A simple sampling based, single rrt planner using the extend or connect method. More...

Inheritance diagram for Saba::Rrt:

Public Types
enum	RrtMethod { eExtend, eConnect, eConnectCompletePath }

enum	ExtensionResult { eError, eFailed, eSuccess, ePartial }

Public Member Functions
	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...

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	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...

Detailed Description

A simple sampling based, single rrt planner using the extend or connect method.

Rrt-related algorithms are known to allow efficient motion planning in high dimensional configuration spaces. Complex setups can be specified via the used c-space classes. The number of degrees of freedom (DoF/dimension) is defined via the c-space. Also the collision detection is handled by the c-space classes.

See also: CSpaceSampled; CSpacePath; CSpaceTree

Member Enumeration Documentation

◆ ExtensionResult

enum Saba::Rrt::ExtensionResult

Enumerator
eError
eFailed
eSuccess
ePartial

◆ RrtMethod

enum Saba::Rrt::RrtMethod

Enumerator
eExtend
eConnect
eConnectCompletePath

Constructor & Destructor Documentation

◆ Rrt()

Saba::Rrt::Rrt	(	CSpacePtr	cspace,
		RrtMethod	mode = `eConnect`,
		float	probabilityExtendToGoal = `0.1f`,
		float	samplingSize = `-1`
	)

Constructor

Parameters

cspace	A cspace, defining the used joints (the dimension/DoF) and the collision detection setup.
mode	Specify the RRT method that should be used
probabilityExtendToGoal	Specify how often the goal node should be used instead of a random config (value must be between 0 and 1)

◆ ~Rrt()

Saba::Rrt::~Rrt ( )

overridedefault

Member Function Documentation

◆ connectComplete()

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

protectedvirtual

Reimplemented in Saba::GraspRrt.

◆ connectUntilCollision()

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

protectedvirtual

◆ createSolution()

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

overrideprotectedvirtual

create the solution

Implements Saba::MotionPlanner.

◆ extend()

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

protectedvirtual

◆ getTree()

Saba::CSpaceTreePtr Saba::Rrt::getTree ( )

◆ plan()

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

overridevirtual

Do the planning (blocking method). On success the Rrt can be accessed with the getTree() method and the found solution with getSolution().

Parameters

bQuiet Print some info or not.

Returns: true if solution was found, otherwise false

Implements Saba::MotionPlanner.

◆ printConfig()

void Saba::Rrt::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.

◆ reset()

void Saba::Rrt::reset ( )

overridevirtual

reset the planner

Reimplemented from Saba::MotionPlanner.

◆ setGoal()

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

overridevirtual

set goal configuration

Reimplemented from Saba::MotionPlanner.

◆ setProbabilityExtendToGoal()

void Saba::Rrt::setProbabilityExtendToGoal ( float p )

◆ setStart()

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

overridevirtual

set start configuration

Reimplemented from Saba::MotionPlanner.

Field Documentation

◆ extendGoToGoal

float Saba::Rrt::extendGoToGoal

protected

the probability that the goal config is used instead of a randomly created configuration

◆ extendStepSize

float Saba::Rrt::extendStepSize

protected

step size for one rrt extend (copied from cspace)

◆ goalNode

CSpaceNodePtr Saba::Rrt::goalNode

protected

goal node (set when RRT weas successfully connected to goalConfig)

◆ lastAddedID

int Saba::Rrt::lastAddedID

protected

ID of last added node.

◆ rrtMode

RrtMethod Saba::Rrt::rrtMode

protected

◆ startNode

CSpaceNodePtr Saba::Rrt::startNode

protected

start node (root of RRT)

◆ tmpConfig

Eigen::VectorXf Saba::Rrt::tmpConfig

protected

tmp config

◆ tree

CSpaceTreePtr Saba::Rrt::tree

protected

the rrt on which are operating

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ ExtensionResult

◆ RrtMethod

Constructor & Destructor Documentation

◆ Rrt()

◆ ~Rrt()

Member Function Documentation

◆ connectComplete()

◆ connectUntilCollision()

◆ createSolution()

◆ extend()

◆ getTree()

◆ plan()

◆ printConfig()

◆ reset()

◆ setGoal()

◆ setProbabilityExtendToGoal()

◆ setStart()

Field Documentation

◆ extendGoToGoal

◆ extendStepSize

◆ goalNode

◆ lastAddedID

◆ rrtMode

◆ startNode

◆ tmpConfig

◆ tree