|
| RRT (const SpaceInformationPtr &si) |
| Constructor.
|
|
virtual base::PlannerStatus | solve (const base::PlannerTerminationCondition &ptc) |
| Continue solving for some amount of time. Return true if solution was found.
|
|
virtual void | clear (void) |
| Clear datastructures. Call this function if the input data to the planner has changed and you do not want to continue planning.
|
|
void | setGoalBias (double goalBias) |
|
double | getGoalBias (void) const |
| Get the goal bias the planner is using.
|
|
bool | getIntermediateStates (void) const |
| Return true if the intermediate states generated along motions are to be added to the tree itself.
|
|
void | setIntermediateStates (bool addIntermediateStates) |
| Specify whether the intermediate states generated along motions are to be added to the tree itself.
|
|
virtual void | getPlannerData (base::PlannerData &data) const |
| Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between).
|
|
template<template< typename T > class NN> |
void | setNearestNeighbors (void) |
| Set a different nearest neighbors datastructure.
|
|
virtual void | setup (void) |
| Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceInformation::setup() if needed. This must be called before solving.
|
|
| Planner (const SpaceInformationPtr &si, const std::string &name) |
| Constructor.
|
|
virtual | ~Planner (void) |
| Destructor.
|
|
template<class T > |
T * | as (void) |
| Cast this instance to a desired type. More...
|
|
template<class T > |
const T * | as (void) const |
| Cast this instance to a desired type. More...
|
|
const SpaceInformationPtr & | getSpaceInformation (void) const |
| Get the space information this planner is using.
|
|
const ProblemDefinitionPtr & | getProblemDefinition (void) const |
| Get the problem definition the planner is trying to solve.
|
|
const PlannerInputStates & | getPlannerInputStates (void) const |
| Get the planner input states.
|
|
virtual void | setProblemDefinition (const ProblemDefinitionPtr &pdef) |
| Set the problem definition for the planner. The problem needs to be set before calling solve(). Note: If this problem definition replaces a previous one, it may also be necessary to call clear().
|
|
PlannerStatus | solve (const PlannerTerminationConditionFn &ptc, double checkInterval) |
| Same as above except the termination condition is only evaluated at a specified interval.
|
|
PlannerStatus | solve (double solveTime) |
| Same as above except the termination condition is solely a time limit: the number of seconds the algorithm is allowed to spend planning.
|
|
const std::string & | getName (void) const |
| Get the name of the planner.
|
|
void | setName (const std::string &name) |
| Set the name of the planner.
|
|
const PlannerSpecs & | getSpecs (void) const |
| Return the specifications (capabilities of this planner)
|
|
virtual void | checkValidity (void) |
| Check to see if the planner is in a working state (setup has been called, a goal was set, the input states seem to be in order). In case of error, this function throws an exception.
|
|
bool | isSetup (void) const |
| Check if setup() was called for this planner.
|
|
ParamSet & | params (void) |
| Get the parameters for this planner.
|
|
const ParamSet & | params (void) const |
| Get the parameters for this planner.
|
|
virtual void | printProperties (std::ostream &out) const |
| Print properties of the motion planner.
|
|
virtual void | printSettings (std::ostream &out) const |
| Print information about the motion planner's settings.
|
|
|
void | freeMemory (void) |
| Free the memory allocated by this planner.
|
|
double | distanceFunction (const Motion *a, const Motion *b) const |
| Compute distance between motions (actually distance between contained states)
|
|
template<typename T , typename PlannerType , typename SetterType , typename GetterType > |
void | declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter, const GetterType &getter, const std::string &rangeSuggestion="") |
| This function declares a parameter for this planner instance, and specifies the setter and getter functions.
|
|
template<typename T , typename PlannerType , typename SetterType > |
void | declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter, const std::string &rangeSuggestion="") |
| This function declares a parameter for this planner instance, and specifies the setter function.
|
|
Rapidly-exploring Random Tree.
- Short description
- RRT is a tree-based motion planner that uses the following idea: RRT samples a random state qr in the state space, then finds the state qc among the previously seen states that is closest to qr and expands from qc towards qr, until a state qm is reached. qm is then added to the exploration tree. This implementation is intended for systems with differential constraints.
- External documentation
- S.M. LaValle and J.J. Kuffner, Randomized kinodynamic planning, Intl. J. of Robotics Research, vol. 20, pp. 378–400, May 2001. DOI: 10.1177/02783640122067453
[PDF] [more]
Definition at line 66 of file RRT.h.