Class AORRTC

Inheritance Relationships

class AORRTC : public ompl::base::Planner 

Asymptotically Optimal RRT-Connect.

Short description: AORRTC leverages RRT-Connect to repeatedly search in a cost-augmented space, which is slowly constrained to force the planner to iteratively find better solutions. This meta algorithm repeatedly runs the underlying RRT-Connect search (AOXRRTConnect) and constrains each consecutive search by the cost of the current best solution.
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] T. S. Wilson, W. Thomason, Z. Kingston, and J. D. Gammell, AORRTC: Almost-surely asymptotically optimal planning with RRT-Connect, in IEEE Robotics and Automation Letters, Vol. 10, no. 12, pp. 13375-13382, Dec. 2025. DOI: 10.1109/LRA.2025.3615522 [PDF]

Public Functions

virtual 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).

virtual 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.

virtual void clear() override: Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.

virtual 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.

inline const PathSimplifierPtr &getPathSimplifier() const: Get the path simplifier.

void simplifySolution(const base::PathPtr &p, const base::PlannerTerminationCondition &ptc): Attempt to simplify the current solution path. Stop computation when ptc becomes true at the latest.

ompl::base::Cost bestCost() const: Retrieve the best exact-solution cost found.

Protected Functions

Protected Attributes

double maxDistance_ = {0.}: The maximum length of a motion to be added to a tree.