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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 {
61
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...
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
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
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
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()