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BiEST.h
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34
35/* Author: Ryan Luna */
36
37#ifndef OMPL_GEOMETRIC_PLANNERS_EST_BIEST_
38#define OMPL_GEOMETRIC_PLANNERS_EST_BIEST_
39
40#include "ompl/geometric/planners/PlannerIncludes.h"
41#include "ompl/datastructures/NearestNeighbors.h"
42#include "ompl/datastructures/PDF.h"
43#include <vector>
44
45namespace ompl
46{
47 namespace geometric
48 {
65 class BiEST : public base::Planner
66 {
67 public:
69 BiEST(const base::SpaceInformationPtr &si);
70
71 ~BiEST() override;
72
74
75 void clear() override;
76
82 void setRange(double distance)
83 {
84 maxDistance_ = distance;
85
86 // Make the neighborhood radius smaller than sampling range to
87 // keep probabilities relatively high for rejection sampling
89 }
90
92 double getRange() const
93 {
94 return maxDistance_;
95 }
96
97 void setup() override;
98
99 void getPlannerData(base::PlannerData &data) const override;
100
101 protected:
103 class Motion
104 {
105 public:
106 Motion() = default;
107
109 Motion(const base::SpaceInformationPtr &si)
110 : state(si->allocState())
111 {
112 }
113
114 ~Motion() = default;
115
118
120 Motion *parent{nullptr};
121
124
126 const base::State *root{nullptr};
127 };
128
130 double distanceFunction(const Motion *a, const Motion *b) const
131 {
132 return si_->distance(a->state, b->state);
133 }
134
136 std::shared_ptr<NearestNeighbors<Motion *>> nnStart_;
137 std::shared_ptr<NearestNeighbors<Motion *>> nnGoal_;
138
140 std::vector<Motion *> startMotions_;
141 std::vector<Motion *> goalMotions_;
142
145 PDF<Motion *> goalPdf_;
146
148 void freeMemory();
149
151 void addMotion(Motion *motion, std::vector<Motion *> &motions, PDF<Motion *> &pdf,
152 const std::shared_ptr<NearestNeighbors<Motion *>> &nn,
153 const std::vector<Motion *> &neighbors);
154
156 base::ValidStateSamplerPtr sampler_;
157
159 double maxDistance_{0.0};
160
163
166
168 std::pair<base::State *, base::State *> connectionPoint_{nullptr,nullptr};
169 };
170 }
171}
172
173#endif
Abstract representation of a container that can perform nearest neighbors queries.
A class that will hold data contained in the PDF.
Definition: PDF.h:53
A container that supports probabilistic sampling over weighted data.
Definition: PDF.h:49
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Base class for a planner.
Definition: Planner.h:223
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:417
Definition of an abstract state.
Definition: State.h:50
The definition of a motion.
Definition: BiEST.h:104
base::State * state
The state contained by the motion.
Definition: BiEST.h:117
const base::State * root
The root node of the tree this motion is in.
Definition: BiEST.h:126
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: BiEST.h:109
Motion * parent
The parent motion in the exploration tree.
Definition: BiEST.h:120
PDF< Motion * >::Element * element
A pointer to the corresponding element in the probability distribution function.
Definition: BiEST.h:123
Bi-directional Expansive Space Trees.
Definition: BiEST.h:66
base::ValidStateSamplerPtr sampler_
Valid state sampler.
Definition: BiEST.h:156
PDF< Motion * > startPdf_
The probability distribution function over states in each tree.
Definition: BiEST.h:144
void addMotion(Motion *motion, std::vector< Motion * > &motions, PDF< Motion * > &pdf, const std::shared_ptr< NearestNeighbors< Motion * > > &nn, const std::vector< Motion * > &neighbors)
Add a motion to the exploration tree.
Definition: BiEST.cpp:279
void freeMemory()
Free the memory allocated by this planner.
Definition: BiEST.cpp:100
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: BiEST.cpp:56
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: BiEST.cpp:117
double getRange() const
Get the range the planner is using.
Definition: BiEST.h:92
double nbrhoodRadius_
The radius considered for neighborhood.
Definition: BiEST.h:162
std::shared_ptr< NearestNeighbors< Motion * > > nnStart_
A nearest-neighbors datastructure containing the tree of motions.
Definition: BiEST.h:136
RNG rng_
The random number generator.
Definition: BiEST.h:165
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: BiEST.cpp:81
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: BiEST.h:159
std::vector< Motion * > startMotions_
The set of all states in the start tree.
Definition: BiEST.h:140
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: BiEST.h:82
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: BiEST.cpp:296
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
Definition: BiEST.h:168
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: BiEST.h:130
Main namespace. Contains everything in this library.
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49