ompl::geometric Namespace Reference

This namespace contains code that is specific to planning under geometric constraints. More...

Classes

class  AnytimePathShortening
 
class  BFMT
 Bidirectional Asymptotically Optimal Fast Marching Tree algorithm developed by J. Starek, J.V. Gomez, et al. More...
 
class  BiEST
 Bi-directional Expansive Space Trees. More...
 
class  BiTRRT
 Bi-directional Transition-based Rapidly-exploring Random Trees. More...
 
class  BITstar
 Batch Informed Trees (BIT*) More...
 
class  BKPIECE1
 Bi-directional KPIECE with one level of discretization. More...
 
class  CForest
 Coupled Forest of Random Engrafting Search Trees. More...
 
class  Discretization
 One-level discretization used for KPIECE. More...
 
class  EST
 Expansive Space Trees. More...
 
class  FMT
 Asymptotically Optimal Fast Marching Tree algorithm developed by L. Janson and M. Pavone. More...
 
class  GeneticSearch
 Genetic Algorithm for searching valid states. More...
 
class  HillClimbing
 Hill Climbing search. More...
 
class  InformedRRTstar
 Informed RRT*. More...
 
class  KBoundedStrategy
 Return at most k neighbors, as long as they are also within a specified bound. More...
 
class  KPIECE1
 Kinematic Planning by Interior-Exterior Cell Exploration. More...
 
class  KStarStrategy
 Make the minimal number of connections required to ensure asymptotic optimality. More...
 
class  KStrategy
 
class  LazyLBTRRT
 Rapidly-exploring Random Trees. More...
 
class  LazyPRM
 Lazy Probabilistic RoadMap planner. More...
 
class  LazyPRMstar
 PRM* planner. More...
 
class  LazyRRT
 Lazy RRT. More...
 
class  LBKPIECE1
 Lazy Bi-directional KPIECE with one level of discretization. More...
 
class  LBTRRT
 Lower Bound Tree Rapidly-exploring Random Trees. More...
 
class  LightningRetrieveRepair
 The Lightning Framework's Retrieve-Repair component. More...
 
class  MultiQuotient
 A sequence of multiple quotient-spaces The class MultiQuotient can be used with any planner which inherits the ompl::geometric::QuotientSpace class. More...
 
class  PathGeometric
 Definition of a geometric path. More...
 
class  PathHybridization
 Given multiple geometric paths, attempt to combine them in order to obtain a shorter solution. More...
 
class  PathSimplifier
 This class contains routines that attempt to simplify geometric paths. More...
 
class  PDST
 Path-Directed Subdivision Tree. More...
 
class  PRM
 Probabilistic RoadMap planner. More...
 
class  PRMstar
 PRM* planner. More...
 
class  ProjEST
 Expansive Space Trees. More...
 
class  pRRT
 Parallel RRT. More...
 
class  pSBL
 Parallel Single-query Bi-directional Lazy collision checking planner. More...
 
class  QRRTImpl
 Implementation of QuotientSpace Rapidly-Exploring Random Trees Algorithm. More...
 
class  QuotientSpace
 A single quotient-space. More...
 
class  QuotientSpaceGraph
 A graph on a quotient-space. More...
 
class  RRT
 Rapidly-exploring Random Trees. More...
 
class  RRTConnect
 RRT-Connect (RRTConnect) More...
 
class  RRTsharp
 Optimal Rapidly-exploring Random Trees Maintaining An Optimal Tree. More...
 
class  RRTstar
 Optimal Rapidly-exploring Random Trees. More...
 
class  RRTXstatic
 Optimal Rapidly-exploring Random Trees Maintaining A Pseudo Optimal Tree. More...
 
class  SBL
 Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking. More...
 
class  SimpleSetup
 Create the set of classes typically needed to solve a geometric problem. More...
 
class  SORRTstar
 SORRT*. More...
 
class  SPARS
  SPArse Roadmap Spanner technique. More...
 
class  SPARSdb
  SPArse Roadmap Spanner Version 2.0 More...
 
class  SPARStwo
  SPArse Roadmap Spanner Version 2.0 More...
 
class  SST
 
class  STRIDE
 Search Tree with Resolution Independent Density Estimation. More...
 
class  ThunderRetrieveRepair
 The Thunder Framework's Retrieve-Repair component. More...
 
class  TRRT
 Transition-based Rapidly-exploring Random Trees. More...
 
class  VFRRT
 

Typedefs

using QRRT = ompl::geometric::MultiQuotient< ompl::geometric::QRRTImpl >
 QuotientSpace Rapidly Exploring Random Trees Algorithm. More...
 

Functions

std::ostream & operator<< (std::ostream &out, const QuotientSpace &quotient_)
 
OMPL_DEPRECATED base::PlannerPtr getDefaultPlanner (const base::GoalPtr &goal)
 Given a goal specification, decide on a planner for that goal. More...
 

Detailed Description

This namespace contains code that is specific to planning under geometric constraints.

Typedef Documentation

◆ QRRT

QuotientSpace Rapidly Exploring Random Trees Algorithm.

Short description
QRRT is a planner using different abstractions levels, each described by a quotient-space, and grows trees both sequentially and simultaneously on them. The growing of each tree is similar to the RRT algorithm, but it differs that (1) a tree is only started if there exists a solution on a lower-dimensional quotient-space, and (2) a sample is not drawn uniformly, but constraint to the tree of the lower-dimensional quotient-space. The algorithm stops if a planner terminate condition (ptc) is reached, or if a solution has been found on the last quotient-space, which is equivalent to the configuration space.
External documentation
A. Orthey and M. Toussaint, Rapidly-Exploring Quotient-Space Trees: Motion Planning using Sequential Simplifications, in International Symposium of Robotics Research, 2019, [PDF]

Definition at line 130 of file QRRT.h.

Function Documentation

◆ getDefaultPlanner()

ompl::base::PlannerPtr ompl::geometric::getDefaultPlanner ( const base::GoalPtr &  goal)

Given a goal specification, decide on a planner for that goal.

Deprecated:
Use tools::SelfConfig::getDefaultPlanner() instead.

Definition at line 39 of file SimpleSetup.cpp.