EST.cpp
52 Planner::declareParam<double>("goal_bias", this, &EST::setGoalBias, &EST::getGoalBias, "0.:.05:1.");
97 ompl::base::PlannerStatus ompl::control::EST::solve(const base::PlannerTerminationCondition &ptc)
124 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), tree_.size);
203 path->append(mpath[i]->state, mpath[i]->control, mpath[i]->steps * siC_->getPropagationStepSize());
217 OMPL_INFORM("%s: Created %u states in %u cells", getName().c_str(), tree_.size, tree_.grid.size());
225 return cell && !cell->data.empty() ? cell->data[rng_.uniformInt(0, cell->data.size() - 1)] : NULL;
bool approximateSolutions
Flag indicating whether the planner is able to compute approximate solutions.
Definition: Planner.h:214
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
unsigned int getMinControlDuration() const
Get the minimum number of steps a control is propagated for.
Definition: SpaceInformation.h:161
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: EST.cpp:97
base::ProjectionEvaluatorPtr projectionEvaluator_
This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...
Definition: EST.h:252
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
Motion * selectMotion()
Select a motion to continue the expansion of the tree from.
Definition: EST.cpp:222
virtual bool hasControls() const
Indicate whether any information about controls (ompl::control::Control) is stored in this instance...
Definition: PlannerData.cpp:800
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
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: EST.cpp:248
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: EST.h:267
Representation of an edge in PlannerData for planning with controls. This structure encodes a specifi...
Definition: PlannerData.h:60
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
Definition: EST.h:255
void freeControl(Control *control) const
Free the memory of a control.
Definition: SpaceInformation.h:100
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: EST.cpp:60
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:60
DirectedControlSamplerPtr allocDirectedControlSampler() const
Allocate an instance of the DirectedControlSampler to use. This will be the default (SimpleDirectedCo...
Definition: SpaceInformation.cpp:74
Invalid start state or no start state specified.
Definition: PlannerStatus.h:56
double getPropagationStepSize() const
Propagation is performed at integer multiples of a specified step size. This function returns the val...
Definition: SpaceInformation.h:207
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:49
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: EST.cpp:70
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
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
A boost shared pointer wrapper for ompl::control::SpaceInformation.
const State * nextStart()
Return the next valid start state or NULL if no more valid start states are available.
Definition: Planner.cpp:230
void update(Element *elem, const double w)
Updates the data in the given Element with a new weight value.
Definition: PDF.h:155
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
Element * add(const _T &d, const double w)
Adds a piece of data with a given weight to the PDF. Returns a corresponding Element, which can be used to subsequently update or remove the data from the PDF.
Definition: PDF.h:97
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: EST.h:94
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:232
This class contains methods that automatically configure various parameters for motion planning...
Definition: SelfConfig.h:58
void nullControl(Control *control) const
Make the control have no effect if it were to be applied to a state for any amount of time...
Definition: SpaceInformation.h:137
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.
_T & sample(double r) const
Returns a piece of data from the PDF according to the input sampling value, which must be between 0 a...
Definition: PDF.h:132
const SpaceInformation * siC_
The base::SpaceInformation cast as control::SpaceInformation, for convenience.
Definition: EST.h:246
A boost shared pointer wrapper for ompl::base::Path.
void copyControl(Control *destination, const Control *source) const
Copy a control to another.
Definition: SpaceInformation.h:106