ompl::control::RRT Class Reference

Rapidly-exploring Random Tree. More...

#include <ompl/control/planners/rrt/RRT.h>

Inheritance diagram for ompl::control::RRT:

List of all members.

Classes

class  Motion
 Representation of a motion. More...

Public Member Functions

 RRT (const SpaceInformationPtr &si)
 Constructor.
virtual base::PlannerStatus solve (const base::PlannerTerminationCondition &ptc)
 Continue solving for some amount of time. Return true if solution was found.
virtual void clear ()
 Clear datastructures. Call this function if the input data to the planner has changed and you do not want to continue planning.
void setGoalBias (double goalBias)
double getGoalBias () const
 Get the goal bias the planner is using.
bool getIntermediateStates () const
 Return true if the intermediate states generated along motions are to be added to the tree itself.
void setIntermediateStates (bool addIntermediateStates)
 Specify whether the intermediate states generated along motions are to be added to the tree itself.
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).
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 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)

Protected Attributes

base::StateSamplerPtr sampler_
 State sampler.
DirectedControlSamplerPtr controlSampler_
 Control sampler.
const SpaceInformationsiC_
 The base::SpaceInformation cast as control::SpaceInformation, for convenience.
boost::shared_ptr
< NearestNeighbors< Motion * > > 
nn_
 A nearest-neighbors datastructure containing the tree of motions.
double goalBias_
 The fraction of time the goal is picked as the state to expand towards (if such a state is available)
bool addIntermediateStates_
 Flag indicating whether intermediate states are added to the built tree of motions.
RNG rng_
 The random number generator.
MotionlastGoalMotion_
 The most recent goal motion. Used for PlannerData computation.

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](http://dx.doi.org/10.1177/02783640122067453)
[[PDF]](http://ijr.sagepub.com/content/20/5/378.full.pdf) [[more]](http://msl.cs.uiuc.edu/~lavalle/rrtpubs.html)

Definition at line 66 of file RRT.h.


Member Function Documentation

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 90 of file RRT.h.


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