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TRRT.h
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34
35/* Author: Dave Coleman, Ryan Luna */
36
37#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_TRRT_
38#define OMPL_GEOMETRIC_PLANNERS_RRT_TRRT_
39
40#include "ompl/geometric/planners/PlannerIncludes.h"
41#include "ompl/datastructures/NearestNeighbors.h"
42#include "ompl/base/OptimizationObjective.h"
43
44/*
45 NOTES:
46 **Variable Names that have been converted to longer versions from standards:
47 nearest_neighbors_ -> nn_
48 planner_termination_condition -> ptc
49
50 **Inherited Member Variables Key:
51 si_ -> SpaceInformation
52 pdef_ -> ProblemDefinition
53 pis_ -> PlannerInputStates - Utility class to extract valid input states
54*/
55
56namespace ompl
57{
58 namespace geometric
59 {
81
83 class TRRT : public base::Planner
84 {
85 public:
87 TRRT(const base::SpaceInformationPtr &si);
88
89 ~TRRT() override;
90
91 void getPlannerData(base::PlannerData &data) const override;
92
93 base::PlannerStatus solve(const base::PlannerTerminationCondition &plannerTerminationCondition) override;
94
95 void clear() override;
96
106 void setGoalBias(double goalBias)
107 {
108 goalBias_ = goalBias;
109 }
110
112 double getGoalBias() const
113 {
114 return goalBias_;
115 }
116
122 void setRange(double distance)
123 {
124 maxDistance_ = distance;
125 }
126
128 double getRange() const
129 {
130 return maxDistance_;
131 }
132
138 void setTempChangeFactor(double factor)
139 {
140 tempChangeFactor_ = exp(factor);
141 }
142
144 double getTempChangeFactor() const
145 {
146 return log(tempChangeFactor_);
147 }
148
152 void setCostThreshold(double maxCost)
153 {
154 costThreshold_ = base::Cost(maxCost);
155 }
156
160 double getCostThreshold() const
161 {
162 return costThreshold_.value();
163 }
164
167 void setInitTemperature(double initTemperature)
168 {
169 initTemperature_ = initTemperature;
171 }
172
174 double getInitTemperature() const
175 {
176 return initTemperature_;
177 }
178
181 void setFrontierThreshold(double frontier_threshold)
182 {
183 frontierThreshold_ = frontier_threshold;
184 }
185
188 double getFrontierThreshold() const
189 {
190 return frontierThreshold_;
191 }
192
195 void setFrontierNodeRatio(double frontierNodeRatio)
196 {
197 frontierNodeRatio_ = frontierNodeRatio;
198 }
199
202 double getFrontierNodeRatio() const
203 {
204 return frontierNodeRatio_;
205 }
206
208 template <template <typename T> class NN>
210 {
211 if (nearestNeighbors_->size() == 0)
212 OMPL_WARN("Calling setNearestNeighbors will clear all states.");
213 clear();
214 nearestNeighbors_ = std::make_shared<NN<Motion *>>();
215 setup();
216 }
217
218 void setup() override;
219
220 protected:
225 class Motion
226 {
227 public:
228 Motion() = default;
229
231 Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
232 {
233 }
234
235 ~Motion() = default;
236
239
241 Motion *parent{nullptr};
242
245 };
246
248 void freeMemory();
249
251 double distanceFunction(const Motion *a, const Motion *b) const
252 {
253 return si_->distance(a->state, b->state);
254 }
255
259 bool transitionTest(const base::Cost &motionCost);
260
262 bool minExpansionControl(double randMotionDistance);
263
265 base::StateSamplerPtr sampler_;
266
268 std::shared_ptr<NearestNeighbors<Motion *>> nearestNeighbors_;
269
272 double goalBias_{.05};
273
275 double maxDistance_{0.};
276
279
282
283 // *********************************************************************************************************
284 // TRRT-Specific Variables
285 // *********************************************************************************************************
286
287 // Transtion Test -----------------------------------------------------------------------
288
292 double temp_;
293
296
299
302
306
309
310 // Minimum Expansion Control --------------------------------------------------------------
311
316
320
323
325 ompl::base::OptimizationObjectivePtr opt_;
326 };
327 }
328}
329
330#endif
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Base class for a planner.
Definition Planner.h:216
SpaceInformationPtr si_
The space information for which planning is done.
Definition Planner.h:410
Definition of an abstract state.
Definition State.h:50
Representation of a motion.
Definition TRRT.h:226
Motion * parent
The parent motion in the exploration tree.
Definition TRRT.h:241
base::Cost cost
Cost of the state.
Definition TRRT.h:244
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition TRRT.h:231
base::State * state
The state contained by the motion.
Definition TRRT.h:238
double getFrontierNodeRatio() const
Get the ratio between adding nonfrontier nodes to frontier nodes, for example .1 is 1/10 or one nonfr...
Definition TRRT.h:202
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition TRRT.cpp:365
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition TRRT.h:251
void freeMemory()
Free the memory allocated by this planner.
Definition TRRT.cpp:135
std::shared_ptr< NearestNeighbors< Motion * > > nearestNeighbors_
A nearest-neighbors datastructure containing the tree of motions.
Definition TRRT.h:268
void setTempChangeFactor(double factor)
Set the factor by which the temperature is increased after a failed transition test....
Definition TRRT.h:138
void setCostThreshold(double maxCost)
Set the cost threshold (default is infinity). Any motion cost that is not better than this cost (acco...
Definition TRRT.h:152
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition TRRT.h:272
double frontierThreshold_
The distance between an old state and a new state that qualifies it as a frontier state.
Definition TRRT.h:319
double frontierCount_
The number of frontier nodes in the search tree.
Definition TRRT.h:315
void setFrontierNodeRatio(double frontierNodeRatio)
Set the ratio between adding nonfrontier nodes to frontier nodes, for example .1 is 1/10 or one nonfr...
Definition TRRT.h:195
double getCostThreshold() const
Get the cost threshold (default is infinity). Any motion cost that is not better than this cost (acco...
Definition TRRT.h:160
base::Cost worstCost_
The least desirable (e.g., maximum) cost value in the search tree.
Definition TRRT.h:298
double getRange() const
Get the range the planner is using.
Definition TRRT.h:128
base::Cost costThreshold_
All motion costs must be better than this cost (default is infinity)
Definition TRRT.h:301
void setFrontierThreshold(double frontier_threshold)
Set the distance between a new state and the nearest neighbor that qualifies that state as being a fr...
Definition TRRT.h:181
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition TRRT.h:281
void setInitTemperature(double initTemperature)
Set the initial temperature at the beginning of the algorithm. Should be high to allow for initial ex...
Definition TRRT.h:167
double getFrontierThreshold() const
Get the distance between a new state and the nearest neighbor that qualifies that state as being a fr...
Definition TRRT.h:188
double getTempChangeFactor() const
Get the factor by which the temperature rises based on current acceptance/rejection rate.
Definition TRRT.h:144
double tempChangeFactor_
The value of the expression exp^T_rate. The temperature is increased by this factor whenever the tran...
Definition TRRT.h:305
RNG rng_
The random number generator.
Definition TRRT.h:278
double nonfrontierCount_
The number of non-frontier nodes in the search tree.
Definition TRRT.h:313
ompl::base::OptimizationObjectivePtr opt_
The optimization objective being optimized by TRRT.
Definition TRRT.h:325
double temp_
Temperature parameter used to control the difficulty level of transition tests. Low temperatures limi...
Definition TRRT.h:292
void setRange(double distance)
Set the range the planner is supposed to use.
Definition TRRT.h:122
double initTemperature_
The initial value of temp_.
Definition TRRT.h:308
double getGoalBias() const
Get the goal bias the planner is using.
Definition TRRT.h:112
base::PlannerStatus solve(const base::PlannerTerminationCondition &plannerTerminationCondition) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition TRRT.cpp:152
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition TRRT.cpp:73
base::Cost bestCost_
The most desirable (e.g., minimum) cost value in the search tree.
Definition TRRT.h:295
bool minExpansionControl(double randMotionDistance)
Use ratio to prefer frontier nodes to nonfrontier ones.
Definition TRRT.cpp:412
void setGoalBias(double goalBias)
Set the goal bias.
Definition TRRT.h:106
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition TRRT.cpp:90
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition TRRT.h:209
TRRT(const base::SpaceInformationPtr &si)
Constructor.
Definition TRRT.cpp:44
bool transitionTest(const base::Cost &motionCost)
Filter irrelevant configuration regarding the search of low-cost paths before inserting into tree.
Definition TRRT.cpp:385
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition TRRT.h:275
base::StateSamplerPtr sampler_
State sampler.
Definition TRRT.h:265
double frontierNodeRatio_
Target ratio of non-frontier nodes to frontier nodes. rho.
Definition TRRT.h:322
double getInitTemperature() const
Get the temperature at the start of planning.
Definition TRRT.h:174
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition Console.h:66
This namespace contains code that is specific to planning under geometric constraints.
Main namespace. Contains everything in this library.
A class to store the exit status of Planner::solve()