Loading...
Searching...
No Matches
RRTXstatic.h
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2016, Georgia Institute of Technology
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the Rice University nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Author: Florian Hauer */
36
37#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_RRTXSTATIC_
38#define OMPL_GEOMETRIC_PLANNERS_RRT_RRTXSTATIC_
39
40#include <ompl/datastructures/BinaryHeap.h>
41#include "ompl/base/OptimizationObjective.h"
42#include "ompl/datastructures/NearestNeighbors.h"
43#include "ompl/geometric/planners/PlannerIncludes.h"
44
45#include <deque>
46#include <limits>
47#include <list>
48#include <queue>
49#include <utility>
50#include <vector>
51
52namespace ompl
53{
54 namespace geometric
55 {
104 {
105 public:
106 RRTXstatic(const base::SpaceInformationPtr &si);
107
108 ~RRTXstatic() override;
109
110 void getPlannerData(base::PlannerData &data) const override;
111
113
114 void clear() override;
115
116 void setup() override;
117
127 void setGoalBias(double goalBias)
128 {
129 goalBias_ = goalBias;
130 }
131
133 double getGoalBias() const
134 {
135 return goalBias_;
136 }
137
140 void setInformedSampling(bool informedSampling);
141
144 {
146 }
147
149 void setSampleRejection(bool reject);
150
153 {
155 }
156
158 void setNumSamplingAttempts(unsigned int numAttempts)
159 {
160 numSampleAttempts_ = numAttempts;
161 }
162
164 unsigned int getNumSamplingAttempts() const
165 {
166 return numSampleAttempts_;
167 }
168
173 virtual void setEpsilon(double epsilon)
174 {
175 epsilonCost_ = base::Cost(epsilon);
176 }
177
179 double getEpsilon() const
180 {
181 return epsilonCost_.value();
182 }
183
189 void setRange(double distance)
190 {
191 maxDistance_ = distance;
192 }
193
195 double getRange() const
196 {
197 return maxDistance_;
198 }
199
202 void setRewireFactor(double rewireFactor)
203 {
204 rewireFactor_ = rewireFactor;
206 }
207
210 double getRewireFactor() const
211 {
212 return rewireFactor_;
213 }
214
216 template <template <typename T> class NN>
218 {
219 if (nn_ && nn_->size() != 0)
220 OMPL_WARN("Calling setNearestNeighbors will clear all states.");
221 clear();
222 nn_ = std::make_shared<NN<Motion *>>();
223 setup();
224 }
225
227 void setKNearest(bool useKNearest)
228 {
229 useKNearest_ = useKNearest;
230 }
231
233 bool getKNearest() const
234 {
235 return useKNearest_;
236 }
237
239 void setUpdateChildren(bool val)
240 {
241 updateChildren_ = val;
242 }
243
245 bool getUpdateChildren() const
246 {
247 return updateChildren_;
248 }
249
251 void setVariant(const int variant)
252 {
253 if (variant < 0 || variant > 3)
254 throw Exception("Variant must be 0 (original RRT#) or in [1, 3]");
255 variant_ = variant;
256 }
257
259 int getVariant() const
260 {
261 return variant_;
262 }
263
265 void setAlpha(const double a)
266 {
267 alpha_ = a;
268 }
269
271 double getAlpha() const
272 {
273 return alpha_;
274 }
275
276 unsigned int numIterations() const
277 {
278 return iterations_;
279 }
280
281 ompl::base::Cost bestCost() const
282 {
283 return bestCost_;
284 }
285
286 protected:
287 class Motion;
288
291 {
293 MotionCompare(base::OptimizationObjectivePtr opt, base::ProblemDefinitionPtr pdef)
294 : opt_(std::move(opt)), pdef_(std::move(pdef))
295 {
296 }
297
299 inline base::Cost costPlusHeuristic(const Motion *m) const
300 {
301 return opt_->combineCosts(m->cost, opt_->costToGo(m->state, pdef_->getGoal().get()));
302 }
303
305 inline base::Cost alphaCostPlusHeuristic(const Motion *m, double alpha) const
306 {
307 return opt_->combineCosts(base::Cost(alpha * m->cost.value()),
308 opt_->costToGo(m->state, pdef_->getGoal().get()));
309 }
310
312 inline bool operator()(const Motion *m1, const Motion *m2) const
313 {
314 // we use a max heap, to do a min heap so the operator < returns > in order to make it a min heap
315 return !opt_->isCostBetterThan(costPlusHeuristic(m1), costPlusHeuristic(m2));
316 }
317
319 base::OptimizationObjectivePtr opt_;
320
322 base::ProblemDefinitionPtr pdef_;
323 };
324
326 class Motion
327 {
328 public:
331 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(nullptr), handle(nullptr)
332 {
333 }
334
335 ~Motion() = default;
336
339
342
345
347 std::vector<Motion *> children;
348
351 std::vector<std::pair<Motion *, bool>> nbh;
352
355 };
356
358 void allocSampler();
359
361 bool sampleUniform(base::State *statePtr);
362
364 void freeMemory();
365
367 double distanceFunction(const Motion *a, const Motion *b) const
368 {
369 return si_->distance(a->state, b->state);
370 }
371
373 void updateQueue(Motion *x);
374
376 void removeFromParent(Motion *m);
377
379 void getNeighbors(Motion *motion) const;
380
383
385 void calculateRRG();
386
388 bool includeVertex(const Motion *x) const;
389
391 base::StateSamplerPtr sampler_;
392
394 base::InformedSamplerPtr infSampler_;
395
397 std::shared_ptr<NearestNeighbors<Motion *>> nn_;
398
401 double goalBias_{.05};
402
404 double maxDistance_{0.};
405
408
410 bool useKNearest_{true};
411
414 double rewireFactor_{1.1};
415
417 double k_rrt_{0u};
419 double r_rrt_{0.};
420
422 base::OptimizationObjectivePtr opt_;
423
426
428 std::vector<Motion *> goalMotions_;
429
431 base::Cost bestCost_{std::numeric_limits<double>::quiet_NaN()};
432
434 unsigned int iterations_{0u};
435
438
441
444
446 bool updateChildren_{true};
447
449 double rrg_r_;
450
452 unsigned int rrg_k_;
453
455 int variant_{0};
456
458 double alpha_{1.};
459
462
465
467 unsigned int numSampleAttempts_{100u};
468
470 // Planner progress property functions
471 std::string numIterationsProperty() const
472 {
473 return std::to_string(numIterations());
474 }
475 std::string bestCostProperty() const
476 {
477 return std::to_string(bestCost().value());
478 }
479 std::string numMotionsProperty() const
480 {
481 return std::to_string(nn_->size());
482 }
483 };
484 }
485}
486
487#endif
When an element is added to the heap, an instance of Element* is created. This instance contains the ...
Definition: BinaryHeap.h:60
This class provides an implementation of an updatable min-heap. Using it is a bit cumbersome,...
Definition: BinaryHeap.h:53
The exception type for ompl.
Definition: Exception.h:47
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
double value() const
The value of the cost.
Definition: Cost.h:56
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Base class for a planner.
Definition: Planner.h:223
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:417
Definition of an abstract state.
Definition: State.h:50
Representation of a motion (node of the tree)
Definition: RRTXstatic.h:327
BinaryHeap< Motion *, MotionCompare >::Element * handle
Handle to identify the motion in the queue.
Definition: RRTXstatic.h:354
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state. This constructor automatically allocates memory for ...
Definition: RRTXstatic.h:331
std::vector< Motion * > children
The set of motions descending from the current motion.
Definition: RRTXstatic.h:347
std::vector< std::pair< Motion *, bool > > nbh
The set of neighbors of this motion with a boolean indicating if the feasibility of edge as been test...
Definition: RRTXstatic.h:351
Motion * parent
The parent motion in the exploration tree.
Definition: RRTXstatic.h:341
base::State * state
The state contained by the motion.
Definition: RRTXstatic.h:338
base::Cost cost
The cost up to this motion.
Definition: RRTXstatic.h:344
Optimal Rapidly-exploring Random Trees Maintaining A Pseudo Optimal Tree.
Definition: RRTXstatic.h:104
bool getKNearest() const
Get the state of using a k-nearest search for rewiring.
Definition: RRTXstatic.h:233
bool updateChildren_
Whether or not to propagate the cost to children if the update is less than epsilon.
Definition: RRTXstatic.h:446
void freeMemory()
Free the memory allocated by this planner.
Definition: RRTXstatic.cpp:631
bool useKNearest_
Option to use k-nearest search for rewiring.
Definition: RRTXstatic.h:410
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: RRTXstatic.cpp:646
bool includeVertex(const Motion *x) const
Test if the vertex should be included according to the variant in use.
Definition: RRTXstatic.cpp:616
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: RRTXstatic.h:397
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: RRTXstatic.h:425
void setVariant(const int variant)
Set variant used for rejection sampling.
Definition: RRTXstatic.h:251
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: RRTXstatic.h:217
unsigned int iterations_
Number of iterations the algorithm performed.
Definition: RRTXstatic.h:434
void setKNearest(bool useKNearest)
Use a k-nearest search for rewiring instead of a r-disc search.
Definition: RRTXstatic.h:227
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: RRTXstatic.h:404
base::Cost epsilonCost_
Threshold for the propagation of information.
Definition: RRTXstatic.h:443
double getEpsilon() const
Get the threshold epsilon the planner is using.
Definition: RRTXstatic.h:179
double k_rrt_
A constant for k-nearest rewiring calculations.
Definition: RRTXstatic.h:417
void updateQueue(Motion *x)
Update (or add) a motion in the queue.
Definition: RRTXstatic.cpp:560
double alpha_
Alpha parameter, scaling the rejection sampling tests.
Definition: RRTXstatic.h:458
bool useRejectionSampling_
The status of the sample rejection parameter.
Definition: RRTXstatic.h:464
void setUpdateChildren(bool val)
Set whether or not to always propagate cost updates to children.
Definition: RRTXstatic.h:239
bool getSampleRejection() const
Get the state of the sample rejection option.
Definition: RRTXstatic.h:152
unsigned int getNumSamplingAttempts() const
Get the number of attempts to make while performing rejection or informed sampling.
Definition: RRTXstatic.h:164
void calculateRRG()
Calculate the rrg_r_ and rrg_k_ terms.
Definition: RRTXstatic.cpp:585
bool useInformedSampling_
Option to use informed sampling.
Definition: RRTXstatic.h:461
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: RRTXstatic.cpp:89
double getAlpha() const
Get the value alpha used for rejection sampling.
Definition: RRTXstatic.h:271
void allocSampler()
Create the samplers.
Definition: RRTXstatic.cpp:738
double getRewireFactor() const
Set the rewiring scale factor, s, such that r_rrg = s \times r_rrg* > r_rrg* (or k_rrg = s \times k_r...
Definition: RRTXstatic.h:210
MotionCompare mc_
Comparator of motions, used to order the queue.
Definition: RRTXstatic.h:437
void removeFromParent(Motion *m)
Removes the given motion from the parent's child list.
Definition: RRTXstatic.cpp:573
void setSampleRejection(bool reject)
Controls whether heuristic rejection is used on samples (e.g., x_rand)
Definition: RRTXstatic.cpp:702
unsigned int numSampleAttempts_
The number of attempts to make at informed sampling.
Definition: RRTXstatic.h:467
double r_rrt_
A constant for r-disc rewiring calculations.
Definition: RRTXstatic.h:419
void getNeighbors(Motion *motion) const
Gets the neighbours of a given motion, using either k-nearest of radius as appropriate.
Definition: RRTXstatic.cpp:593
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
Definition: RRTXstatic.h:401
bool getInformedSampling() const
Get the state direct heuristic sampling.
Definition: RRTXstatic.h:143
double getRange() const
Get the range the planner is using.
Definition: RRTXstatic.h:195
BinaryHeap< Motion *, MotionCompare > q_
Queue to order the nodes to update.
Definition: RRTXstatic.h:440
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: RRTXstatic.h:189
void setRewireFactor(double rewireFactor)
Set the rewiring scale factor, s, such that r_rrg = s \times r_rrg* (or k_rrg = s \times k_rrg*)
Definition: RRTXstatic.h:202
RNG rng_
The random number generator.
Definition: RRTXstatic.h:407
int getVariant() const
Get variant used for rejection sampling.
Definition: RRTXstatic.h:259
base::OptimizationObjectivePtr opt_
Objective we're optimizing.
Definition: RRTXstatic.h:422
bool sampleUniform(base::State *statePtr)
Generate a sample.
Definition: RRTXstatic.cpp:760
unsigned int rrg_k_
Current value of the number of neighbors used.
Definition: RRTXstatic.h:452
bool getUpdateChildren() const
True if the cost is always propagate to children.
Definition: RRTXstatic.h:245
base::StateSamplerPtr sampler_
State sampler.
Definition: RRTXstatic.h:391
base::InformedSamplerPtr infSampler_
An informed sampler.
Definition: RRTXstatic.h:394
double rrg_r_
Current value of the radius used for the neighbors.
Definition: RRTXstatic.h:449
void setAlpha(const double a)
Set the value alpha used for rejection sampling.
Definition: RRTXstatic.h:265
double getGoalBias() const
Get the goal bias the planner is using.
Definition: RRTXstatic.h:133
int variant_
Variant used for rejection sampling.
Definition: RRTXstatic.h:455
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: RRTXstatic.cpp:138
double rewireFactor_
The rewiring factor, s, so that r_rrg = s \times r_rrg* > r_rrg* (or k_rrg = s \times k_rrg* > k_rrg*...
Definition: RRTXstatic.h:414
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: RRTXstatic.cpp:155
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: RRTXstatic.h:367
void calculateRewiringLowerBounds()
Calculate the k_RRG* and r_RRG* terms.
Definition: RRTXstatic.cpp:781
virtual void setEpsilon(double epsilon)
Set the threshold epsilon.
Definition: RRTXstatic.h:173
void setGoalBias(double goalBias)
Set the goal bias.
Definition: RRTXstatic.h:127
base::Cost bestCost_
Best cost found so far by algorithm.
Definition: RRTXstatic.h:431
void setNumSamplingAttempts(unsigned int numAttempts)
Set the number of attempts to make while performing rejection or informed sampling.
Definition: RRTXstatic.h:158
void setInformedSampling(bool informedSampling)
Use direct sampling of the heuristic for the generation of random samples (e.g., x_rand)....
Definition: RRTXstatic.cpp:666
std::vector< Motion * > goalMotions_
A list of states in the tree that satisfy the goal condition.
Definition: RRTXstatic.h:428
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition: Console.h:66
Main namespace. Contains everything in this library.
STL namespace.
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49
Defines the operator to compare motions.
Definition: RRTXstatic.h:291
bool operator()(const Motion *m1, const Motion *m2) const
Ordering of motions.
Definition: RRTXstatic.h:312
base::ProblemDefinitionPtr pdef_
Pointer to the Problem Definition.
Definition: RRTXstatic.h:322
base::OptimizationObjectivePtr opt_
Pointer to the Optimization Objective.
Definition: RRTXstatic.h:319
base::Cost costPlusHeuristic(const Motion *m) const
Combines the current cost of a motion and the heuritic to the goal.
Definition: RRTXstatic.h:299
base::Cost alphaCostPlusHeuristic(const Motion *m, double alpha) const
Combines the current cost of a motion, weighted by alpha, and the heuritic to the goal.
Definition: RRTXstatic.h:305
MotionCompare(base::OptimizationObjectivePtr opt, base::ProblemDefinitionPtr pdef)
Constructor.
Definition: RRTXstatic.h:293