ompl::geometric::STRIDE Class Reference
Search Tree with Resolution Independent Density Estimation. More...
#include <ompl/geometric/planners/stride/STRIDE.h>
Inheritance diagram for ompl::geometric::STRIDE:

Classes | |
class | Motion |
The definition of a motion. More... | |
Public Member Functions | |
STRIDE (const base::SpaceInformationPtr &si, bool useProjectedDistance=false, unsigned int degree=16, unsigned int minDegree=12, unsigned int maxDegree=18, unsigned int maxNumPtsPerLeaf=6, double estimatedDimension=0.0) | |
Constructor. | |
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 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 | setUseProjectedDistance (bool useProjectedDistance) |
Set whether nearest neighbors are computed based on distances in a _projection_ of the state rather distances in the state space itself. | |
bool | getUseProjectedDistance () const |
Return whether nearest neighbors are computed based on distances in a _projection_ of the state rather distances in the state space itself. | |
void | setDegree (unsigned int degree) |
Set desired degree of a node in the GNAT. | |
unsigned int | getDegree () const |
Get desired degree of a node in the GNAT. | |
void | setMinDegree (unsigned int minDegree) |
Set minimum degree of a node in the GNAT. | |
unsigned int | getMinDegree () const |
Get minimum degree of a node in the GNAT. | |
void | setMaxDegree (unsigned int maxDegree) |
Set maximum degree of a node in the GNAT. | |
unsigned int | getMaxDegree () const |
Set maximum degree of a node in the GNAT. | |
void | setMaxNumPtsPerLeaf (unsigned int maxNumPtsPerLeaf) |
Set maximum number of elements stored in a leaf node of the GNAT. | |
unsigned int | getMaxNumPtsPerLeaf () const |
Get maximum number of elements stored in a leaf node of the GNAT. | |
void | setEstimatedDimension (double estimatedDimension) |
Set estimated dimension of the free space, which is needed to compute the sampling weight for a node in the GNAT. | |
double | getEstimatedDimension () const |
Get estimated dimension of the free space, which is needed to compute the sampling weight for a node in the GNAT. | |
void | setRange (double distance) |
Set the range the planner is supposed to use. | |
double | getRange () const |
Get the range the planner is using. | |
void | setMinValidPathFraction (double fraction) |
When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion. This function sets the minimum acceptable fraction (between 0 and 1). | |
double | getMinValidPathFraction () const |
Get the value of the fraction set by setMinValidPathFraction() | |
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 | 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 Member Functions | |
void | freeMemory () |
Free the memory allocated by this planner. | |
void | setupTree () |
Initialize GNAT data structure. | |
double | distanceFunction (const Motion *a, const Motion *b) const |
Compute distance between motions (actually distance between contained states) | |
double | projectedDistanceFunction (const Motion *a, const Motion *b) const |
Compute distance between motions (actually distance between projections of contained states) | |
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. | |
base::ProjectionEvaluatorPtr | projectionEvaluator_ |
This algorithm can optionally use a projection to guide the exploration. | |
boost::scoped_ptr < NearestNeighborsGNAT< Motion * > > | tree_ |
The exploration tree constructed by this algorithm. | |
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. | |
bool | useProjectedDistance_ |
Whether to use distance in the projection (instead of distance in the state space) for the GNAT. | |
unsigned int | degree_ |
Desired degree of an internal node in the GNAT. | |
unsigned int | minDegree_ |
Minimum degree of an internal node in the GNAT. | |
unsigned int | maxDegree_ |
Maximum degree of an internal node in the GNAT. | |
unsigned int | maxNumPtsPerLeaf_ |
Maximum number of points stored in a leaf node in the GNAT. | |
double | estimatedDimension_ |
Estimate of the local dimensionality of the free space around a state. | |
double | minValidPathFraction_ |
When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion. This is used only when extendWhileValid_ is true. | |
RNG | rng_ |
The random number generator. |
Detailed Description
Search Tree with Resolution Independent Density Estimation.
- Short description
- STRIDE (Search Tree with Resolution Independent Density Estimation) is a tree-based motion planner that attempts to detect the less explored area of the space through the use of a GNAT nearest-neighbor data structure. It is similar to EST, but unlike the EST implementation in OMPL does not require a projection. However, in case the state space has many dimensions, a projection can be specified and the GNAT can be built using distances in the projected space. This has the advantage over the EST implementation that no grid cell sizes have to be specified.
- External documentation
- B. Gipson, M. Moll, and L.E. Kavraki, Resolution independent density estimation for motion planning in high-dimensional spaces, in IEEE Intl. Conf. on Robotics and Automation, pp. 2429-2435, 2013. [[PDF]](http://dx.doi.org/10.1109/ICRA.2013.6630908)
Member Function Documentation
void ompl::geometric::STRIDE::setRange | ( | double | distance | ) | [inline] |
The documentation for this class was generated from the following files:
- ompl/geometric/planners/stride/STRIDE.h
- ompl/geometric/planners/stride/src/STRIDE.cpp