PDST.cpp
44 Planner::declareParam<double>("goal_bias", this, &PDST::setGoalBias, &PDST::getGoalBias, "0.:.05:1.");
52 ompl::base::PlannerStatus ompl::control::PDST::solve(const base::PlannerTerminationCondition &ptc)
76 bool isApproximate = !hasSolution || !goal->isSatisfied(lastGoalMotion_->endState_, &closestDistanceToGoal);
97 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), priorityQueue_.size());
169 OMPL_INFORM("%s: Created %u states and %u cells", getName().c_str(), priorityQueue_.size(), bsp_->size());
203 void ompl::control::PDST::addMotion(Motion *motion, Cell *bsp, base::State *prevState, base::State *state,
326 throw Exception("PDST requires a projection evaluator that specifies bounds for the projected space");
unsigned int controlDuration_
The duration that the control was applied to arrive at this state from the parent.
Definition: PDST.h:181
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: PDST.cpp:318
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
Motion * propagateFrom(Motion *motion, base::State *, base::State *)
Select a state along motion and propagate a new motion from there. Return NULL if no valid motion cou...
Definition: PDST.cpp:174
double priority_
Priority for selecting this path to extend from in the future.
Definition: PDST.h:183
void append(const base::State *state)
Append state to the end of the path; it is assumed state is the first state, so no control is applied...
Definition: PathControl.cpp:266
virtual bool hasControls() const
Indicate whether any information about controls (ompl::control::Control) is stored in this instance...
Definition: PlannerData.cpp:800
Class representing the tree of motions exploring the state space.
Definition: PDST.h:148
ompl::base::ProjectionEvaluatorPtr projectionEvaluator_
Projection evaluator for the problem.
Definition: PDST.h:291
unsigned int addGoalVertex(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:434
double goalBias_
Number between 0 and 1 specifying the probability with which the goal should be sampled.
Definition: PDST.h:293
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
Representation of an edge in PlannerData for planning with controls. This structure encodes a specifi...
Definition: PlannerData.h:60
void addMotion(Motion *motion, Cell *cell, base::State *, base::EuclideanProjection &)
Inserts the motion into the appropriate cell.
Definition: PDST.cpp:187
virtual void getPlannerData(base::PlannerData &data) const
Extracts the planner data from the priority queue into data.
Definition: PDST.cpp:333
void getContent(std::vector< _T > &content) const
Get the data stored in this heap.
Definition: BinaryHeap.h:202
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:60
Cell * stab(const base::EuclideanProjection &projection) const
Locates the cell that this motion begins in.
Definition: PDST.h:218
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
BinaryHeap< Motion *, MotionCompare >::Element * heapElement_
Handle to the element of the priority queue for this Motion.
Definition: PDST.h:189
The planner found an exact solution.
Definition: PlannerStatus.h:66
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: PDST.cpp:284
ompl::BinaryHeap< Motion *, MotionCompare > priorityQueue_
Priority queue of motions.
Definition: PDST.h:287
void addMotion(Motion *motion, Cell *cell, base::State *, base::State *, base::EuclideanProjection &, base::EuclideanProjection &)
Inserts the motion into the appropriate cells, splitting the motion as necessary. motion is assumed t...
Definition: PDST.cpp:203
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
bool canSample() const
Return true if maxSampleCount() > 0, since in this case samples can certainly be produced.
Definition: GoalSampleableRegion.h:70
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition: ProjectionEvaluator.h:62
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
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
unsigned int findDurationAndAncestor(Motion *motion, base::State *state, base::State *scratch, Motion *&ancestor) const
Find the max. duration that the control_ in motion can be applied s.t. the trajectory passes through ...
Definition: PDST.cpp:244
ompl::base::GoalSampleableRegion * goalSampler_
Objected used to sample the goal.
Definition: PDST.h:295
control::Control * control_
The control that was applied to arrive at this state from the parent.
Definition: PDST.h:179
Motion * propagateFrom(Motion *motion, base::State *, base::State *)
Select a state along motion and propagate a new motion from there. Return NULL if no valid motion cou...
Definition: PDST.cpp:171
const State * nextStart()
Return the next valid start state or NULL if no more valid start states are available.
Definition: Planner.cpp:230
std::vector< Motion * > motions_
The motions contained in this cell. Motions are stored only in leaf nodes.
Definition: PDST.h:259
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
void updateHeapElement(Motion *motion)
Either update heap after motion's priority has changed or insert motion into heap.
Definition: PDST.h:265
*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: PDST.h:120
This class contains methods that automatically configure various parameters for motion planning...
Definition: SelfConfig.h:58
virtual void getPlannerData(PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: Planner.cpp:118
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: PDST.cpp:52
int uniformInt(int lower_bound, int upper_bound)
Generate a random integer within given bounds: [lower_bound, upper_bound].
Definition: RandomNumbers.h:75
virtual bool isSatisfied(const State *st) const =0
Return true if the state satisfies the goal constraints.
virtual void sampleGoal(State *st) const =0
Sample a state in the goal region.
unsigned int iteration_
Iteration number and priority of the next Motion that will be generated.
Definition: PDST.h:297
A boost shared pointer wrapper for ompl::base::Path.