RRTConnect.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_RRT_CONNECT_
38#define OMPL_GEOMETRIC_PLANNERS_RRT_RRT_CONNECT_
39
40#include "ompl/datastructures/NearestNeighbors.h"
41#include "ompl/geometric/planners/PlannerIncludes.h"
42
43namespace ompl
44{
45 namespace geometric
46 {
62 {
63 public:
65 RRTConnect(const base::SpaceInformationPtr &si, bool addIntermediateStates = false);
66
67 ~RRTConnect() override;
68
69 void getPlannerData(base::PlannerData &data) const override;
70
72
73 void clear() override;
74
78 {
80 }
81
84 void setIntermediateStates(bool addIntermediateStates)
85 {
86 addIntermediateStates_ = addIntermediateStates;
87 }
88
94 void setRange(double distance)
95 {
96 maxDistance_ = distance;
97 }
98
100 double getRange() const
101 {
102 return maxDistance_;
103 }
104
106 template <template <typename T> class NN>
108 {
109 if ((tStart_ && tStart_->size() != 0) || (tGoal_ && tGoal_->size() != 0))
110 OMPL_WARN("Calling setNearestNeighbors will clear all states.");
111 clear();
112 tStart_ = std::make_shared<NN<Motion *>>();
113 tGoal_ = std::make_shared<NN<Motion *>>();
114 setup();
115 }
116
117 void setup() override;
118
119 protected:
121 class Motion
122 {
123 public:
124 Motion() = default;
125
126 Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
127 {
128 }
129
130 ~Motion() = default;
131
132 const base::State *root{nullptr};
133 base::State *state{nullptr};
134 Motion *parent{nullptr};
135 };
136
138 using TreeData = std::shared_ptr<NearestNeighbors<Motion *>>;
139
142 {
143 base::State *xstate;
144 Motion *xmotion;
145 bool start;
146 };
147
150 {
156 REACHED
157 };
158
160 void freeMemory();
161
163 double distanceFunction(const Motion *a, const Motion *b) const
164 {
165 return si_->distance(a->state, b->state);
166 }
167
169 GrowState growTree(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion);
170
172 base::StateSamplerPtr sampler_;
173
176
179
181 double maxDistance_{0.};
182
185
188
190 std::pair<base::State *, base::State *> connectionPoint_;
191
194 };
195 }
196}
197
198#endif
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
Representation of a motion.
Definition: RRTConnect.h:122
RRT-Connect (RRTConnect)
Definition: RRTConnect.h:62
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
Definition: RRTConnect.h:190
GrowState growTree(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion)
Grow a tree towards a random state.
Definition: RRTConnect.cpp:116
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: RRTConnect.h:181
double getRange() const
Get the range the planner is using.
Definition: RRTConnect.h:100
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: RRTConnect.h:94
GrowState
The state of the tree after an attempt to extend it.
Definition: RRTConnect.h:150
@ ADVANCED
progress has been made towards the randomly sampled state
Definition: RRTConnect.h:154
@ TRAPPED
no progress has been made
Definition: RRTConnect.h:152
@ REACHED
the randomly sampled state was reached
Definition: RRTConnect.h:156
bool addIntermediateStates_
Flag indicating whether intermediate states are added to the built tree of motions.
Definition: RRTConnect.h:184
void freeMemory()
Free the memory allocated by this planner.
Definition: RRTConnect.cpp:76
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: RRTConnect.cpp:103
bool getIntermediateStates() const
Return true if the intermediate states generated along motions are to be added to the tree itself.
Definition: RRTConnect.h:77
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: RRTConnect.cpp:62
RNG rng_
The random number generator.
Definition: RRTConnect.h:187
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: RRTConnect.h:107
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: RRTConnect.cpp:377
void setIntermediateStates(bool addIntermediateStates)
Specify whether the intermediate states generated along motions are to be added to the tree itself.
Definition: RRTConnect.h:84
TreeData tStart_
The start tree.
Definition: RRTConnect.h:175
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: RRTConnect.cpp:186
double distanceBetweenTrees_
Distance between the nearest pair of start tree and goal tree nodes.
Definition: RRTConnect.h:193
base::StateSamplerPtr sampler_
State sampler.
Definition: RRTConnect.h:172
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: RRTConnect.h:163
RRTConnect(const base::SpaceInformationPtr &si, bool addIntermediateStates=false)
Constructor.
Definition: RRTConnect.cpp:42
TreeData tGoal_
The goal tree.
Definition: RRTConnect.h:178
std::shared_ptr< NearestNeighbors< Motion * > > TreeData
A nearest-neighbor datastructure representing a tree of motions.
Definition: RRTConnect.h:138
#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()
Definition: PlannerStatus.h:49
Information attached to growing a tree of motions (used internally)
Definition: RRTConnect.h:142