Implements a bi-direction constrained RRT planner. More...

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

Inheritance diagram for aikido::planner::ompl::CRRTConnect:

Public Member Functions
	CRRTConnect (const ::ompl::base::SpaceInformationPtr &si)
	Constructor. More...

virtual	~CRRTConnect ()
	Destructor. More...

void	getPlannerData (::ompl::base::PlannerData &_data) const override
	Get information about the current run of the motion planner. More...

::ompl::base::PlannerStatus	solve (const ::ompl::base::PlannerTerminationCondition &_ptc) override
	Function that can solve the motion planning problem. More...

::ompl::base::PlannerStatus	solve (double _solveTime)
	Solve the motion planning problem in the given time. More...

void	clear () override
	Clear all internal datastructures. More...

void	setConnectionRadius (double _radius)

double	getConnectionRadius () const
	Get the connection radius the planner is using. More...

template<template< typename T > class NN>
void	setNearestNeighbors ()
	Set a nearest neighbors data structure for both the start and goal trees. More...

void	setup () override
	Perform extra configuration steps, if needed. More...

Public Member Functions inherited from aikido::planner::ompl::CRRT
	CRRT (const ::ompl::base::SpaceInformationPtr &_si)
	Constructor. More...

	CRRT (const ::ompl::base::SpaceInformationPtr &_si, const std::string &_name)
	Constructor. More...

virtual	~CRRT ()
	Destructor. More...

void	getPlannerData (::ompl::base::PlannerData &_data) const override
	Get information about the current run of the motion planner. More...

::ompl::base::PlannerStatus	solve (const ::ompl::base::PlannerTerminationCondition &_ptc) override
	Function that can solve the motion planning problem. More...

::ompl::base::PlannerStatus	solve (double _solveTime)
	Solve the motion planning problem in the given time. More...

void	clear () override
	Clear all internal datastructures. More...

void	setGoalBias (double _goalBias)
	Set the goal bias. More...

double	getGoalBias () const
	Get the goal bias the planner is using. More...

void	setRange (double _distance)
	Set the range the planner is supposed to use. More...

double	getRange () const
	Get the range the planner is using. More...

void	setPathConstraint (constraint::ProjectablePtr _projectable)
	Set a projectable constraint to be applied throughout the trajectory. More...

void	setProjectionResolution (double _resolution)
	Set the resolution for the projection. More...

double	getProjectionResolution () const
	Get the resolution for the projection. More...

void	setMinStateDifference (double _mindist)
	Set the minimum distance between two states for them to be considered "equivalent". More...

double	getMinStateDifference () const
	Get the minimum distance between two states for them to be considered "equivalent". More...

template<template< typename T > class NN>
void	setNearestNeighbors ()
	Set a nearest neighbors data structure. More...

void	setup () override
	Perform extra configuration steps, if needed. More...

Protected Member Functions
void	freeMemory () override
	Free the memory allocated by this planner. More...

Protected Member Functions inherited from aikido::planner::ompl::CRRT
double	distanceFunction (const Motion a, const Motion b) const
	Compute distance between motions (actually distance between contained states. More...

Motion *	constrainedExtend (const ::ompl::base::PlannerTerminationCondition &ptc, TreeData &tree, Motion nmotion, ::ompl::base::State gstate, ::ompl::base::State xstate, ::ompl::base::Goal goal, bool returnlast, double &dist, bool &foundgoal)
	Perform an extension that projects to a constraint. More...

Protected Attributes
TreeData	mGoalTree
	The goal tree. More...

double	mConnectionRadius
	Max distance between two trees to consider them connected. More...

std::pair<::ompl::base::State , ::ompl::base::State >	mConnectionPoint
	The pair of states in each tree connected during planning. More...

Protected Attributes inherited from aikido::planner::ompl::CRRT
TreeData	mStartTree
	A nearest-neighbors datastructure containing the tree of motions. More...

::ompl::base::StateSamplerPtr	mSampler
	State sampler. More...

double	mGoalBias
	The fraction of time the goal is picked as the state to expand towards (if such a state is available) More...

double	mMaxDistance
	The maximum length of a motion to be added to a tree. More...

::ompl::RNG	mRng
	The random number generator used to determine whether to sample a goal state or a state uniformly from free space. More...

Motion *	mLastGoalMotion
	The most recent goal motion. Used for PlannerData computation. More...

constraint::ProjectablePtr	mCons
	The constraint that must be satisfied throughout the trajectory. More...

double	mMaxStepsize
	The maximum length of a step before projecting. More...

double	mMinStepsize
	The minumum step size along the constraint. More...

Additional Inherited Members
Protected Types inherited from aikido::planner::ompl::CRRT
using	TreeData = ompl_shared_ptr<::ompl::NearestNeighbors< Motion * > >
	A nearest-neighbor datastructure representing a tree of motions *‍/. More...

Detailed Description

Implements a bi-direction constrained RRT planner.

Constructor & Destructor Documentation

◆ CRRTConnect()

aikido::planner::ompl::CRRTConnect::CRRTConnect ( const ::ompl::base::SpaceInformationPtr & si )

explicit

Constructor.

Parameters

si	Information about the planning instance

◆ ~CRRTConnect()

virtual aikido::planner::ompl::CRRTConnect::~CRRTConnect ( )

virtual

Destructor.

Member Function Documentation

◆ clear()

void aikido::planner::ompl::CRRTConnect::clear ( )

override

Clear all internal datastructures.

Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.

◆ freeMemory()

void aikido::planner::ompl::CRRTConnect::freeMemory ( )

overrideprotectedvirtual

Free the memory allocated by this planner.

Reimplemented from aikido::planner::ompl::CRRT.

◆ getConnectionRadius()

double aikido::planner::ompl::CRRTConnect::getConnectionRadius ( ) const

Get the connection radius the planner is using.

◆ getPlannerData()

void aikido::planner::ompl::CRRTConnect::getPlannerData ( ::ompl::base::PlannerData & _data ) const

override

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).

Parameters

[out] _data Data about the current run of the motion planner

◆ setConnectionRadius()

void aikido::planner::ompl::CRRTConnect::setConnectionRadius ( double _radius )

Parameters

_radius The maximum distance between two trees for them to be considered connected

◆ setNearestNeighbors()

template<template< typename T > class NN>

void aikido::planner::ompl::CRRTConnect::setNearestNeighbors

Set a nearest neighbors data structure for both the start and goal trees.

◆ setup()

void aikido::planner::ompl::CRRTConnect::setup ( )

override

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.

◆ solve() [1/2]

::ompl::base::PlannerStatus aikido::planner::ompl::CRRTConnect::solve ( const ::ompl::base::PlannerTerminationCondition & _ptc )

override

Function that can solve the motion planning problem.

This function can be called multiple times on the same problem, without calling clear() in between. This allows the planner to continue work for more time on an unsolved problem, for example. If this option is used, it is assumed the problem definition is not changed (unpredictable results otherwise). The only change in the problem definition that is accounted for is the addition of starting or goal states (but not changing previously added start/goal states). The function terminates if the call to ptc returns true.

Parameters

_ptc	Conditions for terminating planning before a solution is found

◆ solve() [2/2]

::ompl::base::PlannerStatus aikido::planner::ompl::CRRTConnect::solve ( double _solveTime )

Solve the motion planning problem in the given time.

Parameters

_solveTime The maximum allowable time to solve the planning problem

Member Data Documentation

◆ mConnectionPoint

std::pair<::ompl::base::State*, ::ompl::base::State*> aikido::planner::ompl::CRRTConnect::mConnectionPoint

protected

The pair of states in each tree connected during planning.

Use for PlannerData computation

◆ mConnectionRadius

double aikido::planner::ompl::CRRTConnect::mConnectionRadius

protected

Max distance between two trees to consider them connected.

◆ mGoalTree

TreeData aikido::planner::ompl::CRRTConnect::mGoalTree

protected

The goal tree.

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CRRTConnect()

◆ ~CRRTConnect()

Member Function Documentation

◆ clear()

◆ freeMemory()

◆ getConnectionRadius()

◆ getPlannerData()

◆ setConnectionRadius()

◆ setNearestNeighbors()

◆ setup()

◆ solve() [1/2]

◆ solve() [2/2]

Member Data Documentation

◆ mConnectionPoint

◆ mConnectionRadius

◆ mGoalTree