STRIDE.h
82 STRIDE(const base::SpaceInformationPtr &si, bool useProjectedDistance = false, unsigned int degree = 16,
Search Tree with Resolution Independent Density Estimation.
Definition: STRIDE.h:78
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
double getEstimatedDimension() const
Get estimated dimension of the free space, which is needed to compute the sampling weight for a node ...
Definition: STRIDE.h:178
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition: STRIDE.h:223
base::ProjectionEvaluatorPtr projectionEvaluator_
This algorithm can optionally use a projection to guide the exploration.
Definition: STRIDE.h:289
A shared pointer wrapper for ompl::base::ValidStateSampler.
double estimatedDimension_
Estimate of the local dimensionality of the free space around a state.
Definition: STRIDE.h:313
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: STRIDE.cpp:131
void setMinDegree(unsigned int minDegree)
Set minimum degree of a node in the GNAT.
Definition: STRIDE.h:137
void setEstimatedDimension(double estimatedDimension)
Set estimated dimension of the free space, which is needed to compute the sampling weight for a node ...
Definition: STRIDE.h:171
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: STRIDE.cpp:82
bool useProjectedDistance_
Whether to use distance in the projection (instead of distance in the state space) for the GNAT...
Definition: STRIDE.h:303
double projectedDistanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between projections of contained states) ...
Definition: STRIDE.h:270
double getMinValidPathFraction() const
Get the value of the fraction set by setMinValidPathFraction()
Definition: STRIDE.h:210
double minValidPathFraction_
When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion. This is used only when extendWhileValid_ is true.
Definition: STRIDE.h:319
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: STRIDE.h:244
void setDegree(unsigned int degree)
Set desired degree of a node in the GNAT.
Definition: STRIDE.h:127
void setMaxNumPtsPerLeaf(unsigned int maxNumPtsPerLeaf)
Set maximum number of elements stored in a leaf node of the GNAT.
Definition: STRIDE.h:158
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: STRIDE.h:264
bool getUseProjectedDistance() const
Return whether nearest neighbors are computed based on distances in a projection of the state rather ...
Definition: STRIDE.h:121
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: STRIDE.h:229
A shared pointer wrapper for ompl::base::ProjectionEvaluator.
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: STRIDE.cpp:107
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A shared pointer wrapper for ompl::base::SpaceInformation.
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition: ProjectionEvaluator.h:59
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: STRIDE.h:188
STRIDE(const base::SpaceInformationPtr &si, bool useProjectedDistance=false, unsigned int degree=16, unsigned int minDegree=12, unsigned int maxDegree=18, unsigned int maxNumPtsPerLeaf=6, double estimatedDimension=0.0)
Constructor.
Definition: STRIDE.cpp:46
Motion * selectMotion()
Select a motion to continue the expansion of the tree from.
Definition: STRIDE.cpp:237
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
Definition: STRIDE.h:296
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: STRIDE.cpp:242
void setMinValidPathFraction(double fraction)
When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion. This function sets the minimum acceptable fraction (between 0 and 1).
Definition: STRIDE.h:204
unsigned int maxNumPtsPerLeaf_
Maximum number of points stored in a leaf node in the GNAT.
Definition: STRIDE.h:311
unsigned int getMaxNumPtsPerLeaf() const
Get maximum number of elements stored in a leaf node of the GNAT.
Definition: STRIDE.h:164
void setUseProjectedDistance(bool useProjectedDistance)
Set whether nearest neighbors are computed based on distances in a projection of the state rather dis...
Definition: STRIDE.h:114
void setMaxDegree(unsigned int maxDegree)
Set maximum degree of a node in the GNAT.
Definition: STRIDE.h:147
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: STRIDE.h:100
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state...
Definition: STRIDE.h:216
boost::scoped_ptr< NearestNeighborsGNAT< Motion * > > tree_
The exploration tree constructed by this algorithm.
Definition: STRIDE.h:292