PDST.cpp
44 Planner::declareParam<double>("goal_bias", this, &PDST::setGoalBias, &PDST::getGoalBias, "0.:.05:1.");
52 ompl::base::PlannerStatus ompl::control::PDST::solve(const base::PlannerTerminationCondition &ptc)
76 bool isApproximate = !hasSolution || !goal->isSatisfied(lastGoalMotion_->endState_, &closestDistanceToGoal);
170 OMPL_INFORM("%s: Created %u states and %u cells", getName().c_str(), priorityQueue_.size(), bsp_->size());
175 ompl::control::PDST::Motion *ompl::control::PDST::propagateFrom(Motion *motion, base::State *start, base::State *rnd)
199 return new Motion(si_->cloneState(start), si_->cloneState(rnd), control, duration, ++iteration_, motion);
202 void ompl::control::PDST::addMotion(Motion *motion, Cell *bsp, base::State *prevState, base::State *state,
224 auto *newMotion = new Motion(motion->startState_, si_->cloneState(prevState), motion->control_, duration,
242 unsigned int ompl::control::PDST::findDurationAndAncestor(Motion *motion, base::State *state, base::State *scratch,
248 if (state == motion->endState_ || motion->controlDuration_ == 0 || si_->distance(motion->endState_, state) < eps)
322 throw Exception("PDST requires a projection evaluator that specifies bounds for the projected space");
354 data.addEdge(base::PlannerDataVertex(ancestor->startState_), base::PlannerDataVertex(cur->endState_),
370 data.addEdge(base::PlannerDataVertex(ancestor->startState_), base::PlannerDataVertex(cur->endState_));
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
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
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
double priority_
Priority for selecting this path to extend from in the future.
Definition: PDST.h:193
Class representing the tree of motions exploring the state space.
Definition: PDST.h:145
unsigned int addGoalVertex(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:422
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
Cell * stab(const base::EuclideanProjection &projection) const
Locates the cell that this motion begins in.
Definition: PDST.h:231
Representation of an edge in PlannerData for planning with controls. This structure encodes a specifi...
Definition: PlannerData.h:60
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
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:58
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
virtual void getPlannerData(PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: Planner.cpp:119
The planner found an exact solution.
Definition: PlannerStatus.h:66
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 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
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
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
virtual bool isSatisfied(const State *st) const =0
Return true if the state satisfies the goal constraints.
control::Control * control_
The control that was applied to arrive at this state from the parent.
Definition: PDST.h:189
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
virtual bool hasControls() const
Indicate whether any information about controls (ompl::control::Control) is stored in this instance...
Definition: PlannerData.cpp:784
*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:116
This class contains methods that automatically configure various parameters for motion planning...
Definition: SelfConfig.h:59
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
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