37 #ifndef OMPL_CONTROL_PLANNERS_KPIECE_KPIECE1_
38 #define OMPL_CONTROL_PLANNERS_KPIECE_KPIECE1_
40 #include "ompl/control/planners/PlannerIncludes.h"
41 #include "ompl/base/ProjectionEvaluator.h"
42 #include "ompl/datastructures/GridB.h"
88 virtual void clear(
void);
197 virtual void setup(
void);
394 unsigned int findNextMotion(
const std::vector<Grid::Coord> &coords,
unsigned int index,
unsigned int count);
CloseSample(Grid::Cell *c, Motion *m, double d)
Constructor fully initializes the content of this structure.
void setBadCellScoreFactor(double bad)
Set the factor that is to be applied to a cell's score when an expansion from that cell fails...
double getGoalBias(void) const
double distance
The distance to the goal. This value is increased over time, as the number of selections for this sam...
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
void setGoodCellScoreFactor(double good)
Set the factor that is to be applied to a cell's score when an expansion from that cell succeedes...
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...
void setCellScoreFactor(double good, double bad)
When extending a motion from a cell, the extension can be successful or it can fail. If the extension is successful, the score of the cell is multiplied by good. If the extension fails, the score of the cell is multiplied by bad. These numbers should be in the range (0, 1].
Bounded set of good samples.
bool selectMotion(Motion *&smotion, Grid::Cell *&scell)
Select the top sample (closest to the goal) and update its position in the set subsequently (pretend ...
Representation of a simple grid.
double selectBorderFraction_
The fraction of time to focus exploration on the border of the grid.
void setGoalBias(double goalBias)
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
TreeData tree_
The tree datastructure.
Definition of an abstract control.
GridB< CellData *, OrderCellsByImportance > Grid
The datatype for the maintained grid datastructure.
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
Definintion of an operator passed to the Grid structure, to order cells by importance.
A boost shared pointer wrapper for ompl::control::ControlSampler.
unsigned int iteration
The iteration at which this cell was created.
const base::ProjectionEvaluatorPtr & getProjectionEvaluator(void) const
Get the projection evaluator.
double importance
The computed importance (based on other class members)
double score
A heuristic score computed based on distance to goal (if available), successes and failures at expand...
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
double getBorderFraction(void) const
Get the fraction of time to focus exploration on boundary.
double badScoreFactor_
When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...
bool consider(Grid::Cell *cell, Motion *motion, double distance)
Evaluate whether motion motion, part of cell cell is good enough to be part of the set of samples clo...
unsigned int findNextMotion(const std::vector< Grid::Coord > &coords, unsigned int index, unsigned int count)
When generated motions are to be added to the tree of motions, they often need to be split...
unsigned int size
The total number of motions (there can be multiple per cell) in the grid.
GridN< CellData * >::Cell Cell
Definition of a cell in this grid.
static void computeImportance(Grid::Cell *cell, void *)
This function is provided as a calback to the grid datastructure to update the importance of a cell...
std::vector< Motion * > motions
The set of motions contained in this grid cell.
void setMaxCloseSamplesCount(unsigned int nCloseSamples)
When motions reach close to the goal, they are stored in a separate queue to allow biasing towards th...
void freeMemory(void)
Free all the memory allocated by this planner.
virtual void getPlannerData(base::PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Grid::Cell * addMotion(Motion *motion, double dist)
Add a motion to the grid containing motions. As a hint, dist specifies the distance to the goal from ...
void freeMotion(Motion *motion)
Free the memory for a motion.
void setBorderFraction(double bp)
Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...
base::ProjectionEvaluatorPtr projectionEvaluator_
This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...
Motion * motion
The motion that is close to the goal.
bool operator<(const CloseSample &other) const
Sort samples in accordance to their distance to the goal.
double goodScoreFactor_
When extending a motion from a cell, the extension can be successful. If it is, the score of the cell...
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Representation of a motion for this algorithm.
Base class for a planner.
Motion * parent
The parent motion in the exploration tree.
bool canSample(void) const
Return true if samples can be selected from this set.
The data defining a tree of motions for this algorithm.
unsigned int maxSize
Maximum number of samples to maintain.
Information about a known good sample (closer to the goal than others)
double coverage
A measure of coverage for this cell. For this implementation, this is the sum of motion durations...
double getBadCellScoreFactor(void) const
Get the factor that is multiplied to a cell's score if extending a motion from that cell failed...
A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.
A class to store the exit status of Planner::solve()
void freeGridMotions(Grid &grid)
Free the memory for the motions contained in a grid.
KPIECE1(const SpaceInformationPtr &si)
Constructor.
Definition of an abstract state.
unsigned int getMaxCloseSamplesCount(void) const
Get the maximum number of samples to store in the queue of samples that are close to the goal...
ControlSamplerPtr controlSampler_
A control sampler.
unsigned int selections
The number of times this cell has been selected for expansion.
Kinodynamic Planning by Interior-Exterior Cell Exploration.
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state...
std::set< CloseSample > samples
The maintained samples.
Definition of a cell in this grid.
The data held by a cell in the grid of motions.
Motion(const SpaceInformation *si)
Constructor that allocates memory for the state and the control.
Grid grid
A grid containing motions, imposed on a projection of the state space.
bool selectMotion(Motion *&smotion, Grid::Cell *&scell)
Select a motion and the cell it is part of from the grid of motions. This is where preference is give...
unsigned int iteration
The number of iterations performed on this tree.
RNG rng_
The random number generator.
Grid::Cell * cell
The cell of the motion that is close to the goal.
CloseSamples(unsigned int size)
Construct an object to maintain a set of at most size samples.
Control * control
The control contained by this motion.
const SpaceInformation * siC_
The base::SpaceInformation cast as control::SpaceInformation, for convenience.
virtual void setup(void)
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
SpaceInformationPtr si_
The space information for which planning is done.
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
virtual void clear(void)
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
base::State * state
The state contained by this motion.
void freeCellData(CellData *cdata)
Free the memory for the data contained in a grid cell.
unsigned int steps
The number of steps the control is applied for.
unsigned int nCloseSamples_
When motions reach close to the goal, they are stored in a separate queue to allow biasing towards th...
double getGoodCellScoreFactor(void) const
Get the factor that is multiplied to a cell's score if extending a motion from that cell succeeded...