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| BiTRRT (const base::SpaceInformationPtr &si) |
| Constructor.
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void | clear () override |
| Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.
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void | setup () override |
| Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceInformation::setup() if needed. This must be called before solving.
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void | getPlannerData (base::PlannerData &data) const override |
| Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between).
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base::PlannerStatus | solve (const base::PlannerTerminationCondition &ptc) override |
| Function that can solve the motion planning problem. This function can be called multiple times on the same problem, without calling clear() in between. This allows the planner to continue work for more time on an unsolved problem, for example. If this option is used, it is assumed the problem definition is not changed (unpredictable results otherwise). The only change in the problem definition that is accounted for is the addition of starting or goal states (but not changing previously added start/goal states). If clearQuery() is called, the planner may retain prior datastructures generated from a previous query on a new problem definition. The function terminates if the call to ptc returns true.
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void | setRange (double distance) |
| Set the maximum possible length of any one motion in the search tree. Very short/long motions may inhibit the exploratory capabilities of the planner.
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double | getRange () const |
| Get the range the planner is using.
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void | setTempChangeFactor (double factor) |
| Set the factor by which the temperature is increased after a failed transition test. This value should be in the range (0, 1], typically close to zero (default is 0.1). This value is an exponential (e^factor) that is multiplied with the current temperature.
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double | getTempChangeFactor () const |
| Get the factor by which the temperature is increased after a failed transition.
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void | setCostThreshold (double maxCost) |
| Set the cost threshold (default is infinity). Any motion cost that is not better than this cost (according to the optimization objective) will not be expanded by the planner.
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double | getCostThreshold () const |
| Get the cost threshold (default is infinity). Any motion cost that is not better than this cost (according to the optimization objective) will not be expanded by the planner. */.
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void | setInitTemperature (double initTemperature) |
| Set the initial temperature at the start of planning. Should be high to allow for initial exploration.
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double | getInitTemperature () const |
| Get the initial temperature at the start of planning.
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void | setFrontierThreshold (double frontierThreshold) |
| Set the distance between a new state and the nearest neighbor that qualifies a state as being a frontier node.
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double | getFrontierThreshold () const |
| Get the distance between a new state and the nearest neighbor that qualifies a state as being a frontier node.
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void | setFrontierNodeRatio (double frontierNodeRatio) |
| Set the ratio between adding non-frontier nodes to frontier nodes. For example: .1 is one non-frontier node for every 10 frontier nodes added.
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double | getFrontierNodeRatio () const |
| Get the ratio between adding non-frontier nodes to frontier nodes.
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template<template< typename T > class NN> |
void | setNearestNeighbors () |
| Set a different nearest neighbors datastructure.
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| Planner (const Planner &)=delete |
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Planner & | operator= (const Planner &)=delete |
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| Planner (SpaceInformationPtr si, std::string name) |
| Constructor.
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virtual | ~Planner ()=default |
| Destructor.
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template<class T > |
T * | as () |
| Cast this instance to a desired type.
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template<class T > |
const T * | as () const |
| Cast this instance to a desired type.
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const SpaceInformationPtr & | getSpaceInformation () const |
| Get the space information this planner is using.
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const ProblemDefinitionPtr & | getProblemDefinition () const |
| Get the problem definition the planner is trying to solve.
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ProblemDefinitionPtr & | getProblemDefinition () |
| Get the problem definition the planner is trying to solve.
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const PlannerInputStates & | getPlannerInputStates () const |
| Get the planner input states.
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virtual void | setProblemDefinition (const ProblemDefinitionPtr &pdef) |
| Set the problem definition for the planner. The problem needs to be set before calling solve(). Note: If this problem definition replaces a previous one, it may also be necessary to call clear() or clearQuery().
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virtual PlannerStatus | solve (const PlannerTerminationCondition &ptc)=0 |
| Function that can solve the motion planning problem. This function can be called multiple times on the same problem, without calling clear() in between. This allows the planner to continue work for more time on an unsolved problem, for example. If this option is used, it is assumed the problem definition is not changed (unpredictable results otherwise). The only change in the problem definition that is accounted for is the addition of starting or goal states (but not changing previously added start/goal states). If clearQuery() is called, the planner may retain prior datastructures generated from a previous query on a new problem definition. The function terminates if the call to ptc returns true.
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PlannerStatus | solve (const PlannerTerminationConditionFn &ptc, double checkInterval) |
| Same as above except the termination condition is only evaluated at a specified interval.
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PlannerStatus | solve (double solveTime) |
| Same as above except the termination condition is solely a time limit: the number of seconds the algorithm is allowed to spend planning.
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virtual void | clear () |
| Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.
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virtual void | clearQuery () |
| Clears internal datastructures of any query-specific information from the previous query. Planner settings are not affected. The planner, if able, should retain all datastructures generated from previous queries that can be used to help solve the next query. Note that clear() should also clear all query-specific information along with all other datastructures in the planner. By default clearQuery() calls clear().
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virtual void | getPlannerData (PlannerData &data) const |
| Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between).
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const std::string & | getName () const |
| Get the name of the planner.
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void | setName (const std::string &name) |
| Set the name of the planner.
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const PlannerSpecs & | getSpecs () const |
| Return the specifications (capabilities of this planner)
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virtual void | setup () |
| Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceInformation::setup() if needed. This must be called before solving.
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virtual void | checkValidity () |
| Check to see if the planner is in a working state (setup has been called, a goal was set, the input states seem to be in order). In case of error, this function throws an exception.
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bool | isSetup () const |
| Check if setup() was called for this planner.
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ParamSet & | params () |
| Get the parameters for this planner.
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const ParamSet & | params () const |
| Get the parameters for this planner.
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const PlannerProgressProperties & | getPlannerProgressProperties () const |
| Retrieve a planner's planner progress property map.
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virtual void | printProperties (std::ostream &out) const |
| Print properties of the motion planner.
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virtual void | printSettings (std::ostream &out) const |
| Print information about the motion planner's settings.
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void | freeMemory () |
| Free all memory allocated during planning.
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Motion * | addMotion (const base::State *state, TreeData &tree, Motion *parent=nullptr) |
| Add a state to the given tree. The motion created is returned.
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bool | transitionTest (const base::Cost &motionCost) |
| Transition test that filters transitions based on the motion cost. If the motion cost is near or below zero, the motion is always accepted, otherwise a probabilistic criterion based on the temperature and motionCost is used.
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bool | minExpansionControl (double dist) |
| Use frontier node ratio to filter nodes that do not add new information to the search tree.
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GrowResult | extendTree (Motion *toMotion, TreeData &tree, Motion *&result) |
| Extend tree toward the state in rmotion. Store the result of the extension, if any, in result.
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GrowResult | extendTree (Motion *nearest, TreeData &tree, Motion *toMotion, Motion *&result) |
| Extend tree from nearest toward toMotion. Store the result of the extension, if any, in result.
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bool | connectTrees (Motion *nmotion, TreeData &tree, Motion *xmotion) |
| Attempt to connect tree to nmotion, which is in the other tree. xmotion is scratch space and will be overwritten.
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double | distanceFunction (const Motion *a, const Motion *b) const |
| Compute distance between motions (actually distance between contained states)
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template<typename T , typename PlannerType , typename SetterType , typename GetterType > |
void | declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter, const GetterType &getter, const std::string &rangeSuggestion="") |
| This function declares a parameter for this planner instance, and specifies the setter and getter functions.
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template<typename T , typename PlannerType , typename SetterType > |
void | declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter, const std::string &rangeSuggestion="") |
| This function declares a parameter for this planner instance, and specifies the setter function.
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void | addPlannerProgressProperty (const std::string &progressPropertyName, const PlannerProgressProperty &prop) |
| Add a planner progress property called progressPropertyName with a property querying function prop to this planner's progress property map.
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Bi-directional Transition-based Rapidly-exploring Random Trees.
- Short description
- This planner grows two T-RRTs, one from the start and one from the goal, and attempts to connect the trees somewhere in the middle. T-RRT is an RRT variant and tree-based motion planner that takes into consideration state costs to compute low-cost paths that follow valleys and saddle points of the configuration-space costmap. It uses transition tests from stochastic optimization methods to accept or reject new potential states.
- External documentation
- L. Jaillet, J. Cortés, T. Siméon, Sampling-Based Path Planning on Configuration-Space Costmaps, in IEEE TRANSACTIONS ON ROBOTICS, VOL. 26, NO. 4, AUGUST 2010. DOI: 10.1109/TRO.2010.2049527
[PDF]
D. Devaurs, T. Siméon, J. Cortés, Enhancing the Transition-based RRT to Deal with Complex Cost Spaces, in IEEE International Conference on Robotics and Automation (ICRA), 2013, pp. 4120-4125. DOI: 10.1109/ICRA.2013.6631158
[PDF]
Definition at line 69 of file BiTRRT.h.