ompl::geometric::VFRRT Class Reference

#include <ompl/geometric/planners/rrt/VFRRT.h>

Inheritance diagram for ompl::geometric::VFRRT:

## Public Types

using VectorField = std::function< Eigen::VectorXd(const base::State *)>

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.

## Public Member Functions

VFRRT (const base::SpaceInformationPtr &si, VectorField vf, double exploration, double initial_lambda, unsigned int update_freq)

~VFRRT () override

void clear () override

double determineMeanNorm ()

Eigen::VectorXd getNewDirection (const base::State *qnear, const base::State *qrand)

double biasedSampling (const Eigen::VectorXd &vrand, const Eigen::VectorXd &vfield, double lambdaScale)

void updateGain ()

Eigen::VectorXd computeAlphaBeta (double omega, const Eigen::VectorXd &vrand, const Eigen::VectorXd &vfield)

MotionextendTree (Motion *m, base::State *rstate, const Eigen::VectorXd &v)

void updateExplorationEfficiency (Motion *m)

base::PlannerStatus solve (const base::PlannerTerminationCondition &ptc) override

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.

Public Member Functions inherited from ompl::geometric::RRT
RRT (const base::SpaceInformationPtr &si, bool addIntermediateStates=false)
Constructor.

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).

void setGoalBias (double goalBias)
Set the goal bias. More...

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.

Specify whether the intermediate states generated along motions are to be added to the tree itself.

void setRange (double distance)
Set the range the planner is supposed to use. More...

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

template<template< typename T > class NN>
void setNearestNeighbors ()
Set a different nearest neighbors datastructure.

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 inherited from ompl::geometric::RRT
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 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 inherited from ompl::geometric::RRT
base::StateSamplerPtr sampler_
State sampler.

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

double goalBias_ {.05}
The fraction of time the goal is picked as the state to expand towards (if such a state is available)

double maxDistance_ {0.}
The maximum length of a motion to be added to a tree.

Flag indicating whether intermediate states are added to the built tree of motions.

RNG rng_
The random number generator.

MotionlastGoalMotion_ {nullptr}
The most recent goal motion. 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.

## Detailed Description

Short description
Vector Field Rapidly-exploring Random Tree (VFRRT) is a tree-based motion planner that tries to minimize the so-called upstream cost of a path. The upstream cost is defined by an integral over a user-defined vector field.
External documentation
I. Ko, B. Kim, and F. C. Park, Randomized path planning on vector fields, Intl. J. of Robotics Research, 33(13), pp. 1664–1682, 2014. DOI: 10.1177/0278364914545812

Definition at line 127 of file VFRRT.h.

## ◆ VFRRT()

 ompl::geometric::VFRRT::VFRRT ( const base::SpaceInformationPtr & si, VectorField vf, double exploration, double initial_lambda, unsigned int update_freq )

Constructor.

Definition at line 50 of file VFRRT.cpp.

## ◆ ~VFRRT()

 ompl::geometric::VFRRT::~VFRRT ( )
overridedefault

Destructor.

## ◆ biasedSampling()

 double ompl::geometric::VFRRT::biasedSampling ( const Eigen::VectorXd & vrand, const Eigen::VectorXd & vfield, double lambdaScale )

Calculates the weight omega which can be used to compute alpha and beta.

Definition at line 115 of file VFRRT.cpp.

## ◆ clear()

 void ompl::geometric::VFRRT::clear ( )
overridevirtual

Reset internal data.

Reimplemented from ompl::geometric::RRT.

Definition at line 64 of file VFRRT.cpp.

## ◆ computeAlphaBeta()

 Eigen::VectorXd ompl::geometric::VFRRT::computeAlphaBeta ( double omega, const Eigen::VectorXd & vrand, const Eigen::VectorXd & vfield )

Computes alpha and beta, using these values to produce the vector returned by getNewDirection. This produced vector can be used to determine the direction an added state should be to maximize the upstream criterion of the produced path.

Definition at line 139 of file VFRRT.cpp.

## ◆ determineMeanNorm()

 double ompl::geometric::VFRRT::determineMeanNorm ( )

Make a Monte Carlo estimate for the mean vector norm in the field.

Definition at line 79 of file VFRRT.cpp.

## ◆ extendTree()

 ompl::geometric::VFRRT::Motion * ompl::geometric::VFRRT::extendTree ( Motion * m, base::State * rstate, const Eigen::VectorXd & v )

This attempts to extend the tree from the motion m to a new motion in the direction specified by the vector v.

Definition at line 153 of file VFRRT.cpp.

## ◆ getNewDirection()

 Eigen::VectorXd ompl::geometric::VFRRT::getNewDirection ( const base::State * qnear, const base::State * qrand )

Use the vector field to alter the direction of a sample.

Definition at line 92 of file VFRRT.cpp.

## ◆ solve()

 ompl::base::PlannerStatus ompl::geometric::VFRRT::solve ( const base::PlannerTerminationCondition & ptc )
overridevirtual

Solve the planning problem.

Reimplemented from ompl::geometric::RRT.

Definition at line 193 of file VFRRT.cpp.

## ◆ updateExplorationEfficiency()

 void ompl::geometric::VFRRT::updateExplorationEfficiency ( Motion * m )

Updates measures for exploration efficiency if a given motion m is added to the nearest NearestNeighbors structure.

Definition at line 183 of file VFRRT.cpp.

## ◆ updateGain()

 void ompl::geometric::VFRRT::updateGain ( )

Every nth time this function is called (where the nth step is the update frequency given in the constructor) the value of lambda is updated and the counts of efficient and inefficient samples added to the tree are reset to 0. The measure for exploration inefficiency is also reset to 0.

Definition at line 126 of file VFRRT.cpp.

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