual

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.

Implements ompl::base::Planner.

Definition at line 122 of file LazyLBTRRT.cpp.

Friends And Related Symbol Documentation

◆ CostEstimatorApx

friend class CostEstimatorApx
friend

Definition at line 167 of file LazyLBTRRT.h.

Member Data Documentation

◆ bestCost_

double ompl::geometric::LazyLBTRRT::bestCost_
protected

Best cost found so far by algorithm.

Definition at line 328 of file LazyLBTRRT.h.

◆ epsilon_

double ompl::geometric::LazyLBTRRT::epsilon_ {.4}
protected

approximation factor

Definition at line 310 of file LazyLBTRRT.h.

◆ goalBias_

double ompl::geometric::LazyLBTRRT::goalBias_ {0.05}
protected

The fraction of time the goal is picked as the state to expand towards (if such a state is available)

Definition at line 301 of file LazyLBTRRT.h.

◆ goalMotion_

Motion* ompl::geometric::LazyLBTRRT::goalMotion_ {nullptr}
protected

Definition at line 318 of file LazyLBTRRT.h.

◆ graphApx_

BoostGraph ompl::geometric::LazyLBTRRT::graphApx_
protected

Definition at line 316 of file LazyLBTRRT.h.

◆ graphLb_

BoostGraph ompl::geometric::LazyLBTRRT::graphLb_
protected

Definition at line 315 of file LazyLBTRRT.h.

◆ idToMotionMap_

std::vector<Motion *> ompl::geometric::LazyLBTRRT::idToMotionMap_
protected

Definition at line 321 of file LazyLBTRRT.h.

◆ iterations_

unsigned int ompl::geometric::LazyLBTRRT::iterations_ {0}
protected

Number of iterations the algorithm performed.

Definition at line 326 of file LazyLBTRRT.h.

◆ lastGoalMotion_

Motion* ompl::geometric::LazyLBTRRT::lastGoalMotion_ {nullptr}
protected

The most recent goal motion. Used for PlannerData computation.

Definition at line 313 of file LazyLBTRRT.h.

◆ LPAstarApx_

LPAstarApx* ompl::geometric::LazyLBTRRT::LPAstarApx_ {nullptr}
protected

Definition at line 319 of file LazyLBTRRT.h.

◆ LPAstarLb_

LPAstarLb* ompl::geometric::LazyLBTRRT::LPAstarLb_ {nullptr}
protected

Definition at line 320 of file LazyLBTRRT.h.

◆ maxDistance_

double ompl::geometric::LazyLBTRRT::maxDistance_ {0.}
protected

The maximum length of a motion to be added to a tree.

Definition at line 304 of file LazyLBTRRT.h.

◆ nn_

std::shared_ptr<NearestNeighbors<Motion *> > ompl::geometric::LazyLBTRRT::nn_
protected

A nearest-neighbors datastructure containing the tree of motions.

Definition at line 297 of file LazyLBTRRT.h.

◆ rng_

RNG ompl::geometric::LazyLBTRRT::rng_
protected

The random number generator.

Definition at line 307 of file LazyLBTRRT.h.

◆ sampler_

base::StateSamplerPtr ompl::geometric::LazyLBTRRT::sampler_
protected

State sampler.

Definition at line 294 of file LazyLBTRRT.h.

◆ startMotion_

Motion* ompl::geometric::LazyLBTRRT::startMotion_
protected

Definition at line 317 of file LazyLBTRRT.h.


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