FMT.h
void setExtendedFMT(bool e)
Activates the extended FMT*: adding new samples if planner does not finish successfully.
Definition: FMT.h:200
double distanceFunction(const Motion *a, const Motion *b) const
Compute the distance between two motions as the cost between their contained states. Note that for computationally intensive cost functions, the cost between motions should be stored to avoid duplicate calculations.
Definition: FMT.h:366
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
void sampleFree(const ompl::base::PlannerTerminationCondition &ptc)
Sample a state from the free configuration space and save it into the nearest neighbors data structur...
Definition: FMT.cpp:212
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: FMT.cpp:135
SetType
The FMT* planner begins with all nodes included in set Unvisited "Waiting for optimal connection"...
Definition: FMT.h:224
void setRadiusMultiplier(const double radiusMultiplier)
The planner searches for neighbors of a node within a cost r, where r is the value described for FMT*...
Definition: FMT.h:142
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: FMT.cpp:149
void setFreeSpaceVolume(const double freeSpaceVolume)
Store the volume of the obstacle-free configuration space. If no value is specified, the default assumes an obstacle-free unit hypercube, freeSpaceVolume = (maximumExtent/sqrt(dimension))^(dimension)
Definition: FMT.h:159
A shared pointer wrapper for ompl::base::StateSampler.
double calculateRadius(unsigned int dimension, unsigned int n) const
Calculate the radius to use for nearest neighbor searches, using the bound given in [L...
Definition: FMT.cpp:203
MotionBinHeap Open_
A binary heap for storing explored motions in cost-to-come sorted order. The motions in Open have bee...
Definition: FMT.h:430
double freeSpaceVolume_
The volume of the free configuration space, computed as an upper bound with 95% confidence.
Definition: FMT.h:459
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbor datastructure containing the set of all motions.
Definition: FMT.h:474
ompl::BinaryHeap< Motion *, MotionCompare > MotionBinHeap
A binary heap for storing explored motions in cost-to-come sorted order.
Definition: FMT.h:424
unsigned int collisionChecks_
Number of collision checks performed by the algorithm.
Definition: FMT.h:440
base::Cost hcost_
The minimum cost to go of this motion (heuristically computed)
Definition: FMT.h:331
void setNumSamples(const unsigned int numSamples)
Set the number of states that the planner should sample. The planner will sample this number of state...
Definition: FMT.h:110
bool expandTreeFromNode(Motion **z)
Complete one iteration of the main loop of the FMT* algorithm: Find K nearest nodes in set Unvisited ...
Definition: FMT.cpp:498
void traceSolutionPathThroughTree(Motion *goalMotion)
Trace the path from a goal state back to the start state and save the result as a solution in the Pro...
Definition: FMT.cpp:478
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: FMT.h:234
Asymptotically Optimal Fast Marching Tree algorithm developed by L. Janson and M. Pavone...
Definition: FMT.h:90
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:47
double calculateUnitBallVolume(unsigned int dimension) const
Compute the volume of the unit ball in a given dimension.
Definition: FMT.cpp:194
Motion * getBestParent(Motion *m, std::vector< Motion *> &neighbors, base::Cost &cMin)
Returns the best parent and the connection cost in the neighborhood of a motion m.
Definition: FMT.cpp:617
double getRadiusMultiplier() const
Get the multiplier used for the nearest neighbors search radius.
Definition: FMT.h:151
std::set< Motion * > collChecksDone_
Contains the connections attempted FROM this node.
Definition: FMT.h:337
void setCacheCC(bool ccc)
Sets the collision check caching to save calls to the collision checker with slightly memory usage as...
Definition: FMT.h:175
void setSetType(const SetType currentSet)
Specify the set that this motion belongs to.
Definition: FMT.h:278
unsigned int getNumSamples() const
Get the number of states that the planner will sample.
Definition: FMT.h:116
void saveNeighborhood(Motion *m)
Save the neighbors within a neighborhood of a given state. The strategy used (nearestK or nearestR de...
Definition: FMT.cpp:169
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A shared pointer wrapper for ompl::base::SpaceInformation.
base::State * goalState_
Goal state caching to accelerate cost to go heuristic computation.
Definition: FMT.h:486
void updateNeighborhood(Motion *m, std::vector< Motion *> nbh)
For a motion m, updates the stored neighborhoods of all its neighbors by by inserting m (maintaining ...
Definition: FMT.cpp:637
void setCost(const base::Cost cost)
Set the cost-to-come for the current motion.
Definition: FMT.h:266
double getFreeSpaceVolume() const
Get the volume of the free configuration space that is being used by the planner. ...
Definition: FMT.h:168
Abstract definition of optimization objectives.
Definition: OptimizationObjective.h:70
std::vector< Motion * > children_
The set of motions descending from the current motion.
Definition: FMT.h:340
void setHeuristics(bool h)
Activates the cost to go heuristics when ordering the heap.
Definition: FMT.h:187
void setNearestK(bool nearestK)
If nearestK is true, FMT will be run using the Knearest strategy.
Definition: FMT.h:122
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: FMT.h:483
A shared pointer wrapper for ompl::base::OptimizationObjective.
void assureGoalIsSampled(const ompl::base::GoalSampleableRegion *goal)
For each goal region, check to see if any of the sampled states fall within that region. If not, add a goal state from that region directly into the set of vertices. In this way, FMT is able to find a solution, if one exists. If no sampled nodes are within a goal region, there would be no way for the algorithm to successfully find a path to that region.
Definition: FMT.cpp:241
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: FMT.cpp:276
std::map< Motion *, std::vector< Motion * > > neighborhoods_
A map linking a motion to all of the motions within a distance r of that motion.
Definition: FMT.h:434
virtual bool isCostBetterThan(Cost c1, Cost c2) const
Check whether the the cost c1 is considered better than the cost c2. By default, this returns true if...
Definition: OptimizationObjective.cpp:70
Definition: FMT.h:492
double radiusMultiplier_
This planner uses a nearest neighbor search radius proportional to the lower bound for optimality der...
Definition: FMT.h:471
virtual Cost combineCosts(Cost c1, Cost c2) const
Get the cost that corresponds to combining the costs c1 and c2. Default implementation defines this c...
Definition: OptimizationObjective.cpp:91
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: FMT.cpp:78
Comparator used to order motions in a binary heap.
Definition: FMT.h:344
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
bool getHeuristics() const
Returns true if the heap is ordered taking into account cost to go heuristics.
Definition: FMT.h:194
bool alreadyCC(Motion *m)
Returns true if the connection to m has been already tested and failed because of a collision...
Definition: FMT.h:291