KPIECE1.h
385 unsigned int findNextMotion(const std::vector<Grid::Coord> &coords, unsigned int index, unsigned int count);
CloseSample(Grid::Cell *c, Motion *m, double d)
Constructor fully initializes the content of this structure.
Definition: KPIECE1.h:273
void setBadCellScoreFactor(double bad)
Set the factor that is to be applied to a cell's score when an expansion from that cell fails...
Definition: KPIECE1.h:136
double distance
The distance to the goal. This value is increased over time, as the number of selections for this sam...
Definition: KPIECE1.h:285
bool operator<(const CloseSample &other) const
Sort samples in accordance to their distance to the goal.
Definition: KPIECE1.h:288
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
void setGoodCellScoreFactor(double good)
Set the factor that is to be applied to a cell's score when an expansion from that cell succeedes...
Definition: KPIECE1.h:143
void setCellScoreFactor(double good, double bad)
When extending a motion from a cell, the extension can be successful or it can fail. If the extension is successful, the score of the cell is multiplied by good. If the extension fails, the score of the cell is multiplied by bad. These numbers should be in the range (0, 1].
Definition: KPIECE1.h:129
bool selectMotion(Motion *&smotion, Grid::Cell *&scell)
Select the top sample (closest to the goal) and update its position in the set subsequently (pretend ...
Definition: KPIECE1.cpp:150
double selectBorderFraction_
The fraction of time to focus exploration on the border of the grid.
Definition: KPIECE1.h:418
double getBorderFraction() const
Get the fraction of time to focus exploration on boundary.
Definition: KPIECE1.h:118
bool canSample() const
Return true if samples can be selected from this set.
Definition: KPIECE1.h:317
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition: KPIECE1.h:184
double getBadCellScoreFactor() const
Get the factor that is multiplied to a cell's score if extending a motion from that cell failed...
Definition: KPIECE1.h:157
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
Definition: KPIECE1.h:422
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: KPIECE1.cpp:83
Definintion of an operator passed to the Grid structure, to order cells by importance.
Definition: KPIECE1.h:258
A shared pointer wrapper for ompl::control::ControlSampler.
double score
A heuristic score computed based on distance to goal (if available), successes and failures at expand...
Definition: KPIECE1.h:247
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
double badScoreFactor_
When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...
Definition: KPIECE1.h:409
bool consider(Grid::Cell *cell, Motion *motion, double distance)
Evaluate whether motion motion, part of cell cell is good enough to be part of the set of samples clo...
Definition: KPIECE1.cpp:121
unsigned int findNextMotion(const std::vector< Grid::Coord > &coords, unsigned int index, unsigned int count)
When generated motions are to be added to the tree of motions, they often need to be split...
Definition: KPIECE1.cpp:167
unsigned int size
The total number of motions (there can be multiple per cell) in the grid.
Definition: KPIECE1.h:340
static void computeImportance(Grid::Cell *cell, void *)
This function is provided as a calback to the grid datastructure to update the importance of a cell...
Definition: KPIECE1.h:349
void setMaxCloseSamplesCount(unsigned int nCloseSamples)
When motions reach close to the goal, they are stored in a separate queue to allow biasing towards th...
Definition: KPIECE1.h:164
Grid::Cell * addMotion(Motion *motion, double dist)
Add a motion to the grid containing motions. As a hint, dist specifies the distance to the goal from ...
Definition: KPIECE1.cpp:385
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: KPIECE1.cpp:177
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: KPIECE1.cpp:411
void setBorderFraction(double bp)
Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...
Definition: KPIECE1.h:111
base::ProjectionEvaluatorPtr projectionEvaluator_
This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...
Definition: KPIECE1.h:399
unsigned int getMaxCloseSamplesCount() const
Get the maximum number of samples to store in the queue of samples that are close to the goal...
Definition: KPIECE1.h:170
double goodScoreFactor_
When extending a motion from a cell, the extension can be successful. If it is, the score of the cell...
Definition: KPIECE1.h:404
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
Representation of a motion for this algorithm.
Definition: KPIECE1.h:200
The data defining a tree of motions for this algorithm.
Definition: KPIECE1.h:330
Information about a known good sample (closer to the goal than others)
Definition: KPIECE1.h:270
double coverage
A measure of coverage for this cell. For this implementation, this is the sum of motion durations...
Definition: KPIECE1.h:238
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: KPIECE1.cpp:67
std::vector< Motion * > motions
The set of motions contained in this grid cell.
Definition: KPIECE1.h:233
A shared pointer wrapper for ompl::base::ProjectionEvaluator.
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
void freeGridMotions(Grid &grid)
Free the memory for the motions contained in a grid.
Definition: KPIECE1.cpp:99
unsigned int selections
The number of times this cell has been selected for expansion.
Definition: KPIECE1.h:242
Kinodynamic Planning by Interior-Exterior Cell Exploration.
Definition: KPIECE1.h:75
A shared pointer wrapper for ompl::control::SpaceInformation.
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state...
Definition: KPIECE1.h:177
double getGoodCellScoreFactor() const
Get the factor that is multiplied to a cell's score if extending a motion from that cell succeeded...
Definition: KPIECE1.h:150
The data held by a cell in the grid of motions.
Definition: KPIECE1.h:226
Motion(const SpaceInformation *si)
Constructor that allocates memory for the state and the control.
Definition: KPIECE1.h:205
Grid grid
A grid containing motions, imposed on a projection of the state space.
Definition: KPIECE1.h:336
bool selectMotion(Motion *&smotion, Grid::Cell *&scell)
Select a motion and the cell it is part of from the grid of motions. This is where preference is give...
Definition: KPIECE1.cpp:352
CloseSamples(unsigned int size)
Construct an object to maintain a set of at most size samples.
Definition: KPIECE1.h:298
const SpaceInformation * siC_
The base::SpaceInformation cast as control::SpaceInformation, for convenience.
Definition: KPIECE1.h:394
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: KPIECE1.h:428
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:70
GridB< CellData *, OrderCellsByImportance > Grid
The datatype for the maintained grid datastructure.
Definition: KPIECE1.h:267
void freeCellData(CellData *cdata)
Free the memory for the data contained in a grid cell.
Definition: KPIECE1.cpp:105
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: KPIECE1.h:190
unsigned int nCloseSamples_
When motions reach close to the goal, they are stored in a separate queue to allow biasing towards th...
Definition: KPIECE1.h:414