ompl::geometric::BiEST Class Reference

Bi-directional Expansive Space Trees. More...

#include <ompl/geometric/planners/est/BiEST.h>

Inheritance diagram for ompl::geometric::BiEST:

## Classes

class  Motion
The definition of a motion. More...

## Public Member Functions

BiEST (const base::SpaceInformationPtr &si)
Constructor.

base::PlannerStatus solve (const base::PlannerTerminationCondition &ptc) override
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). If clearQuery() is called, the planner may retain prior datastructures generated from a previous query on a new problem definition. The function terminates if the call to ptc returns true.

void clear () override
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. More...

double getRange () const
Get the range the planner is using.

void setup () override
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.

void getPlannerData (base::PlannerData &data) const override
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).

Public Member Functions inherited from ompl::base::Planner
Planner (const Planner &)=delete

Planneroperator= (const Planner &)=delete

Planner (SpaceInformationPtr si, std::string name)
Constructor.

virtual ~Planner ()=default
Destructor.

template<class T >
T * as ()
Cast this instance to a desired type. More...

template<class T >
const T * as () const
Cast this instance to a desired type. More...

const SpaceInformationPtrgetSpaceInformation () const
Get the space information this planner is using.

const ProblemDefinitionPtrgetProblemDefinition () const
Get the problem definition the planner is trying to solve.

ProblemDefinitionPtrgetProblemDefinition ()
Get the problem definition the planner is trying to solve.

const PlannerInputStatesgetPlannerInputStates () const
Get the planner input states.

virtual void setProblemDefinition (const ProblemDefinitionPtr &pdef)
Set the problem definition for the planner. The problem needs to be set before calling solve(). Note: If this problem definition replaces a previous one, it may also be necessary to call clear() or clearQuery().

PlannerStatus solve (const PlannerTerminationConditionFn &ptc, double checkInterval)
Same as above except the termination condition is only evaluated at a specified interval.

PlannerStatus solve (double solveTime)
Same as above except the termination condition is solely a time limit: the number of seconds the algorithm is allowed to spend planning.

virtual void clearQuery ()
Clears internal datastructures of any query-specific information from the previous query. Planner settings are not affected. The planner, if able, should retain all datastructures generated from previous queries that can be used to help solve the next query. Note that clear() should also clear all query-specific information along with all other datastructures in the planner. By default clearQuery() calls clear().

const std::string & getName () const
Get the name of the planner.

void setName (const std::string &name)
Set the name of the planner.

const PlannerSpecsgetSpecs () const
Return the specifications (capabilities of this planner)

virtual void checkValidity ()
Check to see if the planner is in a working state (setup has been called, a goal was set, the input states seem to be in order). In case of error, this function throws an exception.

bool isSetup () const
Check if setup() was called for this planner.

ParamSetparams ()
Get the parameters for this planner.

const ParamSetparams () const
Get the parameters for this planner.

const PlannerProgressPropertiesgetPlannerProgressProperties () const
Retrieve a planner's planner progress property map.

virtual void printProperties (std::ostream &out) const
Print properties of the motion planner.

virtual void printSettings (std::ostream &out) const
Print information about the motion planner's settings.

## Protected Member Functions

double distanceFunction (const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)

void freeMemory ()
Free the memory allocated by this planner.

void addMotion (Motion *motion, std::vector< Motion * > &motions, PDF< Motion * > &pdf, const std::shared_ptr< NearestNeighbors< Motion * >> &nn, const std::vector< Motion * > &neighbors)
Add a motion to the exploration tree.

Protected Member Functions inherited from ompl::base::Planner
template<typename T , typename PlannerType , typename SetterType , typename GetterType >
void declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter, const GetterType &getter, const std::string &rangeSuggestion="")
This function declares a parameter for this planner instance, and specifies the setter and getter functions.

template<typename T , typename PlannerType , typename SetterType >
void declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter, const std::string &rangeSuggestion="")
This function declares a parameter for this planner instance, and specifies the setter function.

void addPlannerProgressProperty (const std::string &progressPropertyName, const PlannerProgressProperty &prop)
Add a planner progress property called progressPropertyName with a property querying function prop to this planner's progress property map.

## Protected Attributes

std::shared_ptr< NearestNeighbors< Motion * > > nnStart_
A nearest-neighbors datastructure containing the tree of motions.

std::shared_ptr< NearestNeighbors< Motion * > > nnGoal_

std::vector< Motion * > startMotions_
The set of all states in the start tree.

std::vector< Motion * > goalMotions_

PDF< Motion * > startPdf_
The probability distribution function over states in each tree.

PDF< Motion * > goalPdf_

base::ValidStateSamplerPtr sampler_
Valid state sampler.

double maxDistance_ {0.0}
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_ {nullptr,nullptr}
The pair of states in each tree connected during planning. Used for PlannerData computation.

Protected Attributes inherited from ompl::base::Planner
SpaceInformationPtr si_
The space information for which planning is done.

ProblemDefinitionPtr pdef_
The user set problem definition.

PlannerInputStates pis_
Utility class to extract valid input states

std::string name_
The name of this planner.

PlannerSpecs specs_
The specifications of the planner (its capabilities)

ParamSet params_
A map from parameter names to parameter instances for this planner. This field is populated by the declareParam() function.

PlannerProgressProperties plannerProgressProperties_
A mapping between this planner's progress property names and the functions used for querying those progress properties.

bool setup_
Flag indicating whether setup() has been called.

Public Types inherited from ompl::base::Planner
using PlannerProgressProperty = std::function< std::string()>
Definition of a function which returns a property about the planner's progress that can be queried by a benchmarking routine.

using PlannerProgressProperties = std::map< std::string, PlannerProgressProperty >
A dictionary which maps the name of a progress property to the function to be used for querying that property.

## Detailed Description

Bi-directional Expansive Space Trees.

Short description
EST is a tree-based motion planner that attempts to detect the less explored area of the space by measuring the density of the explored space, biasing exploration toward parts of the space with lowest density.
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
[PDF]

Definition at line 126 of file BiEST.h.

## ◆ setRange()

 void ompl::geometric::BiEST::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 174 of file BiEST.h.

The documentation for this class was generated from the following files: