#include <DynamicDomainRRT.h>

Inheritance diagram for DynamicDomainRRT:

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Collaboration diagram for DynamicDomainRRT:

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Public Types
Motion Planning Types
typedef MPBaseObject::WeightType	WeightType

typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

Public Types inherited from BasicRRTStrategy
typedef size_t	VID

typedef std::unordered_set< VID >	VertexSet

Public Types inherited from MPStrategyMethod
typedef size_t	VID

Public Types inherited from MPBaseObject
typedef DefaultWeight< Cfg >	WeightType

typedef GenericStateGraph< Cfg, WeightType >	RoadmapType

typedef GroupCfg< RoadmapType >	GroupCfgType

typedef GroupLocalPlan< RoadmapType >	GroupWeightType

typedef GroupRoadmap< GroupCfgType, GroupWeightType >	GroupRoadmapType

Public Member Functions
Construction
	DynamicDomainRRT ()

	DynamicDomainRRT (XMLNode &_node)

virtual	~DynamicDomainRRT ()=default

MPBaseObject Overrides
virtual void	Print (std::ostream &_os) const override

Public Member Functions inherited from BasicRRTStrategy
	BasicRRTStrategy ()

	BasicRRTStrategy (XMLNode &_node)

virtual	~BasicRRTStrategy ()

Public Member Functions inherited from MPStrategyMethod
	MPStrategyMethod ()=default

	MPStrategyMethod (XMLNode &_node)

virtual	~MPStrategyMethod ()

void	operator() ()
	Execute the strategy by calling Initialize, Run, and Finalize. More...

void	EnableOutputFiles (const bool _enable=true)

virtual void	Initialize ()

Public Member Functions inherited from MPBaseObject
	MPBaseObject (const std::string &_label="", const std::string &_name="", bool _debug=false)

	MPBaseObject (XMLNode &_node)

virtual	~MPBaseObject ()

const std::string &	GetName () const
	Get the class name for this object. More...

const std::string &	GetLabel () const
	Get the unique label for this object. More...

std::string	GetNameAndLabel () const
	Get the unique string identifier for this object "m_name::m_label". More...

void	SetLabel (const std::string &)
	Set the unique label for this object. More...

void	SetMPLibrary (MPLibrary *) noexcept
	Set the owning MPLibrary. More...

MPLibrary *	GetMPLibrary () const noexcept
	Get the owning MPLibrary. More...

bool	IsRunning () const noexcept
	Check the library's running flag. More...

MPProblem *	GetMPProblem () const noexcept
	Get the library's current MPProblem. More...

Environment *	GetEnvironment () const noexcept
	Get the current environment. More...

MPTask *	GetTask () const noexcept
	Get the current task. More...

GroupTask *	GetGroupTask () const noexcept
	Get the current group task. More...

MPSolutionType *	GetMPSolution () const noexcept

RoadmapType *	GetRoadmap (Robot *const _r=nullptr) const noexcept
	Get the current free-space roadmap. More...

GroupRoadmapType *	GetGroupRoadmap (RobotGroup *const _g=nullptr) const noexcept
	Get the current free-space group roadmap. More...

RoadmapType *	GetBlockRoadmap (Robot *const _r=nullptr) const noexcept
	Get the current obstacle-space roadmap. More...

Path *	GetPath (Robot *const _r=nullptr) const noexcept

GroupPath *	GetGroupPath (RobotGroup *const _g=nullptr) const noexcept
	Get the current best group path. More...

StatClass *	GetStatClass () const noexcept
	Get the current StatClass. More...

LocalObstacleMap *	GetLocalObstacleMap () const noexcept
	Get the local obstacle map. More...

Protected Member Functions
MPStrategyMethod Overrides
virtual void	Initialize () override

RRT Overrides
virtual VID	Extend (const VID _nearVID, const Cfg &_qRand, LPOutput &_lp, const bool _requireNew=false) override

virtual VID	ExpandTree (const VID _nearestVID, const Cfg &_target) override

Protected Member Functions inherited from BasicRRTStrategy
virtual void	Iterate () override
	Execute one iteration of the strategy. More...

virtual Cfg	SelectTarget ()
	Get a random configuration to grow towards. More...

Cfg	SelectDispersedTarget (const VID _v)

virtual VID	FindNearestNeighbor (const Cfg &_cfg, const VertexSet *const _candidates=nullptr)

virtual Neighbor	SelectNeighbor (const Cfg &_cfg, const std::vector< Neighbor > &_neighbors)

VID	Extend (const VID _nearVID, const Cfg &_target, const bool _requireNew=true)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

virtual std::pair< VID, bool >	AddNode (const Cfg &_newCfg)

virtual void	AddEdge (const VID _source, const VID _target, const LPOutput &_lpOutput)

void	ConnectNeighbors (const VID _newVID)

void	TryGoalExtension (const VID _newVID)

void	TryGoalExtension (const VID _newVID, const Boundary *const _boundary)

VID	ExpandTree (const Cfg &_target)

void	ConnectTrees (const VID _recentlyGrown)

Protected Member Functions inherited from MPStrategyMethod
virtual void	Run ()
	Call Iterate until EvaluateMap is true. More...

virtual bool	EvaluateMap ()
	Check if we satisfied all map evaluators. More...

virtual void	Finalize ()
	Clean-up and output results. More...

virtual void	ClearRoadmap ()
	Pre-clear the roadmap(s) if requested. More...

virtual size_t	GenerateStart (const std::string &_samplerLabel="")

virtual std::vector< size_t >	GenerateGoals (const std::string &_samplerLabel="")

Protected Member Functions inherited from MPBaseObject
void	SetName (const std::string &_s)

const std::string &	GetBaseFilename () const

Static Protected Member Functions
Helpers
static std::string	RLabel ()

Protected Attributes
Internal State
double	m_r {2.}

std::string	m_dmLabel
	DM for measuring dynamic domain. More...

Protected Attributes inherited from BasicRRTStrategy
std::string	m_samplerLabel
	The sampler label. More...

std::string	m_nfLabel
	The neighborhood finder label. More...

std::string	m_ncLabel
	The connector label (for RRG). More...

std::string	m_exLabel
	The extender label. More...

std::string	m_goalDmLabel
	Dm for checking goal extensions. More...

std::string	m_fallbackNfLabel
	NF for searching the active set, used if the main one fails. More...

bool	m_growGoals {false}
	Grow trees from goals. More...

double	m_growthFocus {0}
	The fraction of goal-biased expansions. More...

double	m_goalThreshold {0}
	Distance threshold for goal extension. More...

size_t	m_numDirections {1}
	Expansion directions per iteration. More...

size_t	m_disperseTrials {3}
	Sample attempts for disperse search. More...

std::vector< VertexSet >	m_trees
	The current tree set. More...

Protected Attributes inherited from MPStrategyMethod
std::string	m_querySampler
	Sampler for generating start/goal. More...

std::vector< std::string >	m_meLabels
	The list of map evaluators to use. More...

size_t	m_iterations {0}
	The number of executed iterations. More...

bool	m_writeOutput {true}
	Write output at the end? More...

bool	m_clearMap {false}
	Clear the roadmap(s) before run? More...

Protected Attributes inherited from MPBaseObject
bool	m_debug
	Print debug info? More...

Detailed Description

Implementation of the Dynamic Domain RRT algorithm.

Dynamic Domain RRT is identical to regular RRT, except that the accepted Voronoi region for extending a node is diminished to some 'dynamic domain radius' after the first failed extension. I.e., after one failed extension from a node q, further extensions will be rejected unless the growth target is within the dynamic domain radius of q.

Reference: Yershova, Anna, Sim, Thierry, and Lavalle, Steven M., "Dynamic-Domain RRTs: Efficient Exploration by Controlling the Sampling Domain," ICRA 2005.

Member Typedef Documentation

◆ RoadmapType

typedef MPBaseObject::RoadmapType DynamicDomainRRT::RoadmapType

◆ VID

typedef RoadmapType::VID DynamicDomainRRT::VID

◆ WeightType

typedef MPBaseObject::WeightType DynamicDomainRRT::WeightType

Constructor & Destructor Documentation

◆ DynamicDomainRRT() [1/2]

DynamicDomainRRT::DynamicDomainRRT ( )

◆ DynamicDomainRRT() [2/2]

DynamicDomainRRT::DynamicDomainRRT ( XMLNode & _node )

◆ ~DynamicDomainRRT()

virtual DynamicDomainRRT::~DynamicDomainRRT ( )

virtualdefault

Member Function Documentation

◆ ExpandTree()

DynamicDomainRRT::VID DynamicDomainRRT::ExpandTree	(	const VID	_nearestVID,
		const Cfg &	_target
	)

overrideprotectedvirtual

As basic RRT, but reject attempts to extend towards targets beyond the dynamic domain.

Reimplemented from BasicRRTStrategy.

◆ Extend()

DynamicDomainRRT::VID DynamicDomainRRT::Extend	(	const VID	_nearVID,
		const Cfg &	_qRand,
		LPOutput &	_lp,
		const bool	_requireNew = `false`
	)

overrideprotectedvirtual

As basic RRT, but set a limiting dynamic domain on the source node whenever the extension fails.

Reimplemented from BasicRRTStrategy.

◆ Initialize()

void DynamicDomainRRT::Initialize ( )

overrideprotectedvirtual

Initialize this object for the current MPProblem. This should reset any internal state of the algorithms so that they are ready for execution. It is also the place to initialize any state that depends on the current problem.

Warning: This member will be called for every compiled algorithm in the planning library - even those that will not be used. If an algorithm needs to do expenisve setup, then this method should only set a flag that tells it to do so on first use. The only exceptions are the MPStrategies, which will only have their initialize called on first use.

Reimplemented from BasicRRTStrategy.

◆ Print()

void DynamicDomainRRT::Print ( std::ostream & _os ) const

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from BasicRRTStrategy.

◆ RLabel()

static std::string DynamicDomainRRT::RLabel ( )

inlinestaticprotected

Returns: String for accessing Cfg::GetStat for radius value

Field Documentation

◆ m_dmLabel

std::string DynamicDomainRRT::m_dmLabel

protected

DM for measuring dynamic domain.

◆ m_r

double DynamicDomainRRT::m_r {2.}

protected

The dynamic domain radius factor. When we fail to extend from a configuration, its dynamic domain is set to this times the extender max distance. Future extensions from this node are aborted if the target is outside its dynamic domain.

The documentation for this class was generated from the following files:

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MPStrategies/DynamicDomainRRT.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MPStrategies/DynamicDomainRRT.cpp

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ RoadmapType

◆ VID

◆ WeightType

Constructor & Destructor Documentation

◆ DynamicDomainRRT() [1/2]

◆ DynamicDomainRRT() [2/2]

◆ ~DynamicDomainRRT()

Member Function Documentation

◆ ExpandTree()

◆ Extend()

◆ Initialize()

◆ Print()

◆ RLabel()

Field Documentation

◆ m_dmLabel

◆ m_r