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KPIECE1.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_KPIECE1_
38#define OMPL_GEOMETRIC_PLANNERS_KPIECE_KPIECE1_
39
40#include "ompl/geometric/planners/PlannerIncludes.h"
41#include "ompl/geometric/planners/kpiece/Discretization.h"
42
43namespace ompl
44{
45 namespace geometric
46 {
71 class KPIECE1 : public base::Planner
72 {
73 public:
75 KPIECE1(const base::SpaceInformationPtr &si);
76
77 ~KPIECE1() override;
78
80
81 void clear() override;
82
92 void setGoalBias(double goalBias)
93 {
94 goalBias_ = goalBias;
95 }
96
98 double getGoalBias() const
99 {
100 return goalBias_;
101 }
102
108 void setRange(double distance)
109 {
110 maxDistance_ = distance;
111 }
112
114 double getRange() const
115 {
116 return maxDistance_;
117 }
118
125 void setBorderFraction(double bp)
126 {
127 disc_.setBorderFraction(bp);
128 }
129
132 double getBorderFraction() const
133 {
134 return disc_.getBorderFraction();
135 }
136
143 void setMinValidPathFraction(double fraction)
144 {
145 minValidPathFraction_ = fraction;
146 }
147
150 {
152 }
153
159 {
161 }
162
166 {
168 }
169
172 void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
173 {
174 projectionEvaluator_ = projectionEvaluator;
175 }
176
179 void setProjectionEvaluator(const std::string &name)
180 {
181 projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
182 }
183
185 const base::ProjectionEvaluatorPtr &getProjectionEvaluator() const
186 {
188 }
189
190 void setup() override;
191
192 void getPlannerData(base::PlannerData &data) const override;
193
194 protected:
196 class Motion
197 {
198 public:
199 Motion() = default;
200
202 Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
203 {
204 }
205
206 ~Motion() = default;
207
210
212 Motion *parent{nullptr};
213 };
214
216 void freeMotion(Motion *motion);
217
219 base::StateSamplerPtr sampler_;
220
223
227 base::ProjectionEvaluatorPtr projectionEvaluator_;
228
233
236 double goalBias_{0.05};
237
244
246 double maxDistance_{0.};
247
250
253 };
254 }
255}
256
257#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
One-level discretization used for KPIECE.
Representation of a motion for this algorithm.
Definition: KPIECE1.h:197
Motion * parent
The parent motion in the exploration tree.
Definition: KPIECE1.h:212
base::State * state
The state contained by this motion.
Definition: KPIECE1.h:209
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: KPIECE1.h:202
Kinematic Planning by Interior-Exterior Cell Exploration.
Definition: KPIECE1.h:72
double getGoalBias() const
Get the goal bias the planner is using.
Definition: KPIECE1.h:98
base::ProjectionEvaluatorPtr projectionEvaluator_
This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...
Definition: KPIECE1.h:227
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition: KPIECE1.h:236
void setFailedExpansionCellScoreFactor(double factor)
When extending a motion from a cell, the extension can be successful or it can fail....
Definition: KPIECE1.h:158
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: KPIECE1.cpp:91
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: KPIECE1.cpp:212
double getMinValidPathFraction() const
Get the value of the fraction set by setMinValidPathFraction()
Definition: KPIECE1.h:149
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: KPIECE1.cpp:61
Discretization< Motion > disc_
The tree datastructure and the grid that covers it.
Definition: KPIECE1.h:222
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition: KPIECE1.h:179
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: KPIECE1.h:252
void setMinValidPathFraction(double fraction)
When extending a motion, the planner can decide to keep the first valid part of it,...
Definition: KPIECE1.h:143
void setGoalBias(double goalBias)
Set the goal bias.
Definition: KPIECE1.h:92
double minValidPathFraction_
When extending a motion, the planner can decide to keep the first valid part of it,...
Definition: KPIECE1.h:243
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: KPIECE1.h:108
void setBorderFraction(double bp)
Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...
Definition: KPIECE1.h:125
double getFailedExpansionCellScoreFactor() const
Get the factor that is multiplied to a cell's score if extending a motion from that cell failed.
Definition: KPIECE1.h:165
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: KPIECE1.h:185
double failedExpansionScoreFactor_
When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...
Definition: KPIECE1.h:232
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state.
Definition: KPIECE1.h:172
RNG rng_
The random number generator.
Definition: KPIECE1.h:249
double getRange() const
Get the range the planner is using.
Definition: KPIECE1.h:114
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: KPIECE1.cpp:76
void freeMotion(Motion *motion)
Free the memory for a motion.
Definition: KPIECE1.cpp:84
base::StateSamplerPtr sampler_
A state space sampler.
Definition: KPIECE1.h:219
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: KPIECE1.h:246
double getBorderFraction() const
Get the fraction of time to focus exploration on boundary.
Definition: KPIECE1.h:132
Main namespace. Contains everything in this library.
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49