STRIDE.cpp
46 ompl::geometric::STRIDE::STRIDE(const base::SpaceInformationPtr &si, bool useProjectedDistance, unsigned int degree,
62 Planner::declareParam<double>("range", this, &STRIDE::setRange, &STRIDE::getRange, "0.:1.:10000.");
63 Planner::declareParam<double>("goal_bias", this, &STRIDE::setGoalBias, &STRIDE::getGoalBias, "0.:.05:1.");
66 Planner::declareParam<unsigned int>("degree", this, &STRIDE::setDegree, &STRIDE::getDegree, "2:20");
67 Planner::declareParam<unsigned int>("max_degree", this, &STRIDE::setMaxDegree, &STRIDE::getMaxDegree, "2:20");
68 Planner::declareParam<unsigned int>("min_degree", this, &STRIDE::setMinDegree, &STRIDE::getMinDegree, "2:20");
94 new NearestNeighborsGNAT<Motion *>(degree_, minDegree_, maxDegree_, maxNumPtsPerLeaf_, estimatedDimension_));
131 ompl::base::PlannerStatus ompl::geometric::STRIDE::solve(const base::PlannerTerminationCondition &ptc)
153 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), tree_->size());
173 bool keep = si_->checkMotion(existing->state, xstate, fail) || fail.second > minValidPathFraction_;
253 data.addEdge(base::PlannerDataVertex(motion->parent->state, 1), base::PlannerDataVertex(motion->state, 1));
bool approximateSolutions
Flag indicating whether the planner is able to compute approximate solutions.
Definition: Planner.h:203
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
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
Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...
Definition: NearestNeighborsGNAT.h:70
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:58
double getMinValidPathFraction() const
Get the value of the fraction set by setMinValidPathFraction()
Definition: STRIDE.h:210
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
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
bool getUseProjectedDistance() const
Return whether nearest neighbors are computed based on distances in a projection of the state rather ...
Definition: STRIDE.h:121
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
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
A shared pointer wrapper for ompl::base::SpaceInformation.
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
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: STRIDE.h:188
virtual bool isSatisfied(const State *st) const =0
Return true if the state satisfies the goal constraints.
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
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
Motion * selectMotion()
Select a motion to continue the expansion of the tree from.
Definition: STRIDE.cpp:237
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:225
This class contains methods that automatically configure various parameters for motion planning...
Definition: SelfConfig.h:59
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 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