Space-Time RRT* (STRRTstar) More...
#include <ompl/geometric/planners/rrt/STRRTstar.h>

Classes | |
struct | TreeGrowingInfo |
Information attached to growing a tree of motions (used internally) More... |
Public Member Functions | |
STRRTstar (const ompl::base::SpaceInformationPtr &si) | |
Constructor. | |
void | clear () override |
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work. | |
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 | setRange (double distance) |
Set the range the planner is supposed to use. | |
double | getRange () const |
Get the range the planner is using. | |
double | getOptimumApproxFactor () const |
The Optimum Approximation factor (0 - 1). | |
void | setOptimumApproxFactor (double optimumApproxFactor) |
Set the Optimum Approximation factor. This allows the planner to converge more quickly, but only yields approximately optimal solutions. | |
std::string | getRewiringState () const |
void | setRewiringToOff () |
Do not rewire at all. | |
void | setRewiringToRadius () |
Rewire by radius. | |
void | setRewiringToKNearest () |
Rewire by k-nearest. | |
double | getRewireFactor () const |
void | setRewireFactor (double v) |
unsigned int | getBatchSize () const |
The number of samples before the time bound is increased. | |
void | setBatchSize (int v) |
void | setTimeBoundFactorIncrease (double f) |
The value by which the time bound factor is multiplied in each increase step. | |
void | setInitialTimeBoundFactor (double f) |
The initial time bound factor. | |
void | setSampleUniformForUnboundedTime (bool uniform) |
Whether the state space is sampled uniformly or centered at lower time values. | |
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. | |
Public Member Functions inherited from ompl::base::Planner | |
Planner (const Planner &)=delete | |
Planner & | operator= (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 SpaceInformationPtr & | getSpaceInformation () const |
Get the space information this planner is using. | |
const ProblemDefinitionPtr & | getProblemDefinition () const |
Get the problem definition the planner is trying to solve. | |
ProblemDefinitionPtr & | getProblemDefinition () |
Get the problem definition the planner is trying to solve. | |
const PlannerInputStates & | getPlannerInputStates () 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 PlannerSpecs & | getSpecs () 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. | |
ParamSet & | params () |
Get the parameters for this planner. | |
const ParamSet & | params () const |
Get the parameters for this planner. | |
const PlannerProgressProperties & | getPlannerProgressProperties () 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 | |
enum | GrowState { TRAPPED , ADVANCED , REACHED } |
The state of the tree after an attempt to extend it. More... | |
enum | RewireState { RADIUS , KNEAREST , OFF } |
using | TreeData = std::shared_ptr<ompl::NearestNeighbors<base::Motion *>> |
A nearest-neighbor datastructure representing a tree of motions. |
Protected Member Functions | |
GrowState | growTreeSingle (TreeData &tree, TreeGrowingInfo &tgi, base::Motion *rmotion, base::Motion *nmotion) |
Grow a tree towards a random state for a single nearest state. | |
GrowState | growTree (TreeData &tree, TreeGrowingInfo &tgi, base::Motion *rmotion, std::vector< base::Motion * > &nbh, bool connect) |
Attempt to grow a tree towards a random state for the neighborhood of the random state. The neighborhood is determined by the used rewire state. For the start tree closest state with respect to distance are tried first. For the goal tree states with the minimum time root node are tried first. If connect is true, multiple vertices can be added to the tree until the random state is reached or an basestacle is met. If connect is false, the tree is only extended by a single new state. | |
void | increaseTimeBound (bool hasEqualBounds, double &oldBatchTimeBoundFactor, double &newBatchTimeBoundFactor, bool &startTree, unsigned int &batchSize, int &numBatchSamples) |
void | getNeighbors (TreeData &tree, base::Motion *motion, std::vector< base::Motion * > &nbh) const |
Gets the neighbours of a given motion, using either k-nearest or radius_ as appropriate. | |
void | freeMemory () |
Free the memory allocated by this planner. | |
double | distanceFunction (const base::Motion *a, const base::Motion *b) const |
Compute distance between motions (actually distance between contained states) | |
void | pruneStartTree () |
Prune the start tree after a solution was found. | |
base::Motion * | pruneGoalTree () |
Prune the goal tree after a solution was found. Return the goal motion, that is connected to the start tree, if a new solution was found. If no new solution was found, return nullpointer. | |
void | removeInvalidGoals (const std::vector< base::Motion * > &invalidGoals) |
Remove invalid goal states from the goal set. | |
base::State * | nextGoal (int n, double oldBatchTimeBoundFactor, double newBatchTimeBoundFactor) |
N tries to sample a goal. | |
base::State * | nextGoal (const base::PlannerTerminationCondition &ptc, double oldBatchTimeBoundFactor, double newBatchTimeBoundFactor) |
Samples a goal until successful or the termination condition is fulfilled. | |
base::State * | nextGoal (const base::PlannerTerminationCondition &ptc, int n, double oldBatchTimeBoundFactor, double newBatchTimeBoundFactor) |
Samples a goal until successful or the termination condition is fulfilled. | |
bool | sampleGoalTime (base::State *goal, double oldBatchTimeBoundFactor, double newBatchTimeBoundFactor) |
Samples the time component of a goal state dependant on its space component. Returns false, if goal can't be reached in time. | |
void | constructSolution (base::Motion *startMotion, base::Motion *goalMotion, const base::ReportIntermediateSolutionFn &intermediateSolutionCallback, const ompl::base::PlannerTerminationCondition &ptc) |
void | calculateRewiringLowerBounds () |
Calculate the k_RRG* and r_RRG* terms. | |
bool | rewireGoalTree (base::Motion *addedMotion) |
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. |
Static Protected Member Functions | |
static base::Motion * | computeSolutionMotion (base::Motion *motion) |
Find the solution (connecting) motion for a motion that is indirectly connected. | |
static void | removeFromParent (base::Motion *m) |
Removes the given motion from the parent's child list. | |
static void | addDescendants (base::Motion *m, const TreeData &tree) |
Adds given all descendants of the given motion to given tree and checks whether one of the added motions is the goal motion. |
Protected Attributes | |
base::ConditionalStateSampler | sampler_ |
State sampler. | |
TreeData | tStart_ |
The start tree. | |
TreeData | tGoal_ |
The goal tree. | |
double | maxDistance_ {0.} |
The maximum length of a motion to be added to a tree. | |
double | distanceBetweenTrees_ |
Distance between the nearest pair of start tree and goal tree nodes. | |
base::PathPtr | bestSolution_ {nullptr} |
The current best solution path with respect to shortest time. | |
double | bestTime_ = std::numeric_limits<double>::infinity() |
The current best time i.e. cost of all found solutions. | |
unsigned int | numIterations_ = 0 |
The number of while loop iterations. | |
int | numSolutions_ = 0 |
The number of found solutions. | |
double | minimumTime_ = std::numeric_limits<double>::infinity() |
Minimum Time at which any goal can be reached, if moving on a straight line. | |
double | upperTimeBound_ |
Upper bound for the time up to which solutions are searched for. | |
double | optimumApproxFactor_ = 1.0 |
The factor to which found solution times need to be reduced compared to minimum time, (0, 1]. | |
base::Motion * | startMotion_ {nullptr} |
The start Motion, used for conditional sampling and start tree pruning. | |
std::vector< base::Motion * > | goalMotions_ {} |
The goal Motions, used for conditional sampling and pruning. | |
std::vector< base::Motion * > | newBatchGoalMotions_ {} |
The goal Motions, that were added in the current expansion step, used for uniform sampling over a growing region. | |
base::State * | tempState_ {nullptr} |
RewireState | rewireState_ = KNEAREST |
double | rewireFactor_ {1.1} |
The rewiring factor, s, so that r_rrt = s \times r_rrt* > r_rrt* (or k_rrt = s \times k_rrt* > k_rrt*) | |
double | k_rrt_ {0u} |
A constant for k-nearest rewiring calculations. | |
double | r_rrt_ {0.} |
A constant for r-disc rewiring calculations. | |
bool | isTimeBounded_ |
Whether the time is bounded or not. The first solution automatically bounds the time. | |
double | initialTimeBound_ |
The time bound the planner is initialized with. Used to reset for repeated planning. | |
unsigned int | initialBatchSize_ = 512 |
Number of samples of the first batch. | |
double | initialTimeBoundFactor_ = 2.0 |
Initial factor, the minimum time of each goal is multiplied with to calculate the upper time bound. | |
double | timeBoundFactorIncrease_ = 2.0 |
The factor, the time bound is increased with after the batch is full. | |
bool | sampleOldBatch_ = true |
bool | sampleUniformForUnboundedTime_ = true |
Whether the samples are uniformly distributed over the whole space or are centered at lower times. | |
int | goalStateSampleRatio_ = 4 |
The ratio, a goal state is sampled compared to the size of the goal tree. | |
ompl::RNG | rng_ |
The random number generator. | |
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. |
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
Space-Time RRT* (STRRTstar)
- Short description
- ST-RRT* is a bidirectional, time-optimal planner for planning in space-time. It operates similar to a bidirectional version of RRT*, but allows planning in unbounded time spaces by gradual time-bound extensions and is highly optimized for planning in space-time by employing Conditional Sampling and Simplified Rewiring.
Definition at line 65 of file STRRTstar.h.
Member Typedef Documentation
◆ TreeData
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protected |
A nearest-neighbor datastructure representing a tree of motions.
Definition at line 130 of file STRRTstar.h.
Member Enumeration Documentation
◆ GrowState
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protected |
The state of the tree after an attempt to extend it.
Enumerator | |
---|---|
TRAPPED | no progress has been made |
ADVANCED | progress has been made towards the randomly sampled state |
REACHED | the randomly sampled state was reached |
Definition at line 141 of file STRRTstar.h.
◆ RewireState
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protected |
Definition at line 272 of file STRRTstar.h.
Constructor & Destructor Documentation
◆ STRRTstar()
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explicit |
Constructor.
Definition at line 40 of file STRRTstar.cpp.
◆ ~STRRTstar()
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override |
Definition at line 53 of file STRRTstar.cpp.
Member Function Documentation
◆ addDescendants()
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staticprotected |
Adds given all descendants of the given motion to given tree and checks whether one of the added motions is the goal motion.
Adds all descendants of a motion to a given tree.
- Parameters
-
m The motion, which descendants are added tree The tree that the motions are added to
Definition at line 954 of file STRRTstar.cpp.
◆ calculateRewiringLowerBounds()
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protected |
Calculate the k_RRG* and r_RRG* terms.
Definition at line 1045 of file STRRTstar.cpp.
◆ clear()
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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 869 of file STRRTstar.cpp.
◆ computeSolutionMotion()
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staticprotected |
Find the solution (connecting) motion for a motion that is indirectly connected.
Definition at line 829 of file STRRTstar.cpp.
◆ constructSolution()
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protected |
Definition at line 563 of file STRRTstar.cpp.
◆ distanceFunction()
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inlineprotected |
Compute distance between motions (actually distance between contained states)
Definition at line 173 of file STRRTstar.h.
◆ freeMemory()
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protected |
Free the memory allocated by this planner.
Definition at line 89 of file STRRTstar.cpp.
◆ getBatchSize()
unsigned int ompl::geometric::STRRTstar::getBatchSize | ( | ) | const |
The number of samples before the time bound is increased.
Definition at line 1193 of file STRRTstar.cpp.
◆ getNeighbors()
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protected |
Gets the neighbours of a given motion, using either k-nearest or radius_ as appropriate.
Definition at line 970 of file STRRTstar.cpp.
◆ getOptimumApproxFactor()
double ompl::geometric::STRRTstar::getOptimumApproxFactor | ( | ) | const |
The Optimum Approximation factor (0 - 1).
Definition at line 1144 of file STRRTstar.cpp.
◆ getPlannerData()
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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 893 of file STRRTstar.cpp.
◆ getRange()
double ompl::geometric::STRRTstar::getRange | ( | ) | const |
Get the range the planner is using.
Definition at line 1139 of file STRRTstar.cpp.
◆ getRewireFactor()
double ompl::geometric::STRRTstar::getRewireFactor | ( | ) | const |
Definition at line 1179 of file STRRTstar.cpp.
◆ getRewiringState()
std::string ompl::geometric::STRRTstar::getRewiringState | ( | ) | const |
Definition at line 1158 of file STRRTstar.cpp.
◆ growTree()
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protected |
Attempt to grow a tree towards a random state for the neighborhood of the random state. The neighborhood is determined by the used rewire state. For the start tree closest state with respect to distance are tried first. For the goal tree states with the minimum time root node are tried first. If connect is true, multiple vertices can be added to the tree until the random state is reached or an basestacle is met. If connect is false, the tree is only extended by a single new state.
Definition at line 440 of file STRRTstar.cpp.
◆ growTreeSingle()
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protected |
Grow a tree towards a random state for a single nearest state.
Definition at line 509 of file STRRTstar.cpp.
◆ increaseTimeBound()
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protected |
Definition at line 549 of file STRRTstar.cpp.
◆ nextGoal() [1/3]
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protected |
Samples a goal until successful or the termination condition is fulfilled.
Definition at line 1096 of file STRRTstar.cpp.
◆ nextGoal() [2/3]
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protected |
Samples a goal until successful or the termination condition is fulfilled.
Definition at line 1102 of file STRRTstar.cpp.
◆ nextGoal() [3/3]
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protected |
N tries to sample a goal.
Definition at line 1089 of file STRRTstar.cpp.
◆ pruneGoalTree()
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protected |
Prune the goal tree after a solution was found. Return the goal motion, that is connected to the start tree, if a new solution was found. If no new solution was found, return nullpointer.
Definition at line 710 of file STRRTstar.cpp.
◆ pruneStartTree()
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protected |
Prune the start tree after a solution was found.
Definition at line 646 of file STRRTstar.cpp.
◆ removeFromParent()
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staticprotected |
Removes the given motion from the parent's child list.
Definition at line 935 of file STRRTstar.cpp.
◆ removeInvalidGoals()
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protected |
Remove invalid goal states from the goal set.
Definition at line 850 of file STRRTstar.cpp.
◆ rewireGoalTree()
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protected |
Definition at line 991 of file STRRTstar.cpp.
◆ sampleGoalTime()
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protected |
Samples the time component of a goal state dependant on its space component. Returns false, if goal can't be reached in time.
Definition at line 1059 of file STRRTstar.cpp.
◆ setBatchSize()
void ompl::geometric::STRRTstar::setBatchSize | ( | int | v | ) |
Definition at line 1198 of file STRRTstar.cpp.
◆ setInitialTimeBoundFactor()
void ompl::geometric::STRRTstar::setInitialTimeBoundFactor | ( | double | f | ) |
The initial time bound factor.
Definition at line 1216 of file STRRTstar.cpp.
◆ setOptimumApproxFactor()
void ompl::geometric::STRRTstar::setOptimumApproxFactor | ( | double | optimumApproxFactor | ) |
Set the Optimum Approximation factor. This allows the planner to converge more quickly, but only yields approximately optimal solutions.
Definition at line 1149 of file STRRTstar.cpp.
◆ setRange()
void ompl::geometric::STRRTstar::setRange | ( | double | distance | ) |
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 1134 of file STRRTstar.cpp.
◆ setRewireFactor()
void ompl::geometric::STRRTstar::setRewireFactor | ( | double | v | ) |
Definition at line 1184 of file STRRTstar.cpp.
◆ setRewiringToKNearest()
void ompl::geometric::STRRTstar::setRewiringToKNearest | ( | ) |
Rewire by k-nearest.
Definition at line 1174 of file STRRTstar.cpp.
◆ setRewiringToOff()
void ompl::geometric::STRRTstar::setRewiringToOff | ( | ) |
Do not rewire at all.
Definition at line 1164 of file STRRTstar.cpp.
◆ setRewiringToRadius()
void ompl::geometric::STRRTstar::setRewiringToRadius | ( | ) |
Rewire by radius.
Definition at line 1169 of file STRRTstar.cpp.
◆ setSampleUniformForUnboundedTime()
void ompl::geometric::STRRTstar::setSampleUniformForUnboundedTime | ( | bool | uniform | ) |
Whether the state space is sampled uniformly or centered at lower time values.
Definition at line 1225 of file STRRTstar.cpp.
◆ setTimeBoundFactorIncrease()
void ompl::geometric::STRRTstar::setTimeBoundFactorIncrease | ( | double | f | ) |
The value by which the time bound factor is multiplied in each increase step.
Definition at line 1207 of file STRRTstar.cpp.
◆ setup()
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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 58 of file STRRTstar.cpp.
◆ solve()
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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 119 of file STRRTstar.cpp.
Member Data Documentation
◆ bestSolution_
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protected |
The current best solution path with respect to shortest time.
Definition at line 208 of file STRRTstar.h.
◆ bestTime_
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protected |
The current best time i.e. cost of all found solutions.
Definition at line 211 of file STRRTstar.h.
◆ distanceBetweenTrees_
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protected |
Distance between the nearest pair of start tree and goal tree nodes.
Definition at line 205 of file STRRTstar.h.
◆ goalMotions_
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protected |
The goal Motions, used for conditional sampling and pruning.
Definition at line 232 of file STRRTstar.h.
◆ goalStateSampleRatio_
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protected |
The ratio, a goal state is sampled compared to the size of the goal tree.
Definition at line 322 of file STRRTstar.h.
◆ initialBatchSize_
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protected |
Number of samples of the first batch.
Definition at line 306 of file STRRTstar.h.
◆ initialTimeBound_
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protected |
The time bound the planner is initialized with. Used to reset for repeated planning.
Definition at line 303 of file STRRTstar.h.
◆ initialTimeBoundFactor_
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protected |
Initial factor, the minimum time of each goal is multiplied with to calculate the upper time bound.
Definition at line 310 of file STRRTstar.h.
◆ isTimeBounded_
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protected |
Whether the time is bounded or not. The first solution automatically bounds the time.
Definition at line 300 of file STRRTstar.h.
◆ k_rrt_
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protected |
A constant for k-nearest rewiring calculations.
Definition at line 289 of file STRRTstar.h.
◆ maxDistance_
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protected |
The maximum length of a motion to be added to a tree.
Definition at line 202 of file STRRTstar.h.
◆ minimumTime_
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protected |
Minimum Time at which any goal can be reached, if moving on a straight line.
Definition at line 220 of file STRRTstar.h.
◆ newBatchGoalMotions_
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protected |
The goal Motions, that were added in the current expansion step, used for uniform sampling over a growing region.
Definition at line 236 of file STRRTstar.h.
◆ numIterations_
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protected |
The number of while loop iterations.
Definition at line 214 of file STRRTstar.h.
◆ numSolutions_
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protected |
The number of found solutions.
Definition at line 217 of file STRRTstar.h.
◆ optimumApproxFactor_
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protected |
The factor to which found solution times need to be reduced compared to minimum time, (0, 1].
Definition at line 226 of file STRRTstar.h.
◆ r_rrt_
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protected |
A constant for r-disc rewiring calculations.
Definition at line 292 of file STRRTstar.h.
◆ rewireFactor_
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protected |
The rewiring factor, s, so that r_rrt = s \times r_rrt* > r_rrt* (or k_rrt = s \times k_rrt* > k_rrt*)
Definition at line 286 of file STRRTstar.h.
◆ rewireState_
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protected |
Definition at line 282 of file STRRTstar.h.
◆ rng_
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protected |
The random number generator.
Definition at line 325 of file STRRTstar.h.
◆ sampleOldBatch_
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protected |
Definition at line 315 of file STRRTstar.h.
◆ sampler_
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protected |
State sampler.
Definition at line 193 of file STRRTstar.h.
◆ sampleUniformForUnboundedTime_
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protected |
Whether the samples are uniformly distributed over the whole space or are centered at lower times.
Definition at line 319 of file STRRTstar.h.
◆ startMotion_
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protected |
The start Motion, used for conditional sampling and start tree pruning.
Definition at line 229 of file STRRTstar.h.
◆ tempState_
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protected |
Goal Sampling is not handled by PlannerInputStates, but directly by the SpaceTimeRRT, because the time component of every goal sample is sampled dependent on the sampled space component.
Definition at line 244 of file STRRTstar.h.
◆ tGoal_
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protected |
The goal tree.
Definition at line 199 of file STRRTstar.h.
◆ timeBoundFactorIncrease_
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protected |
The factor, the time bound is increased with after the batch is full.
Definition at line 313 of file STRRTstar.h.
◆ tStart_
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protected |
The start tree.
Definition at line 196 of file STRRTstar.h.
◆ upperTimeBound_
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protected |
Upper bound for the time up to which solutions are searched for.
Definition at line 223 of file STRRTstar.h.
The documentation for this class was generated from the following files:
- ompl/geometric/planners/rrt/STRRTstar.h
- ompl/geometric/planners/rrt/src/STRRTstar.cpp