PDST.h
148 Motion(base::State *startState, base::State *endState, Control *control, unsigned int controlDuration,
277 void addMotion(Motion *motion, Cell *cell, base::State *, base::State *, base::EuclideanProjection &,
unsigned int controlDuration_
The duration that the control was applied to arrive at this state from the parent.
Definition: PDST.h:191
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: PDST.cpp:280
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
unsigned int iteration_
Iteration number and priority of the next Motion that will be generated.
Definition: PDST.h:324
double priority_
Priority for selecting this path to extend from in the future.
Definition: PDST.h:193
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state...
Definition: PDST.h:95
A shared pointer wrapper for ompl::base::StateSampler.
BinaryHeap< Motion *, MotionCompare > priorityQueue_
Priority queue of motions.
Definition: PDST.h:314
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition: PDST.h:101
Class representing the tree of motions exploring the state space.
Definition: PDST.h:145
Cell * stab(const base::EuclideanProjection &projection) const
Locates the cell that this motion begins in.
Definition: PDST.h:231
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:52
BinaryHeap< Motion *, MotionCompare >::Element * heapElement_
Handle to the element of the priority queue for this Motion.
Definition: PDST.h:199
This class provides an implementation of an updatable min-heap. Using it is a bit cumbersome...
Definition: BinaryHeap.h:52
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:47
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
A shared pointer wrapper for ompl::control::DirectedControlSampler.
void updateHeapElement(Motion *motion)
Either update heap after motion's priority has changed or insert motion into heap.
Definition: PDST.h:280
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: PDST.h:107
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 shared pointer wrapper for ompl::base::ProjectionEvaluator.
std::vector< Motion * > motions_
The motions contained in this cell. Motions are stored only in leaf nodes.
Definition: PDST.h:272
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition: ProjectionEvaluator.h:59
bool operator()(Motion *p1, Motion *p2) const
returns true if m1 is lower priority than m2
Definition: PDST.h:137
control::Control * control_
The control that was applied to arrive at this state from the parent.
Definition: PDST.h:189
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:47
std::vector< Motion * > startMotions_
Vector holding all of the start states supplied for the problem Each start motion is the root of its ...
Definition: PDST.h:312
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:242
Comparator used to order motions in the priority queue.
Definition: PDST.h:134
base::ProjectionEvaluatorPtr projectionEvaluator_
Projection evaluator for the problem.
Definition: PDST.h:318
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: PDST.cpp:314
void getPlannerData(base::PlannerData &data) const override
Extracts the planner data from the priority queue into data.
Definition: PDST.cpp:329
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:70
unsigned int splitDimension_
Dimension along which the cell is split into smaller cells.
Definition: PDST.h:262
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