RRTstar.h
35 /* Authors: Alejandro Perez, Sertac Karaman, Ryan Luna, Luis G. Torres, Ioan Sucan, Javier V Gomez */
297 struct PruneScratchSpace { std::vector<Motion*> newTree, toBePruned, candidates; } pruneScratchSpace_;
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: RRTstar.cpp:115
void setDelayCC(bool delayCC)
Option that delays collision checking procedures. When it is enabled, all neighbors are sorted by cos...
Definition: RRTstar.h:140
void updateChildCosts(Motion *m)
Updates the cost of the children of this node if the cost up to this node has changed.
Definition: RRTstar.cpp:533
A boost shared pointer wrapper for ompl::base::StateSampler.
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
Definition: RRTstar.h:271
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: RRTstar.h:115
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: RRTstar.h:286
boost::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: RRTstar.h:268
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: RRTstar.cpp:79
double getPruneStatesImprovementThreshold() const
Get the current prune states percentage threshold parameter.
Definition: RRTstar.h:171
void setPruneStatesImprovementThreshold(const double pp)
Set the percentage threshold (between 0 and 1) for pruning the tree. If the new tree has removed at l...
Definition: RRTstar.h:165
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:54
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: RRTstar.cpp:557
void deleteBranch(Motion *motion)
Deletes (frees memory) the motion and its children motions.
Definition: RRTstar.cpp:616
void setPrune(const bool prune)
Controls whether the tree is pruned during the search.
Definition: RRTstar.h:152
int pruneTree(const base::Cost pruneTreeCost)
Prunes all those states which estimated total cost is higher than pruneTreeCost. Returns the number o...
Definition: RRTstar.cpp:578
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A boost shared pointer wrapper for ompl::base::SpaceInformation.
std::vector< Motion * > children
The set of motions descending from the current motion.
Definition: RRTstar.h:219
Abstract definition of optimization objectives.
Definition: OptimizationObjective.h:66
base::Cost costToGo(const Motion *motion, const bool shortest=true) const
Computes the Cost To Go heuristically as the cost to come from start to motion plus the cost to go fr...
Definition: RRTstar.cpp:637
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: RRTstar.h:128
A boost shared pointer wrapper for ompl::base::OptimizationObjective.
bool delayCC_
Option to delay and reduce collision checking within iterations.
Definition: RRTstar.h:280
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: RRTstar.cpp:130
void removeFromParent(Motion *m)
Removes the given motion from the parent's child list.
Definition: RRTstar.cpp:522
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state. This constructor automatically allocates memory for ...
Definition: RRTstar.h:196
bool getDelayCC() const
Get the state of the delayed collision checking option.
Definition: RRTstar.h:146
std::vector< Motion * > goalMotions_
A list of states in the tree that satisfy the goal condition.
Definition: RRTstar.h:289
double pruneStatesThreshold_
The tree is only pruned is the percentage of states to prune is above this threshold (between 0 and 1...
Definition: RRTstar.h:295
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
base::Cost incCost
The incremental cost of this motion's parent to this motion (this is stored to save distance computat...
Definition: RRTstar.h:216
Motion * startMotion_
Stores the Motion containing the last added initial start state.
Definition: RRTstar.h:300
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: RRTstar.h:241