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
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
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
virtual void getPlannerData(base::PlannerData &data) const
Extracts the planner data from the priority queue into data.
Definition: PDST.cpp:333
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
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
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 bool isSatisfied(const State *st) const =0
Return true if the state satisfies the goal constraints.
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
control::Control * control_
The control that was applied to arrive at this state from the parent.
Definition: PDST.h:179
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 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
A boost shared pointer wrapper for ompl::base::Path.