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TSRRT.h
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34
35/* Author: Ryan Luna */
36
37#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_TSRRT_
38#define OMPL_GEOMETRIC_PLANNERS_RRT_TSRRT_
39
40#include "ompl/base/ProjectionEvaluator.h"
41#include "ompl/geometric/planners/PlannerIncludes.h"
42#include "ompl/datastructures/NearestNeighbors.h"
43
44namespace ompl
45{
46 namespace geometric
47 {
48 OMPL_CLASS_FORWARD(TaskSpaceConfig);
49
51 {
52 public:
53 virtual ~TaskSpaceConfig()
54 {
55 }
56 // Returns the dimension of the task space.
57 virtual int getDimension() const = 0;
58 // Project the c-space state into the task-space.
59 virtual void project(const base::State *state, Eigen::Ref<Eigen::VectorXd> ts_proj) const = 0;
60
61 // Sample point uniformly in task-space.
62 virtual void sample(Eigen::Ref<Eigen::VectorXd> ts_proj) const = 0;
63
64 // Given a point in task-space, generate a configuraton space state
65 // that projects to this point. seed is the nearest task-space neighbor.
66 virtual bool lift(const Eigen::Ref<Eigen::VectorXd> &ts_proj, const base::State *seed,
67 base::State *state) const = 0;
68 };
69
87 class TSRRT : public base::Planner
88 {
89 public:
91 TSRRT(const base::SpaceInformationPtr &si, const TaskSpaceConfigPtr &task_space);
92
93 virtual ~TSRRT();
94
95 virtual void getPlannerData(base::PlannerData &data) const;
96
98
99 virtual void clear();
100
110 void setGoalBias(double goalBias)
111 {
112 goalBias_ = goalBias;
113 }
114
116 double getGoalBias() const
117 {
118 return goalBias_;
119 }
120
126 void setRange(double distance)
127 {
128 maxDistance_ = distance;
129 }
130
132 double getRange() const
133 {
134 return maxDistance_;
135 }
136
138 template <template <typename T> class NN>
140 {
141 nn_.reset(new NN<Motion *>());
142 }
143
144 virtual void setup();
145
146 protected:
151 class Motion
152 {
153 public:
155 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(nullptr)
156 {
157 }
158
159 ~Motion() = default;
160
163
165 Motion *parent{nullptr};
166
167 // Projection of the state into the task space.
168 Eigen::VectorXd proj;
169 };
170
172 void freeMemory();
173
175 double distanceFunction(const Motion *a, const Motion *b) const
176 {
177 double sqr_dist = 0.0;
178 for (int ix = 0; ix < a->proj.size(); ++ix)
179 {
180 double sqr_val = (*b).proj[ix] - (*a).proj[ix];
181 sqr_val *= sqr_val;
182
183 sqr_dist += sqr_val;
184 }
185 return sqr_dist;
186 }
187
189 std::shared_ptr<NearestNeighbors<Motion *>> nn_;
190
193 double goalBias_{0.05};
194
196 double maxDistance_{0.};
197
200
203
204 // Mapping to/from task space.
205 TaskSpaceConfigPtr task_space_;
206 };
207
208 } // namespace geometric
209} // namespace ompl
210
211#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
Definition of an abstract state.
Definition: State.h:50
Representation of a motion.
Definition: TSRRT.h:152
Motion * parent
The parent motion in the exploration tree.
Definition: TSRRT.h:165
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: TSRRT.h:155
base::State * state
The state contained by the motion.
Definition: TSRRT.h:162
Task-space Rapidly-exploring Random Trees.
Definition: TSRRT.h:88
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition: TSRRT.h:193
void freeMemory()
Free the memory allocated by this planner.
Definition: TSRRT.cpp:77
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: TSRRT.h:126
RNG rng_
The random number generator.
Definition: TSRRT.h:199
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: TSRRT.h:196
double getGoalBias() const
Get the goal bias the planner is using.
Definition: TSRRT.h:116
double getRange() const
Get the range the planner is using.
Definition: TSRRT.h:132
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: TSRRT.h:175
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: TSRRT.cpp:225
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: TSRRT.h:189
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: TSRRT.cpp:92
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: TSRRT.cpp:57
void setGoalBias(double goalBias)
Set the goal bias.
Definition: TSRRT.h:110
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: TSRRT.h:139
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: TSRRT.cpp:66
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: TSRRT.h:202
Main namespace. Contains everything in this library.
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49