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SyclopEST.cpp
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34
35/* Author: Matt Maly */
36
37#include "ompl/control/planners/syclop/SyclopEST.h"
38#include "ompl/base/goals/GoalSampleableRegion.h"
39
41{
43 sampler_ = si_->allocStateSampler();
44 controlSampler_ = siC_->allocControlSampler();
45 lastGoalMotion_ = nullptr;
46}
47
49{
51 freeMemory();
52 motions_.clear();
53 lastGoalMotion_ = nullptr;
54}
55
57{
58 Planner::getPlannerData(data);
59
60 double delta = siC_->getPropagationStepSize();
61
62 if (lastGoalMotion_ != nullptr)
63 data.addGoalVertex(lastGoalMotion_->state);
64
65 for (auto motion : motions_)
66 {
67 if (motion->parent != nullptr)
68 {
69 if (data.hasControls())
70 data.addEdge(base::PlannerDataVertex(motion->parent->state), base::PlannerDataVertex(motion->state),
71 control::PlannerDataEdgeControl(motion->control, motion->steps * delta));
72 else
73 data.addEdge(base::PlannerDataVertex(motion->parent->state), base::PlannerDataVertex(motion->state));
74 }
75 else
76 data.addStartVertex(base::PlannerDataVertex(motion->state));
77 }
78}
79
81{
82 auto *motion = new Motion(siC_);
83 si_->copyState(motion->state, s);
84 siC_->nullControl(motion->control);
85 motions_.push_back(motion);
86 return motion;
87}
88
89void ompl::control::SyclopEST::selectAndExtend(Region &region, std::vector<Motion *> &newMotions)
90{
91 Motion *treeMotion = region.motions[rng_.uniformInt(0, region.motions.size() - 1)];
92 Control *rctrl = siC_->allocControl();
93 base::State *newState = si_->allocState();
94
95 controlSampler_->sample(rctrl, treeMotion->state);
96 unsigned int duration =
97 controlSampler_->sampleStepCount(siC_->getMinControlDuration(), siC_->getMaxControlDuration());
98 duration = siC_->propagateWhileValid(treeMotion->state, rctrl, duration, newState);
99
100 if (duration >= siC_->getMinControlDuration())
101 {
102 auto *motion = new Motion(siC_);
103 si_->copyState(motion->state, newState);
104 siC_->copyControl(motion->control, rctrl);
105 motion->steps = duration;
106 motion->parent = treeMotion;
107 motions_.push_back(motion);
108 newMotions.push_back(motion);
109
110 lastGoalMotion_ = motion;
111 }
112
113 siC_->freeControl(rctrl);
114 si_->freeState(newState);
115}
116
118{
119 for (auto m : motions_)
120 {
121 if (m->state != nullptr)
122 si_->freeState(m->state);
123 if (m->control != nullptr)
124 siC_->freeControl(m->control);
125 delete m;
126 }
127}
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition PlannerData.h:59
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
unsigned int addStartVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
unsigned int addGoalVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0))
Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...
virtual bool hasControls() const
Indicate whether any information about controls (ompl::control::Control) is stored in this instance.
SpaceInformationPtr si_
The space information for which planning is done.
Definition Planner.h:410
Definition of an abstract state.
Definition State.h:50
Definition of an abstract control.
Definition Control.h:48
Representation of an edge in PlannerData for planning with controls. This structure encodes a specifi...
Definition PlannerData.h:61
ControlSamplerPtr allocControlSampler() const
Allocate a control sampler.
void selectAndExtend(Region &region, std::vector< Motion * > &newMotions) override
Select a Motion from the given Region, and extend the tree from the Motion. Add any new motions creat...
Definition SyclopEST.cpp:89
void freeMemory()
Free the memory allocated by this planner.
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 SyclopEST.cpp:56
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition SyclopEST.h:80
Syclop::Motion * addRoot(const base::State *s) override
Add State s as a new root in the low-level tree, and return the Motion corresponding to s.
Definition SyclopEST.cpp:80
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition SyclopEST.cpp:40
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition SyclopEST.cpp:48
Representation of a motion.
Definition Syclop.h:257
base::State * state
The state contained by the motion.
Definition Syclop.h:268
Representation of a region in the Decomposition assigned to Syclop.
Definition Syclop.h:279
std::vector< Motion * > motions
The tree motions contained in this region.
Definition Syclop.h:300
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition Syclop.cpp:49
const SpaceInformation * siC_
Handle to the control::SpaceInformation object.
Definition Syclop.h:384
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition Syclop.cpp:64