ompl::geometric::RRTConnect Class Reference

RRT-Connect (RRTConnect) More...

#include <ompl/geometric/planners/rrt/RRTConnect.h>

Inheritance diagram for ompl::geometric::RRTConnect:

List of all members.

Classes

class  Motion
 Representation of a motion. More...
struct  TreeGrowingInfo
 Information attached to growing a tree of motions (used internally) More...

Public Member Functions

 RRTConnect (const base::SpaceInformationPtr &si)
 Constructor.
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).
virtual base::PlannerStatus 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 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). The function terminates if the call to ptc returns true.
virtual void clear ()
 Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.
void setRange (double distance)
 Set the range the planner is supposed to use.
double getRange () const
 Get the range the planner is using.
template<template< typename T > class NN>
void setNearestNeighbors ()
 Set a different nearest neighbors datastructure.
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.

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

void freeMemory ()
 Free the memory allocated by this planner.
double distanceFunction (const Motion *a, const Motion *b) const
 Compute distance between motions (actually distance between contained states)
GrowState growTree (TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion)
 Grow a tree towards a random state.

Protected Attributes

base::StateSamplerPtr sampler_
 State sampler.
TreeData tStart_
 The start tree.
TreeData tGoal_
 The goal tree.
double maxDistance_
 The maximum length of a motion to be added to a tree.
RNG rng_
 The random number generator.
std::pair< base::State
*, base::State * > 
connectionPoint_
 The pair of states in each tree connected during planning. Used for PlannerData computation.

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](http://dx.doi.org/10.1109/ROBOT.2000.844730)
[[PDF]](http://ieeexplore.ieee.org/ielx5/6794/18246/00844730.pdf?tp=&arnumber=844730&isnumber=18246) [[more]](http://msl.cs.uiuc.edu/~lavalle/rrtpubs.html)

Definition at line 61 of file RRTConnect.h.


Member Enumeration Documentation

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 141 of file RRTConnect.h.


Member Function Documentation

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 81 of file RRTConnect.h.


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