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SyclopRRT.h
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34
35/* Author: Matt Maly */
36
37#ifndef OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPRRT_
38#define OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPRRT_
39
40#include "ompl/control/planners/syclop/Syclop.h"
41#include "ompl/control/planners/syclop/Decomposition.h"
42#include "ompl/control/planners/syclop/GridDecomposition.h"
43#include "ompl/datastructures/NearestNeighbors.h"
44
45namespace ompl
46{
47 namespace control
48 {
52 class SyclopRRT : public Syclop
53 {
54 public:
57 : Syclop(si, d, "SyclopRRT"), regionalNN_(false)
58 {
59 }
60
61 ~SyclopRRT() override
62 {
63 freeMemory();
64 }
65
66 void setup() override;
67 void clear() override;
68 void getPlannerData(base::PlannerData &data) const override;
69
80 void setRegionalNearestNeighbors(bool enabled)
81 {
82 regionalNN_ = enabled;
83 }
84
86 template <template <typename T> class NN>
88 {
89 if (nn_ && nn_->size() != 0)
90 OMPL_WARN("Calling setNearestNeighbors will clear all states.");
91 clear();
92 regionalNN_ = false;
93 nn_ = std::make_shared<NN<Motion *>>();
94 setup();
95 }
96
97 protected:
98 Syclop::Motion *addRoot(const base::State *s) override;
99 void selectAndExtend(Region &region, std::vector<Motion *> &newMotions) override;
100
102 void freeMemory();
103
105 double distanceFunction(const Motion *a, const Motion *b) const
106 {
107 return si_->distance(a->state, b->state);
108 }
109
110 base::StateSamplerPtr sampler_;
111 DirectedControlSamplerPtr controlSampler_;
112 std::shared_ptr<NearestNeighbors<Motion *>> nn_;
113 bool regionalNN_;
114
117 };
118 }
119}
120#endif
virtual std::size_t size() const =0
Get the number of elements in the datastructure.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
SpaceInformationPtr si_
The space information for which planning is done.
Definition Planner.h:410
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition State.h:50
A shared pointer wrapper for ompl::control::Decomposition.
A shared pointer wrapper for ompl::control::DirectedControlSampler.
SyclopRRT is Syclop with RRT as its low-level tree planner. .
Definition SyclopRRT.h:53
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 SyclopRRT.cpp:69
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition SyclopRRT.h:116
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition SyclopRRT.h:87
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition SyclopRRT.cpp:60
void selectAndExtend(Region &region, std::vector< Motion * > &newMotions) override
Select a Motion from the given Region, and extend the tree from the Motion. Add any new motions creat...
Syclop::Motion * addRoot(const base::State *s) override
Add State s as a new root in the low-level tree, and return the Motion corresponding to s.
Definition SyclopRRT.cpp:95
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition SyclopRRT.h:105
SyclopRRT(const SpaceInformationPtr &si, const DecompositionPtr &d)
Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.
Definition SyclopRRT.h:56
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition SyclopRRT.cpp:41
void setRegionalNearestNeighbors(bool enabled)
If regionalNearestNeighbors is enabled, then when computing the closest Motion to a generated state i...
Definition SyclopRRT.h:80
void freeMemory()
Free the memory allocated by this planner.
Representation of a motion.
Definition Syclop.h:257
base::State * state
The state contained by the motion.
Definition Syclop.h:268
Synergistic Combination of Layers of Planning.
Definition Syclop.h:74
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition Console.h:66
Main namespace. Contains everything in this library.