ompl::control::RRT Class Reference

Rapidly-exploring Random Tree. More...

#include <RRT.h>

Inheritance diagram for ompl::control::RRT:

Classes
class	Motion
	Representation of a motion. More...
Public Member Functions
virtual void	clear (void)
	Clear datastructures. Call this function if the input data to the planner has changed and you do not want to continue planning.
double	getGoalBias (void) const
	Get the goal bias the planner is using.
virtual void	getPlannerData (base::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).
	RRT (const SpaceInformationPtr &si)
	Constructor.
void	setGoalBias (double goalBias)
template<template< typename T > class NN>
void	setNearestNeighbors (void)
	Set a different nearest neighbors datastructure.
virtual void	setup (void)
	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.
virtual bool	solve (const base::PlannerTerminationCondition &ptc)
	Continue solving for some amount of time. Return true if solution was found.
virtual	~RRT (void)
Protected Member Functions
double	distanceFunction (const Motion a, const Motion b) const
	Compute distance between motions (actually distance between contained states).
void	freeMemory (void)
	Free the memory allocated by this planner.
Protected Attributes
ControlSamplerPtr	controlSampler_
	Control sampler.
double	goalBias_
	The fraction of time the goal is picked as the state to expand towards (if such a state is available).
boost::shared_ptr < NearestNeighbors< Motion * > >	nn_
	A nearest-neighbors datastructure containing the tree of motions.
RNG	rng_
	The random number generator.
base::StateSamplerPtr	sampler_
	State sampler.
const SpaceInformation *	siC_
	The base::SpaceInformation cast as control::SpaceInformation, for convenience.

Detailed Description

Rapidly-exploring Random Tree.

Short description: RRT is a tree-based motion planner that uses the following idea: RRT samples a random state qr in the state space, then finds the state qc among the previously seen states that is closest to qr and expands from qc towards qr, until a state qm is reached. qm is then added to the exploration tree. This implementation is intended for systems with differential constraints.

External documentation: S.M. LaValle and J.J. Kuffner, Randomized kinodynamic planning, Intl. J. of Robotics Research, vol. 20, pp. 378–400, May 2001. DOI: 10.1177/02783640122067453
[PDF] [more]

Definition at line 64 of file control/planners/rrt/RRT.h.

Constructor & Destructor Documentation

ompl::control::RRT::RRT ( const SpaceInformationPtr & si ) [inline]

Constructor.

Definition at line 46 of file control/planners/rrt/RRT.h.

virtual ompl::control::RRT::~RRT ( void ) [inline, virtual]

Definition at line 54 of file control/planners/rrt/RRT.h.

Member Function Documentation

virtual void ompl::control::RRT::clear ( void ) [virtual]

Clear datastructures. Call this function if the input data to the planner has changed and you do not want to continue planning.

Reimplemented from ompl::base::Planner.

double ompl::control::RRT::distanceFunction	(	const Motion *	a,
		const Motion *	b
	)			const `[inline, protected]`

Compute distance between motions (actually distance between contained states).

Definition at line 137 of file control/planners/rrt/RRT.h.

void ompl::control::RRT::freeMemory ( void ) [protected]

Free the memory allocated by this planner.

double ompl::control::RRT::getGoalBias ( void ) const [inline]

Get the goal bias the planner is using.

Definition at line 80 of file control/planners/rrt/RRT.h.

virtual void ompl::control::RRT::getPlannerData ( base::PlannerData & data ) const [virtual]

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).

Reimplemented from ompl::base::Planner.

void ompl::control::RRT::setGoalBias ( double goalBias ) [inline]

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 at line 74 of file control/planners/rrt/RRT.h.

template<template< typename T > class NN>

void ompl::control::RRT::setNearestNeighbors ( void ) [inline]

Set a different nearest neighbors datastructure.

Definition at line 89 of file control/planners/rrt/RRT.h.

virtual void ompl::control::RRT::setup ( void ) [virtual]

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.

Reimplemented from ompl::base::Planner.

virtual bool ompl::control::RRT::solve ( const base::PlannerTerminationCondition & ptc ) [virtual]

Continue solving for some amount of time. Return true if solution was found.

Implements ompl::base::Planner.