Inheritance diagram for Saba::BiRrt:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	BiRrt (CSpacePtr cspace, RrtMethod modeA=eConnect, RrtMethod modeB=eConnect, float samplingSize=-1)

	~BiRrt () override

bool	plan (bool bQuiet=false) override

void	printConfig (bool printOnlyParams=false) override

void	reset () override
	reset the planner More...

bool	setStart (const Eigen::VectorXf &c) override
	set start configuration More...

bool	setGoal (const Eigen::VectorXf &c) override
	set goal configuration More...

CSpaceTreePtr	getTree2 ()

Public Member Functions inherited from Saba::Rrt
	Rrt (CSpacePtr cspace, RrtMethod mode=eConnect, float probabilityExtendToGoal=0.1f, float samplingSize=-1)

	~Rrt () override

bool	plan (bool bQuiet=false) override

void	printConfig (bool printOnlyParams=false) override

void	reset () override
	reset the planner More...

bool	setStart (const Eigen::VectorXf &c) override
	set start configuration More...

bool	setGoal (const Eigen::VectorXf &c) override
	set goal configuration More...

void	setProbabilityExtendToGoal (float p)

CSpaceTreePtr	getTree ()

Public Member Functions inherited from Saba::MotionPlanner
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MotionPlanner (CSpacePtr cspace)

virtual	~MotionPlanner ()
	destructor More...

CSpacePathPtr	getSolution ()

void	setMaxCycles (unsigned int mc)

Eigen::VectorXf	getStartConfig ()
	return start configuration More...

Eigen::VectorXf	getGoalConfig ()
	return goal configuration More...

unsigned int	getNrOfCycles ()
	check that planner is initialized More...

CSpacePtr	getCSpace ()
	The CSpace. More...

virtual void	stopExecution ()

void	setName (std::string sName)
	Give the planner a name. More...

std::string	getName ()
	The name of the planner. More...

float	getPlanningTimeMS ()

virtual bool	isInitialized ()
	returns true, when start and goal config have been set More...

void	setPlanningTimeout (float timeoutMs)

Protected Member Functions
bool	createSolution (bool bQuiet=false) override
	create the solution More...

Protected Member Functions inherited from Saba::Rrt
bool	createSolution (bool bQuiet=false) override
	create the solution More...

virtual ExtensionResult	extend (Eigen::VectorXf &c, CSpaceTreePtr tree, int &storeLastAddedID)

virtual ExtensionResult	connectComplete (Eigen::VectorXf &c, CSpaceTreePtr tree, int &storeLastAddedID)

virtual ExtensionResult	connectUntilCollision (Eigen::VectorXf &c, CSpaceTreePtr tree, int &storeLastAddedID)

Protected Attributes
CSpaceTreePtr	tree2
	the second tree More...

int	lastAddedID2
	ID of last added node. More...

RrtMethod	rrtMode2

Protected Attributes inherited from Saba::Rrt
CSpaceTreePtr	tree
	the rrt on which are operating More...

CSpaceNodePtr	startNode
	start node (root of RRT) More...

CSpaceNodePtr	goalNode
	goal node (set when RRT weas successfully connected to goalConfig) More...

Eigen::VectorXf	tmpConfig
	tmp config More...

float	extendGoToGoal
	the probability that the goal config is used instead of a randomly created configuration More...

float	extendStepSize
	step size for one rrt extend (copied from cspace) More...

int	lastAddedID
	ID of last added node. More...

RrtMethod	rrtMode

Protected Attributes inherited from Saba::MotionPlanner
CSpacePtr	cspace
	the cspace on which are operating More...

CSpacePathPtr	solution
	the solution More...

bool	stopSearch
	indicates that the search should be interrupted More...

unsigned int	dimension
	dimension of c-space More...

Eigen::VectorXf	startConfig
	start config More...

bool	startValid

Eigen::VectorXf	goalConfig
	goal config More...

bool	goalValid

unsigned int	maxCycles
	maximum cycles for searching More...

unsigned int	cycles
	current cycles done in the run method More...

std::string	name
	Name of this planner (standard: "Motion Planner") More...

float	planningTime

float	planningTimeout
	Planning time in milliseconds. More...

Additional Inherited Members
Public Types inherited from Saba::Rrt
enum	RrtMethod { eExtend, eConnect, eConnectCompletePath }

enum	ExtensionResult { eError, eFailed, eSuccess, ePartial }

Detailed Description

The standard implementation of the bidirectional RRT planner. Two search trees are started, one from the start and one from the goal node.

Constructor & Destructor Documentation

◆ BiRrt()

Saba::BiRrt::BiRrt	(	CSpacePtr	cspace,
		RrtMethod	modeA = `eConnect`,
		RrtMethod	modeB = `eConnect`,
		float	samplingSize = `-1`
	)

Constructor

Parameters

cspace	An initialized cspace object.
modeA	Specify the RRT method that should be used to build the first tree
modeB	Specify the RRT method that should be used to build the second tree

◆ ~BiRrt()

Saba::BiRrt::~BiRrt ( )

overridedefault

Member Function Documentation

◆ createSolution()

bool Saba::BiRrt::createSolution ( bool bQuiet = false )

overrideprotectedvirtual

create the solution

Implements Saba::MotionPlanner.

◆ getTree2()

CSpaceTreePtr Saba::BiRrt::getTree2 ( )

◆ plan()

bool Saba::BiRrt::plan ( bool bQuiet = false )

overridevirtual

do the planning (blocking method)

Returns: true if solution was found, otherwise false

Implements Saba::MotionPlanner.

Reimplemented in Saba::GraspIkRrt.

◆ printConfig()

void Saba::BiRrt::printConfig ( bool printOnlyParams = false )

overridevirtual

Print setup of planner.

Parameters

printOnlyParams If set the decorating start and end is skipped (can be used to print derived classes).

Reimplemented from Saba::MotionPlanner.

Reimplemented in Saba::GraspIkRrt.

◆ reset()

void Saba::BiRrt::reset ( )

overridevirtual

reset the planner

Reimplemented from Saba::MotionPlanner.

Reimplemented in Saba::GraspIkRrt.

◆ setGoal()

bool Saba::BiRrt::setGoal ( const Eigen::VectorXf & c )

overridevirtual

set goal configuration

Reimplemented from Saba::MotionPlanner.

Reimplemented in Saba::GraspIkRrt.

◆ setStart()

bool Saba::BiRrt::setStart ( const Eigen::VectorXf & c )

overridevirtual

set start configuration

Reimplemented from Saba::MotionPlanner.

Field Documentation

◆ lastAddedID2

int Saba::BiRrt::lastAddedID2

protected

ID of last added node.

◆ rrtMode2

RrtMethod Saba::BiRrt::rrtMode2

protected

◆ tree2

CSpaceTreePtr Saba::BiRrt::tree2

protected

the second tree

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BiRrt()

◆ ~BiRrt()

Member Function Documentation

◆ createSolution()

◆ getTree2()

◆ plan()

◆ printConfig()

◆ reset()

◆ setGoal()

◆ setStart()

Field Documentation

◆ lastAddedID2

◆ rrtMode2

◆ tree2