PDST.cpp
43 Planner::declareParam<double>("goal_bias", this, &PDST::setGoalBias, &PDST::getGoalBias, "0.:.05:1.");
51 ompl::base::PlannerStatus ompl::geometric::PDST::solve(const base::PlannerTerminationCondition &ptc)
77 bool isApproximate = !hasSolution || !goal->isSatisfied(lastGoalMotion_->endState_, &closestDistanceToGoal);
166 OMPL_INFORM("%s: Created %u states and %u cells", getName().c_str(), priorityQueue_.size(), bsp_->size());
171 ompl::geometric::PDST::Motion *ompl::geometric::PDST::propagateFrom(Motion *motion, base::State *start,
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_);
214 si_->getStateSpace()->interpolate(motion->startState_, motion->endState_, (double)k / (double)numSegments,
227 auto *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");
301 data.addEdge(base::PlannerDataVertex(ancestor->startState_), base::PlannerDataVertex(cur->endState_));
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
Motion * propagateFrom(Motion *motion, base::State *, base::State *)
Select a state along motion and propagate a new motion from there. Return nullptr if no valid motion ...
Definition: PDST.cpp:175
Class representing the tree of motions exploring the state space.
Definition: PDST.h:142
unsigned int iteration_
Iteration number and priority of the next Motion that will be generated.
Definition: PDST.h:324
BinaryHeap< Motion *, MotionCompare > priorityQueue_
Priority queue of motions.
Definition: PDST.h:314
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:422
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
std::vector< Motion * > motions_
The motions contained in this cell. Motions are stored only in leaf nodes.
Definition: PDST.h:267
virtual void sampleGoal(State *st) const =0
Sample a state in the goal region.
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: PDST.cpp:238
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:58
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:47
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:119
bool canSample() const
Return true if maxSampleCount() > 0, since in this case samples can certainly be produced.
Definition: GoalSampleableRegion.h:65
The planner found an exact solution.
Definition: PlannerStatus.h:66
void getPlannerData(base::PlannerData &data) const override
Extracts the planner data from the priority queue into data.
Definition: PDST.cpp:282
void updateHeapElement(Motion *motion)
Either update heap after motion's priority has changed or insert motion into heap.
Definition: PDST.h:280
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:202
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:432
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition: ProjectionEvaluator.h:59
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:413
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:101
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 nullptr if no valid motion ...
Definition: PDST.cpp:171
const State * nextStart()
Return the next valid start state or nullptr if no more valid start states are available.
Definition: Planner.cpp:227
void getContent(std::vector< _T > &content) const
Get the data stored in this heap.
Definition: BinaryHeap.h:207
void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj)
If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...
Definition: SelfConfig.cpp:231
Element * top() const
Return the top element. nullptr for an empty heap.
Definition: BinaryHeap.h:120
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: PDST.cpp:267
This class contains methods that automatically configure various parameters for motion planning...
Definition: SelfConfig.h:59
void addMotion(Motion *motion, Cell *bsp, base::State *, base::EuclideanProjection &)
Inserts the motion into the appropriate cell.
Definition: PDST.cpp:187
base::ProjectionEvaluatorPtr projectionEvaluator_
Projection evaluator for the problem.
Definition: PDST.h:318
ompl::BinaryHeap< Motion *, MotionCompare >::Element * heapElement_
Handle to the element of the priority queue for this Motion.
Definition: PDST.h:194
Cell * stab(const ompl::base::EuclideanProjection &projection) const
Locates the cell that this motion begins in.
Definition: PDST.h:226
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: PDST.cpp:51
double priority_
Priority for selecting this path to extend from in the future.
Definition: PDST.h:188
double goalBias_
Number between 0 and 1 specifying the probability with which the goal should be sampled.
Definition: PDST.h:320
*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:119