Loading...
Searching...
No Matches
ABITstar.cpp
1/*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2020, University of Oxford
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the University of Toronto nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34
35/* Authors: Marlin Strub */
36
37#include "ompl/geometric/planners/informedtrees/ABITstar.h"
38
39namespace ompl
40{
41 namespace geometric
42 {
43 ABITstar::ABITstar(const ompl::base::SpaceInformationPtr &si, const std::string &name /*= "ABITstar"*/)
44 : ompl::geometric::BITstar(si, name)
45 {
46 // Enable cascading rewirings.
47 enableCascadingRewirings(true);
48
49 // Set the default initial inflation factor to very high.
50 setInitialInflationFactor(1000000.0);
51
52 // Set the default inflation factor parameter to something reasonable.
53 setInflationScalingParameter(10.0);
54
55 // Set the default truncation factor parameter to something reasonable.
56 setTruncationScalingParameter(5.0);
57
58 // Declare the planner parameters.
59 Planner::declareParam<double>("initial_inflation_factor", this, &ABITstar::setInitialInflationFactor,
60 &ABITstar::getInitialInflationFactor, "1.0:0.01:1000000.0");
61 Planner::declareParam<double>("inflation_scaling_parameter", this, &ABITstar::setInflationScalingParameter,
62 &ABITstar::getInflationScalingParameter, "1.0:0.01:1000000.0");
63 Planner::declareParam<double>("truncation_scaling_parameter", this, &ABITstar::setTruncationScalingParameter,
64 &ABITstar::getTruncationScalingParameter, "1.0:0.01:1000000.0");
65 }
66
71
76
81
86
91
96
101
106
107 } // namespace geometric
108
109} // namespace ompl
double getCurrentInflationFactor() const
Get the inflation factor for the current search.
Definition ABITstar.cpp:97
double getCurrentTruncationFactor() const
Get the truncation factor for the current search.
Definition ABITstar.cpp:102
double getInflationScalingParameter() const
Get the inflation scaling parameter.
Definition ABITstar.cpp:87
void setInitialInflationFactor(double factor)
Set the inflation factor for the initial search.
Definition ABITstar.cpp:67
double getTruncationScalingParameter() const
Get the truncation scaling parameter.
Definition ABITstar.cpp:92
double getInitialInflationFactor() const
Get the inflation factor for the initial search.
Definition ABITstar.cpp:82
void setTruncationScalingParameter(double parameter)
Set the parameter for the truncation factor update policy.
Definition ABITstar.cpp:77
void setInflationScalingParameter(double parameter)
Set the parameter for the inflation factor update policy.
Definition ABITstar.cpp:72
Batch Informed Trees (BIT*)
Definition BITstar.h:93
double getInitialInflationFactor() const
Get the inflation factor for the initial search.
Definition BITstar.cpp:1116
void setInflationScalingParameter(double parameter)
The parameter that scales the inflation factor on the second search of each RGG approximation....
Definition BITstar.cpp:1101
double getCurrentInflationFactor() const
Get the inflation factor for the current search.
Definition BITstar.cpp:1131
double getCurrentTruncationFactor() const
Get the truncation factor for the current search.
Definition BITstar.cpp:1136
double getTruncationScalingParameter() const
Get the truncation factor parameter.
Definition BITstar.cpp:1126
void setInitialInflationFactor(double factor)
Set the inflation for the initial search of RGG approximation. See ABIT*'s class description for more...
Definition BITstar.cpp:1095
double getInflationScalingParameter() const
Get the inflation scaling parameter.
Definition BITstar.cpp:1121
void setTruncationScalingParameter(double parameter)
Sets the parameter that scales the truncation factor for the searches of each RGG approximation....
Definition BITstar.cpp:1106
This namespace contains code that is specific to planning under geometric constraints.
Main namespace. Contains everything in this library.