Classes |
Public Member Functions |
Protected Types |
Protected Member Functions |
Protected Attributes
ompl::control::EST Class Reference
Expansive Space Trees. More...
#include <ompl/control/planners/est/EST.h>
Inheritance diagram for ompl::control::EST:

Classes | |
class | Motion |
Representation of a motion. More... | |
struct | MotionInfo |
A struct containing an array of motions and a corresponding PDF element. More... | |
struct | TreeData |
The data contained by a tree of exploration. More... | |
Public Member Functions | |
EST (const SpaceInformationPtr &si) | |
Constructor. | |
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 | setGoalBias (double goalBias) |
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. | |
double | getGoalBias () const |
Get the goal bias the planner is using. | |
void | setRange (double distance) |
Set the range the planner is supposed to use. | |
double | getRange () const |
Get the range the planner is using. | |
void | setProjectionEvaluator (const base::ProjectionEvaluatorPtr &projectionEvaluator) |
Set the projection evaluator. This class is able to compute the projection of a given state. | |
void | setProjectionEvaluator (const std::string &name) |
Set the projection evaluator (select one from the ones registered with the state space). | |
const base::ProjectionEvaluatorPtr & | getProjectionEvaluator () const |
Get the projection evaluator. | |
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. | |
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). | |
Protected Types | |
typedef Grid< MotionInfo >::Cell | GridCell |
A grid cell. | |
typedef PDF< GridCell * > | CellPDF |
A PDF of grid cells. | |
Protected Member Functions | |
void | freeMemory () |
Free the memory allocated by this planner. | |
void | addMotion (Motion *motion) |
Add a motion to the exploration tree. | |
Motion * | selectMotion () |
Select a motion to continue the expansion of the tree from. | |
Protected Attributes | |
base::ValidStateSamplerPtr | sampler_ |
Valid state sampler. | |
DirectedControlSamplerPtr | controlSampler_ |
Directed control sampler. | |
const SpaceInformation * | siC_ |
The base::SpaceInformation cast as control::SpaceInformation, for convenience. | |
TreeData | tree_ |
The exploration tree constructed by this algorithm. | |
base::ProjectionEvaluatorPtr | projectionEvaluator_ |
This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on a projection of the state space. | |
double | goalBias_ |
The fraction of time the goal is picked as the state to expand towards (if such a state is available) | |
double | maxDistance_ |
The maximum length of a motion to be added to a tree. | |
RNG | rng_ |
The random number generator. | |
CellPDF | pdf_ |
The PDF used for selecting a cell from which to sample a motion. | |
Motion * | lastGoalMotion_ |
The most recent goal motion. Used for PlannerData computation. |
Detailed Description
Expansive Space Trees.
- Short description
- EST is a tree-based motion planner that attempts to detect the less explored area of the space through the use of a grid imposed on a projection of the state space. Using this information, EST continues tree expansion primarily from less explored areas. It is important to set the projection the algorithm uses (setProjectionEvaluator() function). If no projection is set, the planner will attempt to use the default projection associated to the state space. An exception is thrown if no default projection is available either.
- External documentation
- D. Hsu, J.-C. Latombe, and R. Motwani, Path planning in expansive configuration spaces, Intl. J. Computational Geometry and Applications, vol. 9, no. 4-5, pp. 495–512, 1999. DOI: [10.1142/S0218195999000285](http://dx.doi.org/10.1142/S0218195999000285)
[[PDF]](http://bigbird.comp.nus.edu.sg/pmwiki/farm/motion/uploads/Site/ijcga96.pdf)
Member Function Documentation
void ompl::control::EST::setRange | ( | double | distance | ) | [inline] |
The documentation for this class was generated from the following files: