STRIDE.cpp
61 Planner::declareParam<double>("range", this, &STRIDE::setRange, &STRIDE::getRange, "0.:1.:10000.");
62 Planner::declareParam<double>("goal_bias", this, &STRIDE::setGoalBias, &STRIDE::getGoalBias, "0.:.05:1.");
63 Planner::declareParam<bool>("use_projected_distance", this, &STRIDE::setUseProjectedDistance, &STRIDE::getUseProjectedDistance, "0,1");
64 Planner::declareParam<unsigned int>("degree", this, &STRIDE::setDegree, &STRIDE::getDegree, "2:20");
65 Planner::declareParam<unsigned int>("max_degree", this, &STRIDE::setMaxDegree, &STRIDE::getMaxDegree, "2:20");
66 Planner::declareParam<unsigned int>("min_degree", this, &STRIDE::setMinDegree, &STRIDE::getMinDegree, "2:20");
67 Planner::declareParam<unsigned int>("max_pts_per_leaf", this, &STRIDE::setMaxNumPtsPerLeaf, &STRIDE::getMaxNumPtsPerLeaf, "1:200");
68 Planner::declareParam<double>("estimated_dimension", this, &STRIDE::setEstimatedDimension, &STRIDE::getEstimatedDimension, "1.:30.");
69 Planner::declareParam<double>("min_valid_path_fraction", this, &STRIDE::setMinValidPathFraction, &STRIDE::getMinValidPathFraction, "0.:.05:1.");
88 tree_.reset(new NearestNeighborsGNAT<Motion*>(degree_, minDegree_, maxDegree_, maxNumPtsPerLeaf_, estimatedDimension_));
119 ompl::base::PlannerStatus ompl::geometric::STRIDE::solve(const base::PlannerTerminationCondition &ptc)
141 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), tree_->size());
162 bool keep = si_->checkMotion(existing->state, xstate, fail) || fail.second > minValidPathFraction_;
242 data.addEdge(base::PlannerDataVertex((*it)->parent->state,1),base::PlannerDataVertex((*it)->state,1));
bool approximateSolutions
Flag indicating whether the planner is able to compute approximate solutions.
Definition: Planner.h:214
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
double getEstimatedDimension() const
Get estimated dimension of the free space, which is needed to compute the sampling weight for a node ...
Definition: STRIDE.h:181
base::ProjectionEvaluatorPtr projectionEvaluator_
This algorithm can optionally use a projection to guide the exploration.
Definition: STRIDE.h:298
double estimatedDimension_
Estimate of the local dimensionality of the free space around a state.
Definition: STRIDE.h:321
void setMinDegree(unsigned int minDegree)
Set minimum degree of a node in the GNAT.
Definition: STRIDE.h:140
void setEstimatedDimension(double estimatedDimension)
Set estimated dimension of the free space, which is needed to compute the sampling weight for a node ...
Definition: STRIDE.h:174
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: STRIDE.cpp:231
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...
Definition: NearestNeighborsGNAT.h:70
bool useProjectedDistance_
Whether to use distance in the projection (instead of distance in the state space) for the GNAT...
Definition: STRIDE.h:311
void append(const base::State *state)
Append state to the end of this path. The memory for state is copied.
Definition: PathGeometric.cpp:432
virtual void sampleGoal(State *st) const =0
Sample a state in the goal region.
double projectedDistanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between projections of contained states) ...
Definition: STRIDE.h:279
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:60
double getMinValidPathFraction() const
Get the value of the fraction set by setMinValidPathFraction()
Definition: STRIDE.h:213
Invalid start state or no start state specified.
Definition: PlannerStatus.h:56
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:49
double minValidPathFraction_
When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion. This is used only when extendWhileValid_ is true.
Definition: STRIDE.h:327
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: STRIDE.cpp:77
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: STRIDE.cpp:95
void setDegree(unsigned int degree)
Set desired degree of a node in the GNAT.
Definition: STRIDE.h:130
void setMaxNumPtsPerLeaf(unsigned int maxNumPtsPerLeaf)
Set maximum number of elements stored in a leaf node of the GNAT.
Definition: STRIDE.h:161
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: STRIDE.h:273
bool getUseProjectedDistance() const
Return whether nearest neighbors are computed based on distances in a projection of the state rather ...
Definition: STRIDE.h:124
bool canSample() const
Return true if maxSampleCount() > 0, since in this case samples can certainly be produced.
Definition: GoalSampleableRegion.h:70
boost::scoped_ptr< NearestNeighborsGNAT< Motion * > > tree_
The exploration tree constructed by this algorithm.
Definition: STRIDE.h:302
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0))
Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...
Definition: PlannerData.cpp:444
A boost shared pointer wrapper for ompl::base::SpaceInformation.
unsigned int addStartVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
Definition: PlannerData.cpp:425
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: STRIDE.h:191
virtual void checkValidity()
Check to see if the planner is in a working state (setup has been called, a goal was set...
Definition: Planner.cpp:100
virtual bool isSatisfied(const State *st) const =0
Return true if the state satisfies the goal constraints.
const State * nextStart()
Return the next valid start state or NULL if no more valid start states are available.
Definition: Planner.cpp:230
STRIDE(const base::SpaceInformationPtr &si, bool useProjectedDistance=false, unsigned int degree=16, unsigned int minDegree=12, unsigned int maxDegree=18, unsigned int maxNumPtsPerLeaf=6, double estimatedDimension=0.0)
Constructor.
Definition: STRIDE.cpp:46
virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc)
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: STRIDE.cpp:119
void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj)
If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...
Definition: SelfConfig.cpp:238
Motion * selectMotion()
Select a motion to continue the expansion of the tree from.
Definition: STRIDE.cpp:226
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:232
This class contains methods that automatically configure various parameters for motion planning...
Definition: SelfConfig.h:58
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
Definition: STRIDE.h:305
void setMinValidPathFraction(double fraction)
When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion. This function sets the minimum acceptable fraction (between 0 and 1).
Definition: STRIDE.h:207
unsigned int maxNumPtsPerLeaf_
Maximum number of points stored in a leaf node in the GNAT.
Definition: STRIDE.h:319
unsigned int getMaxNumPtsPerLeaf() const
Get maximum number of elements stored in a leaf node of the GNAT.
Definition: STRIDE.h:167
void setUseProjectedDistance(bool useProjectedDistance)
Set whether nearest neighbors are computed based on distances in a projection of the state rather dis...
Definition: STRIDE.h:117
void setMaxDegree(unsigned int maxDegree)
Set maximum degree of a node in the GNAT.
Definition: STRIDE.h:150
void setGoalBias(double goalBias)
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: STRIDE.h:103
A boost shared pointer wrapper for ompl::base::Path.