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 "ient_) |
| 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
| using ompl::geometric::QRRT = typedef ompl::geometric::MultiQuotient<ompl::geometric::QRRTImpl> |
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]
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.