aikido::planner::ompl::OMPLConfigurationToConfigurationPlanner< PlannerType > Class Template Reference

Creates an OMPL Planner. More...

#include <aikido/planner/ompl/OMPLConfigurationToConfigurationPlanner.hpp>

Inheritance diagram for aikido::planner::ompl::OMPLConfigurationToConfigurationPlanner< PlannerType >:

Public Member Functions
	OMPLConfigurationToConfigurationPlanner (statespace::ConstStateSpacePtr stateSpace, common::RNG *rng=nullptr, statespace::ConstInterpolatorPtr interpolator=nullptr, distance::DistanceMetricPtr dmetric=nullptr, constraint::SampleablePtr sampler=nullptr, constraint::ConstTestablePtr boundsConstraint=nullptr, constraint::ProjectablePtr boundsProjector=nullptr, double maxDistanceBtwValidityChecks=0.1)
	Constructor. More...
trajectory::TrajectoryPtr	plan (const SolvableProblem &problem, Result *result=nullptr) override
	Plans a trajectory from start state to goal state by using an interpolator to interpolate between them. More...
::ompl::base::PlannerPtr	getOMPLPlanner ()
	Returns the underlying OMPL planner used. More...
Public Member Functions inherited from aikido::planner::ConfigurationToConfigurationPlanner
	ConfigurationToConfigurationPlanner (statespace::ConstStateSpacePtr stateSpace, common::RNG *rng=nullptr)
	Constructs from a state space. More...
virtual trajectory::TrajectoryPtr	plan (const SolvableProblem &problem, Result *result=nullptr)=0
	Solves problem returning the result to result. More...
trajectory::TrajectoryPtr	plan (const Problem &problem, Result *result=nullptr) final override
Public Member Functions inherited from aikido::planner::SingleProblemPlanner< ConfigurationToConfigurationPlanner, ConfigurationToConfiguration >
	SingleProblemPlanner (statespace::ConstStateSpacePtr stateSpace, common::RNG *rng=nullptr)
bool	canSolve (const Problem &problem) const final override
	Returns true if this planner can solve problem. More...
trajectory::TrajectoryPtr	plan (const Problem &problem, Result *result=nullptr) final override
	Solves problem returning the result to result. More...
Public Member Functions inherited from aikido::planner::Planner
	Planner (statespace::ConstStateSpacePtr stateSpace, common::RNG *rng=nullptr)
	Constructs from a state space. More...
virtual	~Planner ()=default
	Default destructor. More...
statespace::ConstStateSpacePtr	getStateSpace () const
	Returns const state space. More...
common::RNG *	getRng ()
	Returns RNG. More...

Protected Attributes
::ompl::base::PlannerPtr	mPlanner
	Pointer to the underlying OMPL Planner. More...
Protected Attributes inherited from aikido::planner::Planner
statespace::ConstStateSpacePtr	mStateSpace
	State space associated with this planner. More...
std::unique_ptr< common::RNG >	mRng
	RNG the planner uses. More...

Additional Inherited Members
Public Types inherited from aikido::planner::SingleProblemPlanner< ConfigurationToConfigurationPlanner, ConfigurationToConfiguration >
using	SolvableProblem = ConfigurationToConfiguration

Detailed Description

template<class PlannerType>
class aikido::planner::ompl::OMPLConfigurationToConfigurationPlanner< PlannerType >

Creates an OMPL Planner.

Template Parameters

PlannerType

The OMPL Planner to use.

Constructor & Destructor Documentation

OMPLConfigurationToConfigurationPlanner()

template<class PlannerType >

aikido::planner::ompl::OMPLConfigurationToConfigurationPlanner< PlannerType >::OMPLConfigurationToConfigurationPlanner	(	statespace::ConstStateSpacePtr	stateSpace,
		common::RNG *	rng = nullptr,
		statespace::ConstInterpolatorPtr	interpolator = nullptr,
		distance::DistanceMetricPtr	dmetric = nullptr,
		constraint::SampleablePtr	sampler = nullptr,
		constraint::ConstTestablePtr	boundsConstraint = nullptr,
		constraint::ProjectablePtr	boundsProjector = nullptr,
		double	maxDistanceBtwValidityChecks = 0.1
	)

Constructor.

Parameters

[in]	stateSpace	State space that this planner associated with.
[in]	rng	Random number generator to create the state sampler.
[in]	interpolator	Interpolator used to interpolate between two states. GeodesicInterpolator is used by default.
[in]	dmetric	A valid distance metric defined on the StateSpace. Distance metric relevant to the statespace is used by default.
[in]	sampler	A Sampleable to sample states from StateSpace.

Note

OMPL planners assume this sampler samples from the statespace uniformly. Care must be taken when using a non-uniform sampler.

Parameters

[in]	boundsConstraint	A constraint used to determine whether states encountered during planning fall within any bounds specified on the StateSpace. In addition to the validityConstraint, this must also be satisfied for a state to be considered valid.
[in]	boundsProjector	A Projectable that projects a state back within valid bounds defined on the StateSpace.
[in]	maxDistanceBtwValidityChecks	The maximum distance (under dmetric) between validity checking two successive points on a tree extension or an edge in a graph.

Member Function Documentation

getOMPLPlanner()

template<class PlannerType >

ompl::base::PlannerPtr aikido::planner::ompl::OMPLConfigurationToConfigurationPlanner< PlannerType >::getOMPLPlanner

Returns the underlying OMPL planner used.

plan()

template<class PlannerType >

trajectory::TrajectoryPtr aikido::planner::ompl::OMPLConfigurationToConfigurationPlanner< PlannerType >::plan ( const SolvableProblem &  problem, Result *  result = nullptr  )

override

Plans a trajectory from start state to goal state by using an interpolator to interpolate between them.

If successful, the planner returns a trajectory that satisfies the constraint. If not, it returns a nullptr. The corresponding message is stored in result.

Parameters

[in]	problem	Planning problem.
[out]	result	Information about success or failure.

Returns

Trajectory or nullptr if planning failed.

Exceptions

If	problem is not ConfigurationToConfiguration.
If	result is not ConfigurationToConfiguration::Result.

Member Data Documentation

mPlanner

template<class PlannerType >

::ompl::base::PlannerPtr aikido::planner::ompl::OMPLConfigurationToConfigurationPlanner< PlannerType >::mPlanner

protected

Pointer to the underlying OMPL Planner.