Loading...
Searching...
No Matches
QRRTStarImpl.h
1/*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2020,
5 * Max Planck Institute for Intelligent Systems (MPI-IS).
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
10 * are met:
11 *
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * * Neither the name of the MPI-IS nor the names
19 * of its contributors may be used to endorse or promote products
20 * derived from this software without specific prior written
21 * permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 *********************************************************************/
36
37/* Author: Andreas Orthey, Sohaib Akbar */
38
39#ifndef OMPL_MULTILEVEL_PLANNERS_BundleSpace_QRRTSTARIMPL_
40#define OMPL_MULTILEVEL_PLANNERS_BundleSpace_QRRTSTARIMPL_
41#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
42#include <ompl/datastructures/PDF.h>
43
44namespace ompl
45{
46 namespace base
47 {
48 OMPL_CLASS_FORWARD(OptimizationObjective);
49 }
50 namespace multilevel
51 {
54 {
55 using BaseT = BundleSpaceGraph;
56
57 void setKNearest(bool useKNearest)
58 {
59 useKNearest_ = useKNearest;
60 }
61
62 bool getKNearest() const
63 {
64 return useKNearest_;
65 }
66 virtual bool getSolution(ompl::base::PathPtr &solution) override;
67 virtual void getPlannerData(ompl::base::PlannerData &data) const override;
68
69 virtual void clear() override;
70 virtual void setup() override;
71
72 void getNearestNeighbors(Configuration *x, std::vector<Configuration *> &nearest);
73 void removeFromParent(Configuration *q);
74 void calculateRewiringLowerBounds();
75
76 public:
78 virtual ~QRRTStarImpl() override;
79
81 virtual void grow() override;
82
83 void updateChildCosts(Configuration *q);
84
86 double k_rrt_Constant_{0};
87
89 double r_rrt_Constant_{0};
90
91 double rewireFactor_{1.1};
92
95
97 bool useKNearest_{true};
98
100 double d_{0};
101
102 // /** \brief list of configurations that satisfy the goal condition */
103 // std::vector<Configuration *> goalConfigurations_;
104 };
105 } // namespace multilevel
106} // namespace ompl
107
108#endif
A shared pointer wrapper for ompl::base::Path.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
A shared pointer wrapper for ompl::base::SpaceInformation.
A graph on a Bundle-space.
A single Bundle-space.
Definition BundleSpace.h:64
Implementation of BundleSpace Rapidly-Exploring Random Tree Star Algorithm.
bool symmetric_
true if cost from a to b is same as b to a
double r_rrt_Constant_
a constant value to calculate radius
double k_rrt_Constant_
a constant value to calculate k
virtual void grow() override
One iteration of RRT with adjusted sampling function.
double d_
store dimension of bundle space to calc radius
bool useKNearest_
option to use k nn or radius
Main namespace. Contains everything in this library.