All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator

Rapidly-exploring Random Tree. More...

#include <RRT.h>

Inheritance diagram for ompl::control::RRT:

List of all members.

Classes

class  Motion
 Representation of a motion. More...

Public Member Functions

 RRT (const SpaceInformationPtr &si)
 Constructor.
virtual bool solve (const base::PlannerTerminationCondition &ptc)
 Continue solving for some amount of time. Return true if solution was found.
virtual void clear (void)
 Clear datastructures. Call this function if the input data to the planner has changed and you do not want to continue planning.
void setGoalBias (double goalBias)
double getGoalBias (void) const
 Get the goal bias the planner is using.
virtual void getPlannerData (base::PlannerData &data) const
 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).
template<template< typename T > class NN>
void setNearestNeighbors (void)
 Set a different nearest neighbors datastructure.
virtual void setup (void)
 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.

Protected Member Functions

void freeMemory (void)
 Free the memory allocated by this planner.
double distanceFunction (const Motion *a, const Motion *b) const
 Compute distance between motions (actually distance between contained states)

Protected Attributes

base::StateSamplerPtr sampler_
 State sampler.
ControlSamplerPtr controlSampler_
 Control sampler.
const SpaceInformationsiC_
 The base::SpaceInformation cast as control::SpaceInformation, for convenience.
boost::shared_ptr
< NearestNeighbors< Motion * > > 
nn_
 A nearest-neighbors datastructure containing the tree of motions.
double goalBias_
 The fraction of time the goal is picked as the state to expand towards (if such a state is available)
RNG rng_
 The random number generator.

Detailed Description

Rapidly-exploring Random Tree.

      @par Short description
      RRT is a tree-based motion planner that uses the following
      idea: RRT samples a random state @b qr in the state space,
      then finds the state @b qc among the previously seen states
      that is closest to @b qr and expands from @b qc towards @b
      qr, until a state @b qm is reached. @b qm is then added to
      the exploration tree.
      This implementation is intended for systems with differential constraints.

      @par External documentation
      S.M. LaValle and J.J. Kuffner, Randomized kinodynamic planning, <em>Intl. J. of Robotics Research</em>, vol. 20, pp. 378–400, May 2001. DOI: <a href="http://dx.doi.org/10.1177/02783640122067453">10.1177/02783640122067453</a><br>
      <a href="http://ijr.sagepub.com/content/20/5/378.full.pdf">[PDF]</a>
      <a href="http://msl.cs.uiuc.edu/~lavalle/rrtpubs.html">[more]</a>

Definition at line 69 of file RRT.h.


Member Function Documentation

void ompl::control::RRT::setGoalBias ( double  goalBias) [inline]

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 at line 102 of file RRT.h.


The documentation for this class was generated from the following files:
  • src/ompl/control/planners/rrt/RRT.h
  • src/ompl/control/planners/rrt/src/RRT.cpp