BiTRRT.h
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
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: BiTRRT.cpp:339
Motion * addMotion(const base::State *state, TreeData &tree, Motion *parent=nullptr)
Add a state to the given tree. The motion created is returned.
Definition: BiTRRT.cpp:166
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: BiTRRT.cpp:115
double frontierThreshold_
The distance between an existing state and a new state that qualifies it as a frontier state...
Definition: BiTRRT.h:281
void log(const char *file, int line, LogLevel level, const char *m,...)
Root level logging function. This should not be invoked directly, but rather used via a logging macro...
Definition: Console.cpp:120
bool minExpansionControl(double dist)
Use frontier node ratio to filter nodes that do not add new information to the search tree...
Definition: BiTRRT.cpp:212
bool transitionTest(const base::Cost &motionCost)
Transition test that filters transitions based on the motion cost. If the motion cost is near or belo...
Definition: BiTRRT.cpp:185
GrowResult extendTree(Motion *toMotion, TreeData &tree, Motion *&result)
Extend tree toward the state in rmotion. Store the result of the extension, if any, in result.
Definition: BiTRRT.cpp:269
base::Cost bestCost_
The most desirable (e.g., minimum) cost value in the search tree.
Definition: BiTRRT.h:268
double getFrontierThreshold() const
Get the distance between a new state and the nearest neighbor that qualifies a state as being a front...
Definition: BiTRRT.h:149
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
double nonfrontierCount_
A count of the number of non-frontier nodes in the trees.
Definition: BiTRRT.h:290
std::shared_ptr< NearestNeighbors< Motion * > > TreeData
The nearest-neighbors data structure that contains the entire the tree of motions generated during pl...
Definition: BiTRRT.h:215
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: BiTRRT.cpp:472
double connectionRange_
The range at which the algorithm will attempt to connect the two trees.
Definition: BiTRRT.h:297
void setFrontierNodeRatio(double frontierNodeRatio)
Set the ratio between adding non-frontier nodes to frontier nodes. For example: .1 is one non-frontie...
Definition: BiTRRT.h:157
base::Cost worstCost_
The least desirable (e.g., maximum) cost value in the search tree.
Definition: BiTRRT.h:271
double tempChangeFactor_
The factor by which the temperature is increased after a failed transition test.
Definition: BiTRRT.h:265
std::pair< Motion *, Motion * > connectionPoint_
The most recent connection point for the two trees. Used for PlannerData computation.
Definition: BiTRRT.h:301
double getInitTemperature() const
Get the initial temperature at the start of planning.
Definition: BiTRRT.h:135
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: BiTRRT.h:190
double getFrontierNodeRatio() const
Get the ratio between adding non-frontier nodes to frontier nodes.
Definition: BiTRRT.h:164
const base::State * root
Pointer to the root of the tree this motion is contained in.
Definition: BiTRRT.h:207
void setTempChangeFactor(double factor)
Set the factor by which the temperature is increased after a failed transition test. This value should be in the range (0, 1], typically close to zero (default is 0.1). This value is an exponential (e^factor) that is multiplied with the current temperature.
Definition: BiTRRT.h:99
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
void setInitTemperature(double initTemperature)
Set the initial temperature at the start of planning. Should be high to allow for initial exploration...
Definition: BiTRRT.h:129
A shared pointer wrapper for ompl::base::SpaceInformation.
double getTempChangeFactor() const
Get the factor by which the temperature is increased after a failed transition.
Definition: BiTRRT.h:106
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: BiTRRT.h:255
ompl::base::OptimizationObjectivePtr opt_
The objective (cost function) being optimized.
Definition: BiTRRT.h:310
*double getCostThreshold() const
Get the cost threshold (default is infinity). Any motion cost that is not better than this cost (acco...
Definition: BiTRRT.h:122
void setFrontierThreshold(double frontierThreshold)
Set the distance between a new state and the nearest neighbor that qualifies a state as being a front...
Definition: BiTRRT.h:142
Representation of a motion in the search tree.
Definition: BiTRRT.h:183
A shared pointer wrapper for ompl::base::OptimizationObjective.
double frontierNodeRatio_
The target ratio of non-frontier nodes to frontier nodes.
Definition: BiTRRT.h:284
void setRange(double distance)
Set the maximum possible length of any one motion in the search tree. Very short/long motions may inh...
Definition: BiTRRT.h:83
base::Cost costThreshold_
All motion costs must be better than this cost (default is infinity)
Definition: BiTRRT.h:274
void setCostThreshold(double maxCost)
Set the cost threshold (default is infinity). Any motion cost that is not better than this cost (acco...
Definition: BiTRRT.h:114
bool connectTrees(Motion *nmotion, TreeData &tree, Motion *xmotion)
Attempt to connect tree to nmotion, which is in the other tree. xmotion is scratch space and will be ...
Definition: BiTRRT.cpp:277
Bi-directional Transition-based Rapidly-exploring Random Trees.
Definition: BiTRRT.h:69
The desired state was reached during extension.
Definition: BiTRRT.h:239
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: BiTRRT.cpp:97