RRTConnect.cpp
41 ompl::geometric::RRTConnect::RRTConnect(const base::SpaceInformationPtr &si) : base::Planner(si, "RRTConnect")
48 Planner::declareParam<double>("range", this, &RRTConnect::setRange, &RRTConnect::getRange, "0.:1.:10000.");
110 ompl::geometric::RRTConnect::GrowState ompl::geometric::RRTConnect::growTree(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion)
123 si_->getStateSpace()->interpolate(nmotion->state, rmotion->state, maxDistance_ / d, tgi.xstate);
128 // if we are in the goal tree, we need to check the motion in reverse, but checkMotion() assumes the first state it receives as argument is valid,
130 bool validMotion = tgi.start ? si_->checkMotion(nmotion->state, dstate) : si_->getStateValidityChecker()->isValid(dstate) && si_->checkMotion(dstate, nmotion->state);
151 ompl::base::PlannerStatus ompl::geometric::RRTConnect::solve(const base::PlannerTerminationCondition &ptc)
154 base::GoalSampleableRegion *goal = dynamic_cast<base::GoalSampleableRegion*>(pdef_->getGoal().get());
185 OMPL_INFORM("%s: Starting planning with %d states already in datastructure", getName().c_str(), (int)(tStart_->size() + tGoal_->size()));
292 OMPL_INFORM("%s: Created %u states (%u start + %u goal)", getName().c_str(), tStart_->size() + tGoal_->size(), tStart_->size(), tGoal_->size());
333 data.addEdge(data.vertexIndex(connectionPoint_.first), data.vertexIndex(connectionPoint_.second));
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
The planner failed to find a solution.
Definition: PlannerStatus.h:62
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: RRTConnect.h:81
GoalType recognizedGoal
The type of goal specification the planner can use.
Definition: Planner.h:208
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: RRTConnect.cpp:57
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:434
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
boost::shared_ptr< NearestNeighbors< Motion * > > TreeData
A nearest-neighbor datastructure representing a tree of motions.
Definition: RRTConnect.h:130
void append(const base::State *state)
Append state to the end of this path. The memory for state is copied.
Definition: PathGeometric.cpp:432
bool directed
Flag indicating whether the planner is able to account for the fact that the validity of a motion fro...
Definition: Planner.h:222
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: RRTConnect.h:173
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:60
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
Definition: RRTConnect.h:179
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:49
The goal is of a type that a planner does not recognize.
Definition: PlannerStatus.h:60
std::vector< base::State * > & getStates()
Get the states that make up the path (as a reference, so it can be modified, hence the function is no...
Definition: PathGeometric.h:219
The planner found an exact solution.
Definition: PlannerStatus.h:66
unsigned int vertexIndex(const PlannerDataVertex &v) const
Return the index for the vertex associated with the given data. INVALID_INDEX is returned if this ver...
Definition: PlannerData.cpp:328
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:444
virtual bool isStartGoalPairValid(const State *, const State *) const
Since there can be multiple starting states (and multiple goal states) it is possible certain pairs a...
Definition: Goal.h:136
A boost shared pointer wrapper for ompl::base::SpaceInformation.
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: RRTConnect.h:155
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:425
virtual void getPlannerData(base::PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: RRTConnect.cpp:297
virtual bool couldSample() const
Return true if samples could be generated by this sampler at some point in the future. By default this is equivalent to canSample(), but for GoalLazySamples, this call also reflects the fact that a sampling thread is active and although no samples are produced yet, some may become available at some point in the future.
Definition: GoalSampleableRegion.h:78
virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc)
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: RRTConnect.cpp:151
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:232
This class contains methods that automatically configure various parameters for motion planning...
Definition: SelfConfig.h:58
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: RRTConnect.cpp:98
Information attached to growing a tree of motions (used internally)
Definition: RRTConnect.h:133
GrowState growTree(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion)
Grow a tree towards a random state.
Definition: RRTConnect.cpp:110
A boost shared pointer wrapper for ompl::base::Path.
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible...
Definition: GoalTypes.h:55