PDST.cpp
44 Planner::declareParam<double>("goal_bias", this, &PDST::setGoalBias, &PDST::getGoalBias, "0.:.05:1.");
52 ompl::base::PlannerStatus ompl::geometric::PDST::solve(const base::PlannerTerminationCondition &ptc)
78 bool isApproximate = !hasSolution || !goal->isSatisfied(lastGoalMotion_->endState_, &closestDistanceToGoal);
99 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), priorityQueue_.size());
158 for (std::vector<base::State*>::reverse_iterator rIt = spath.rbegin(); rIt != spath.rend(); ++rIt)
166 OMPL_INFORM("%s: Created %u states and %u cells", getName().c_str(), priorityQueue_.size(), bsp_->size());
175 si_->getStateSpace()->interpolate(motion->startState_, motion->endState_, rng_.uniform01(), start);
187 void ompl::geometric::PDST::addMotion(Motion *motion, Cell *bsp, base::State *state, base::EuclideanProjection& proj)
199 int numSegments = si_->getStateSpace()->validSegmentCount(motion->startState_, motion->endState_);
227 Motion *m = new Motion(motion->startState_, si_->cloneState(state), motion->priority_, motion->parent_);
275 throw Exception("PDST requires a projection evaluator that specifies bounds for the projected space");
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
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
Class representing the tree of motions exploring the state space.
Definition: PDST.h:146
unsigned int iteration_
Iteration number and priority of the next Motion that will be generated.
Definition: PDST.h:312
ompl::BinaryHeap< Motion *, MotionCompare >::Element * heapElement_
Handle to the element of the priority queue for this Motion.
Definition: PDST.h:188
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
std::vector< Motion * > motions_
The motions contained in this cell. Motions are stored only in leaf nodes.
Definition: PDST.h:258
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
void addMotion(Motion *motion, Cell *cell, base::State *, base::EuclideanProjection &)
Inserts the motion into the appropriate cell.
Definition: PDST.cpp:187
void append(const base::State *state)
Append state to the end of this path. The memory for state is copied.
Definition: PathGeometric.cpp:432
virtual void sampleGoal(State *st) const =0
Sample a state in the goal region.
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
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 > priorityQueue_
Priority queue of motions.
Definition: PDST.h:302
The planner found an exact solution.
Definition: PlannerStatus.h:66
void updateHeapElement(Motion *motion)
Either update heap after motion's priority has changed or insert motion into heap.
Definition: PDST.h:268
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
virtual bool isSatisfied(const State *st) const =0
Return true if the state satisfies the goal constraints.
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
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
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: PDST.cpp:238
virtual void getPlannerData(base::PlannerData &data) const
Extracts the planner data from the priority queue into data.
Definition: PDST.cpp:282
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 void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: PDST.cpp:267
Cell * stab(const ompl::base::EuclideanProjection &projection) const
Locates the cell that this motion begins in.
Definition: PDST.h:217
base::ProjectionEvaluatorPtr projectionEvaluator_
Projection evaluator for the problem.
Definition: PDST.h:306
double priority_
Priority for selecting this path to extend from in the future.
Definition: PDST.h:182
A boost shared pointer wrapper for ompl::base::Path.
double goalBias_
Number between 0 and 1 specifying the probability with which the goal should be sampled.
Definition: PDST.h:308
*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:122