RLRT.h
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34
35/* Author: Ryan Luna */
36
37#ifndef OMPL_GEOMETRIC_PLANNERS_RLRT_RLRT_H_
38#define OMPL_GEOMETRIC_PLANNERS_RLRT_RLRT_H_
39
40#include "ompl/geometric/planners/PlannerIncludes.h"
41#include <vector>
42
43namespace ompl
44{
45 namespace geometric
46 {
63 class RLRT : public base::Planner
64 {
65 public:
66 RLRT(const base::SpaceInformationPtr &si);
67
68 virtual ~RLRT();
69
70 virtual void getPlannerData(base::PlannerData &data) const;
71
73
74 virtual void clear();
75
84 void setGoalBias(double goalBias)
85 {
86 goalBias_ = goalBias;
87 }
88
90 double getGoalBias() const
91 {
92 return goalBias_;
93 }
94
96 void setRange(double distance)
97 {
98 range_ = distance;
99 }
100
102 double getRange() const
103 {
104 return range_;
105 }
106
110 bool getKeepLast() const
111 {
112 return keepLast_;
113 }
114
119 void setKeepLast(bool keepLast)
120 {
121 keepLast_ = keepLast;
122 }
123
124 virtual void setup();
125
126 protected:
128 class Motion
129 {
130 public:
132 Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
133 {
134 }
135
136 ~Motion() = default;
137
140
142 Motion *parent{nullptr};
143 };
144
146 void freeMemory();
147
149 base::StateSamplerPtr sampler_;
150
153 double goalBias_{0.05};
154
156 double range_{0.};
157
160 bool keepLast_{false};
161
164
168
169 std::vector<Motion *> motions_;
170 };
171
172 } // namespace geometric
173} // namespace ompl
174
175#endif
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Base class for a planner.
Definition: Planner.h:223
Definition of an abstract state.
Definition: State.h:50
A motion (tree node) with parent pointer.
Definition: RLRT.h:129
Motion * parent
The parent motion in the exploration tree.
Definition: RLRT.h:142
base::State * state
The state contained by the motion.
Definition: RLRT.h:139
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: RLRT.h:132
Range-Limited Random Tree (Ryan Luna's Random Tree)
Definition: RLRT.h:64
RNG rng_
The random number generator.
Definition: RLRT.h:163
bool keepLast_
If true, the planner will retain the last valid state during local planner. Default is false.
Definition: RLRT.h:160
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
Definition: RLRT.h:153
double range_
The maximum length of a motion to be added to a tree.
Definition: RLRT.h:156
double getGoalBias() const
Get the goal bias the planner is using.
Definition: RLRT.h:90
base::StateSamplerPtr sampler_
State sampler.
Definition: RLRT.h:149
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: RLRT.cpp:88
void setGoalBias(double goalBias)
Set the goal bias In the process of randomly selecting states in the state space to attempt to go tow...
Definition: RLRT.h:84
void setRange(double distance)
Set the maximum distance between states in the tree.
Definition: RLRT.h:96
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: RLRT.cpp:65
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: RLRT.h:167
void freeMemory()
Free the memory allocated by this planner.
Definition: RLRT.cpp:76
double getRange() const
Get the maximum distance between states in the tree.
Definition: RLRT.h:102
void setKeepLast(bool keepLast)
Set whether the planner will use the range or keep last heuristic. If keepLast = false,...
Definition: RLRT.h:119
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: RLRT.cpp:226
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: RLRT.cpp:57
bool getKeepLast() const
If true, the planner will not have the range limitation. Instead, if a collision is detected,...
Definition: RLRT.h:110
Main namespace. Contains everything in this library.
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49