EST.cpp
52 Planner::declareParam<double>("goal_bias", this, &EST::setGoalBias, &EST::getGoalBias, "0.:.05:1.");
97 ompl::base::PlannerStatus ompl::control::EST::solve(const base::PlannerTerminationCondition &ptc)
124 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), tree_.size);
203 path->append(mpath[i]->state, mpath[i]->control, mpath[i]->steps * siC_->getPropagationStepSize());
217 OMPL_INFORM("%s: Created %u states in %u cells", getName().c_str(), tree_.size, tree_.grid.size());
225 return cell && !cell->data.empty() ? cell->data[rng_.uniformInt(0, cell->data.size() - 1)] : NULL;
bool approximateSolutions
Flag indicating whether the planner is able to compute approximate solutions.
Definition: Planner.h:214
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
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: EST.cpp:97
void append(const base::State *state)
Append state to the end of the path; it is assumed state is the first state, so no control is applied...
Definition: PathControl.cpp:266
Motion * selectMotion()
Select a motion to continue the expansion of the tree from.
Definition: EST.cpp:222
virtual bool hasControls() const
Indicate whether any information about controls (ompl::control::Control) is stored in this instance...
Definition: PlannerData.cpp:800
unsigned int addGoalVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
Definition: PlannerData.cpp:434
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
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: EST.cpp:248
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: EST.h:267
Representation of an edge in PlannerData for planning with controls. This structure encodes a specifi...
Definition: PlannerData.h:60
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
Definition: EST.h:255
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: EST.cpp:60
virtual void sampleGoal(State *st) const =0
Sample a state in the goal region.
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:60
Invalid start state or no start state specified.
Definition: PlannerStatus.h:56
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:49
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: EST.cpp:70
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0))
Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...
Definition: PlannerData.cpp:444
bool canSample() const
Return true if maxSampleCount() > 0, since in this case samples can certainly be produced.
Definition: GoalSampleableRegion.h:70
unsigned int addStartVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
Definition: PlannerData.cpp:425
virtual bool isSatisfied(const State *st) const =0
Return true if the state satisfies the goal constraints.
A boost shared pointer wrapper for ompl::control::SpaceInformation.
void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj)
If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...
Definition: SelfConfig.cpp:238
void setGoalBias(double goalBias)
In the process of randomly selecting states in the state space to attempt to go towards, the algorithm may in fact choose the actual goal state, if it knows it, with some probability. This probability is a real number between 0.0 and 1.0; its value should usually be around 0.05 and should not be too large. It is probably a good idea to use the default value.
Definition: EST.h:94
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:232
This class contains methods that automatically configure various parameters for motion planning...
Definition: SelfConfig.h:58
const SpaceInformation * siC_
The base::SpaceInformation cast as control::SpaceInformation, for convenience.
Definition: EST.h:246
A boost shared pointer wrapper for ompl::base::Path.