ompl::geometric::RRTConnect Class Reference

#include <RRTConnect.h>

Inheritance diagram for ompl::geometric::RRTConnect:

Classes
class	Motion
	Representation of a motion. More...
struct	TreeGrowingInfo
	Information attached to growing a tree of motions (used internally). More...
Public Member Functions
virtual void	clear (void)
	Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.
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).
double	getRange (void) const
	Get the range the planner is using.
	RRTConnect (const base::SpaceInformationPtr &si)
	Constructor.
template<template< typename T > class NN>
void	setNearestNeighbors (void)
	Set a different nearest neighbors datastructure.
void	setRange (double distance)
	Set the range the planner is supposed to use.
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)
	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 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). The function terminates if the call to ptc returns true.
virtual	~RRTConnect (void)
Protected Types
enum	GrowState { TRAPPED, ADVANCED, REACHED }
	The state of the tree after an attempt to extend it. More...
typedef boost::shared_ptr < NearestNeighbors< Motion * > >	TreeData
	A nearest-neighbor datastructure representing a tree of motions.
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.
GrowState	growTree (TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion)
	Grow a tree towards a random state.
Protected Attributes
double	maxDistance_
	The maximum length of a motion to be added to a tree.
RNG	rng_
	The random number generator.
base::StateSamplerPtr	sampler_
	State sampler.
TreeData	tGoal_
	The goal tree.
TreeData	tStart_
	The start tree.

Detailed Description

RRT-Connect (RRTConnect).

Short description: The basic idea is to grow to RRTs, one from the start and one from the goal, and attempt to connect them.

External documentation: J. Kuffner and S.M. LaValle, RRT-connect: An efficient approach to single-query path planning, in Proc. 2000 IEEE Intl. Conf. on Robotics and Automation, pp. 995–1001, Apr. 2000. DOI: 10.1109/ROBOT.2000.844730
[PDF] [more]

Definition at line 63 of file RRTConnect.h.

Member Typedef Documentation

typedef boost::shared_ptr< NearestNeighbors<Motion*> > ompl::geometric::RRTConnect::TreeData [protected]

A nearest-neighbor datastructure representing a tree of motions.

Definition at line 139 of file RRTConnect.h.

Member Enumeration Documentation

enum ompl::geometric::RRTConnect::GrowState [protected]

The state of the tree after an attempt to extend it.

Enumerator:

TRAPPED	no progress has been made
ADVANCED	progress has been made towards the randomly sampled state
REACHED	the randomly sampled state was reached

Definition at line 149 of file RRTConnect.h.

Constructor & Destructor Documentation

ompl::geometric::RRTConnect::RRTConnect ( const base::SpaceInformationPtr & si ) [inline]

Constructor.

Definition at line 68 of file RRTConnect.h.

virtual ompl::geometric::RRTConnect::~RRTConnect ( void ) [inline, virtual]

Definition at line 74 of file RRTConnect.h.

Member Function Documentation

virtual void ompl::geometric::RRTConnect::clear ( void ) [virtual]

Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.

Reimplemented from ompl::base::Planner.

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

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

Definition at line 163 of file RRTConnect.h.

void ompl::geometric::RRTConnect::freeMemory ( void ) [protected]

Free the memory allocated by this planner.

virtual void ompl::geometric::RRTConnect::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.

double ompl::geometric::RRTConnect::getRange ( void ) const [inline]

Get the range the planner is using.

Definition at line 96 of file RRTConnect.h.

GrowState ompl::geometric::RRTConnect::growTree	(	TreeData &	tree,
		TreeGrowingInfo &	tgi,
		Motion *	rmotion
	)			`[protected]`

Grow a tree towards a random state.

template<template< typename T > class NN>

void ompl::geometric::RRTConnect::setNearestNeighbors ( void ) [inline]

Set a different nearest neighbors datastructure.

Definition at line 103 of file RRTConnect.h.

void ompl::geometric::RRTConnect::setRange ( double distance ) [inline]

Set the range the planner is supposed to use.

This parameter greatly influences the runtime of the algorithm. It represents the maximum length of a motion to be added in the tree of motions.

Definition at line 90 of file RRTConnect.h.

virtual void ompl::geometric::RRTConnect::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::geometric::RRTConnect::solve ( const base::PlannerTerminationCondition & ptc ) [virtual]

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 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). The function terminates if the call to ptc returns true.

Implements ompl::base::Planner.