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libmove3d-planners
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Expansion procedure of the obstacleness-aware RRT (RRT_obst) algorithm, which involves an adaptive cost threshold. More...
#include <Threshold-RRT.hpp>
Public Member Functions | |
| ThresholdExpansion (Graph *graph) | |
| Constructor. | |
| virtual | ~ThresholdExpansion () |
| Destructor. | |
| unsigned | extend (Node *fromNode, confPtr_t directionConf, Node *directionNode) |
| RRT_obst Extend. More... | |
| unsigned | connect (Node *fromNode, confPtr_t directionConf, Node *directionNode) |
| RRT_obst Connect. More... | |
 Public Member Functions inherited from TransitionExpansion | |
| TransitionExpansion (Graph *graph) | |
| Constructor. | |
| virtual | ~TransitionExpansion () |
| Destructor. | |
| bool | isValidConnection (localPathPtr_t path) |
| Check whether the given path is a valid connection, and compute its cost. More... | |
| bool | addCycles () |
| Try to add cycles to the graph. More... | |
| bool | addCycles1 () |
| bool | addCycles2 () |
| bool | addCycles3 () |
| double | getTemperature () |
| Public Member Functions inherited from RRTExpansion | |
| RRTExpansion (Graph *graph) | |
| Constructor. | |
| virtual | ~RRTExpansion () |
| Destructor. | |
| Public Member Functions inherited from TreeExpansion | |
| TreeExpansion (Graph *graph) | |
| Constructor. | |
| virtual | ~TreeExpansion () |
| Destructor. | |
| void | expansionSucceeded (Node *node) |
| Actions to be done after the expansion attempted from the given node, in case of success. | |
| void | expansionFailed (Node *node) |
| Actions to be done after the expansion attempted from the given node, in case of failure. | |
| Public Member Functions inherited from BaseExpansion | |
| BaseExpansion () | |
| Constructor. | |
| BaseExpansion (Graph *prtGraph) | |
| ~BaseExpansion () | |
| Destructor. | |
| void | setGraph (Graph *G) |
| Set the graph that is beeing expanded. | |
| Graph * | getGraph () |
| Get the graph that is beeing expanded. | |
| int | getDirectionMethod () |
| Get Node Expansion Method. | |
| void | setDirectionMethod (int directionExpansion) |
| Set Expansion node Method. | |
| int | getNodeMethod () |
| Get Node Expansion Method. | |
| void | setNodeMethod (int nodeExpansion) |
| Set Expansion node Method. | |
| void | setFromComp (Node *fromComp) |
| Set the From Connected Component. | |
| Node * | getFromComp () |
| Get the From Connected Component. | |
| void | setToComp (Node *toComp) |
| Set the To Connected Component. | |
| Node * | getToComp () |
| Get the To Connected Component. | |
| double | step () |
| Expansion Step (Delta) More... | |
| double | getDMax () |
| double | computeInterpolationFactor (double pathLength) |
| Compute the interpolation factor along the path, based on the extension step. | |
| confPtr_t | interpolate (confPtr_t conf, LocalPath *path, double factor) |
| Interpolation along the given path. | |
| double | positionAlongPath (LocalPath &path, double param) |
| Position on localpath in [0,1]. | |
| double | pathDelta (LocalPath &path) |
| Return the path parameter that is the closest to step() | |
| LocalPath | getExtensiontPath (std::tr1::shared_ptr< Configuration > qi, std::tr1::shared_ptr< Configuration > qf) |
| Computes a localpath parameter used for expansion of at max step() of length. More... | |
| void | expansionFailed (Node &node) |
| Function called when a node can not be connected. More... | |
| virtual Node * | addNode (Node *currentNode, LocalPath &path, double pathDelta, Node *directionNode, unsigned &nbCreatedNodes) |
| Adds a node to a connected component. More... | |
| bool | refinementControl (LocalPath &path, double rho, Node &compNode) |
| Function that balances the ratio of exploration towards refinement. | |
| bool | nextStep (LocalPath &path, std::tr1::shared_ptr< Configuration > &directionConfig, double &pathDelta, std::tr1::shared_ptr< LocalPath > &newPath, Env::expansionMethod method) |
| Returns a valid configuration on the local path. | |
| bool | nextStep (LocalPath &path, Node *directionNode, double &pathDelta, std::tr1::shared_ptr< LocalPath > &newPath, Env::expansionMethod method) |
| Returns a valid configuration on the local path. | |
| virtual Node * | getExpansionNode (Node *compNode, confPtr_t direction, int distance) |
| Gets the nearest node in the graph. More... | |
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std::tr1::shared_ptr < Configuration > | getExpansionDirection (Node *expandComp, Node *goalComp, bool samplePassive, Node *&directionNode) |
| Node * | getLasAddedNode () |
| Return last added node. | |
| void | addConnectibleNode () |
| unsigned int | getNbConnectibleNodes () |
Additional Inherited Members | |
| Protected Member Functions inherited from RRTExpansion | |
| virtual Node * | addNode (localPathPtr_t path, Node *fromNode, Node *directionNode) |
| Add a node to the graph, after an expansion that has produced the given path, starting from fromNode. More... | |
| Protected Attributes inherited from TransitionExpansion | |
| double | highestCost |
| cost of the highest-cost node in the graph | |
| double | lowestCost |
| cost of the lowest-cost node in the graph | |
| Protected Attributes inherited from BaseExpansion | |
| int | m_ExpansionNodeMethod |
| int | m_MaxExpandNodeFailure |
| int | m_kNearestPercent |
| int | m_ExpansionDirectionMethod |
| bool | m_IsDirSampleWithRlg |
| Graph * | m_Graph |
| Node * | m_last_added_node |
| Node * | m_fromComp |
| Node * | m_toComp |
| unsigned int | _nbConnectibleNodes |
Expansion procedure of the obstacleness-aware RRT (RRT_obst) algorithm, which involves an adaptive cost threshold.
The threshold value can be defined by the user in the GUI (if left at 0, it means 'not user-defined'). If no value is defined by the user, the threshold value is automatically set to be the minimal cost of all the nodes present in the graph at initialization time.
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inlinevirtual |
RRT_obst Connect.
| fromNode | node from which the expansion is performed |
| directionConf | configuration toward which the expansion is going |
| directionNode | node toward which the expansion is going (when relevant) |
Reimplemented from TransitionExpansion.
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inlinevirtual |
RRT_obst Extend.
| fromNode | node from which the expansion is performed |
| directionConf | configuration toward which the expansion is going |
| directionNode | node toward which the expansion is going (when relevant) |
Reimplemented from TransitionExpansion.
1.8.6