Exploring/Exploiting Trees. More...

#include <Eet.h>

Inheritance diagram for rl::plan::Eet:

[legend]

Classes
struct	ExplorerSetup

Public Member Functions
	Eet ()

virtual	~Eet ()

::rl::math::Real	getExplorationTime () const

virtual ::std::string	getName () const

virtual ::std::size_t	getNumEdges () const

virtual ::std::size_t	getNumVertices () const

void	getPath (VectorList &path)
	Get solution path. More...

void	seed (const ::boost::mt19937::result_type &value)

void	reset ()
	Reset planner. More...

bool	solve ()
	Find collision free path. More...

Public Member Functions inherited from rl::plan::RrtCon
	RrtCon ()

virtual	~RrtCon ()

virtual ::std::string	getName () const

bool	solve ()
	Find collision free path. More...

Public Member Functions inherited from rl::plan::RrtGoalBias
	RrtGoalBias ()

virtual	~RrtGoalBias ()

virtual ::std::string	getName () const

Public Member Functions inherited from rl::plan::Rrt
	Rrt (const ::std::size_t &trees=1)

virtual	~Rrt ()

virtual ::std::size_t	getNumEdges () const

virtual ::std::size_t	getNumVertices () const

Public Member Functions inherited from rl::plan::Planner
	Planner ()

virtual	~Planner ()

bool	verify ()
	Vertify that start and goal configuration are within joint limits and collision free. More...

Public Attributes
::rl::math::Real	alpha
	Control increase/decrease of exploitation. More...

bool	alternativeDistanceComputation
	Better performance in certain scenarios. More...

::rl::math::Real	distanceWeight
	Weight factor translation vs. More...

::std::vector< WorkspaceSphereExplorer * >	explorers

::std::vector< ExplorerSetup >	explorersSetup

::rl::math::Real	gamma
	Initialization value for exploration/exploitation balance. More...

::rl::math::Real	goalEpsilon
	Epsilon for goal state. More...

bool	goalEpsilonUseOrientation
	Include frame orientation in goal epsilon calculation. More...

::rl::math::Vector3	max
	Upper workspace limit for workspace frame sampling. More...

::rl::math::Vector3	min
	Lower workspace limit for workspace frame sampling. More...

Public Attributes inherited from rl::plan::RrtGoalBias
::rl::math::Real	probability
	Probability of choosing goal configuration. More...

Public Attributes inherited from rl::plan::Rrt
::rl::math::Real	delta
	Configuration step size. More...

::rl::math::Real	epsilon
	Epsilon for configuration comparison. More...

bool	kd
	Use kd-tree for nearest neighbor search instead of brute-force. More...

Sampler *	sampler

Public Attributes inherited from rl::plan::Planner
::rl::math::Real	duration
	Upper bound for search [s]. More...

::rl::math::Vector *	goal
	Goal configuration. More...

SimpleModel *	model

::rl::math::Vector *	start
	Start configuration. More...

Viewer *	viewer

Protected Member Functions
Edge	addEdge (const Vertex &u, const Vertex &v, Tree &tree)

Vertex	connect (Tree &tree, const Neighbor &nearest, const ::rl::math::Transform &chosen)

::rl::math::Real	distance (const ::rl::math::Transform &t1, const ::rl::math::Transform &t2) const

int	expand (const VertexBundle &nearest, const ::rl::math::Transform &nearest2, const ::rl::math::Transform &chosen, const ::rl::math::Real &distance, VertexBundle &expanded)

Vertex	extend (Tree &tree, const Neighbor &nearest, const ::rl::math::Transform &chosen)

Neighbor	nearest (const Tree &tree, const ::rl::math::Transform &chosen)

Protected Member Functions inherited from rl::plan::RrtGoalBias
virtual void	choose (::rl::math::Vector &chosen)

Protected Member Functions inherited from rl::plan::Rrt
void	addPoint (NearestNeighbors &nn, const QueryItem &p)

Vertex	addVertex (Tree &tree, const VectorPtr &q)

bool	areEqual (const ::rl::math::Vector &lhs, const ::rl::math::Vector &rhs) const

virtual Vertex	connect (Tree &tree, const Neighbor &nearest, const ::rl::math::Vector &chosen)

virtual Vertex	extend (Tree &tree, const Neighbor &nearest, const ::rl::math::Vector &chosen)

virtual Neighbor	nearest (const Tree &tree, const ::rl::math::Vector &chosen)

Protected Attributes
::boost::variate_generator< ::boost::mt19937, ::boost::normal_distribution< ::rl::math::Real > >	gauss

::boost::variate_generator< ::boost::mt19937, ::boost::uniform_real< ::rl::math::Real > >	rand

Protected Attributes inherited from rl::plan::RrtGoalBias
::boost::variate_generator< ::boost::mt19937, ::boost::uniform_real< ::rl::math::Real > >	rand

Protected Attributes inherited from rl::plan::Rrt
::std::vector< Vertex >	begin

::std::vector< Vertex >	end

::std::vector< Tree >	tree

Protected Attributes inherited from rl::plan::Planner
::rl::util::Timer	timer

Private Attributes
::rl::util::Timer	exploration

::std::vector< Vertex >	selected
	Vertices for nearest neighbor search. More...

::rl::util::Timer	timer

Additional Inherited Members
Protected Types inherited from rl::plan::Rrt
typedef ::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, VertexBundle, ::boost::no_property, TreeBundle >	Tree

typedef ::boost::adjacency_list_traits< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, ::boost::listS >::vertex_descriptor	Vertex

typedef ::std::pair< const ::rl::math::Vector *, Vertex >	QueryItem

typedef ::CGAL::Search_traits< ::rl::math::Real, QueryItem, const ::rl::math::Real *, CartesianIterator >	SearchTraits

typedef Orthogonal_k_neighbor_search< SearchTraits, Distance >	NeighborSearch

typedef NeighborSearch::Tree	NeighborSearchTree

typedef ::boost::shared_ptr< NeighborSearchTree >	NeighborSearchTreePtr

typedef ::std::vector< NeighborSearchTreePtr >	NearestNeighbors

typedef ::boost::graph_traits< Tree >::edge_descriptor	Edge

typedef ::boost::graph_traits< Tree >::edge_iterator	EdgeIterator

typedef ::std::pair< EdgeIterator, EdgeIterator >	EdgeIteratorPair

typedef ::boost::graph_traits< Tree >::vertex_iterator	VertexIterator

typedef ::std::pair< VertexIterator, VertexIterator >	VertexIteratorPair

typedef ::std::pair< Vertex, ::rl::math::Real >	Neighbor

Detailed Description

Exploring/Exploiting Trees.

Markus Rickert, Oliver Brock, and Alois Knoll. Balancing exploration and exploitation in motion planning. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 2812-2817, Pasadena, CA, USA, May 2008.

Constructor & Destructor Documentation

◆ Eet()

rl::plan::Eet::Eet ( )

◆ ~Eet()

rl::plan::Eet::~Eet ( )

virtual

Member Function Documentation

◆ addEdge()

Rrt::Edge rl::plan::Eet::addEdge	(	const Vertex &	u,
		const Vertex &	v,
		Tree &	tree
	)

protectedvirtual

Reimplemented from rl::plan::Rrt.

◆ connect()

Rrt::Vertex rl::plan::Eet::connect	(	Tree &	tree,
		const Neighbor &	nearest,
		const ::rl::math::Transform &	chosen
	)

protected

◆ distance()

rl::math::Real rl::plan::Eet::distance	(	const ::rl::math::Transform &	t1,
		const ::rl::math::Transform &	t2
	)		const

protected

◆ expand()

int rl::plan::Eet::expand	(	const VertexBundle &	nearest,
		const ::rl::math::Transform &	nearest2,
		const ::rl::math::Transform &	chosen,
		const ::rl::math::Real &	distance,
		VertexBundle &	expanded
	)

protected

◆ extend()

Rrt::Vertex rl::plan::Eet::extend	(	Tree &	tree,
		const Neighbor &	nearest,
		const ::rl::math::Transform &	chosen
	)

protected

◆ getExplorationTime()

rl::math::Real rl::plan::Eet::getExplorationTime ( ) const

◆ getName()

std::string rl::plan::Eet::getName ( ) const

virtual

Implements rl::plan::Planner.

◆ getNumEdges()

std::size_t rl::plan::Eet::getNumEdges ( ) const

◆ getNumVertices()

std::size_t rl::plan::Eet::getNumVertices ( ) const

◆ getPath()

void rl::plan::Eet::getPath ( VectorList & path )

virtual

Get solution path.

Precondition: solve()

Reimplemented from rl::plan::Rrt.

◆ nearest()

Rrt::Neighbor rl::plan::Eet::nearest	(	const Tree &	tree,
		const ::rl::math::Transform &	chosen
	)

protected

◆ reset()

void rl::plan::Eet::reset ( )

virtual

Reset planner.

Reimplemented from rl::plan::Rrt.

◆ seed()

void rl::plan::Eet::seed ( const ::boost::mt19937::result_type & value )

virtual

Reimplemented from rl::plan::RrtGoalBias.

◆ solve()

bool rl::plan::Eet::solve ( )

virtual

Find collision free path.

Reimplemented from rl::plan::Rrt.

Member Data Documentation

◆ alpha

::rl::math::Real rl::plan::Eet::alpha

Control increase/decrease of exploitation.

◆ alternativeDistanceComputation

bool rl::plan::Eet::alternativeDistanceComputation

Better performance in certain scenarios.

◆ distanceWeight

::rl::math::Real rl::plan::Eet::distanceWeight

Weight factor translation vs.

orientation.

◆ exploration

::rl::util::Timer rl::plan::Eet::exploration

private

◆ explorers

::std::vector< WorkspaceSphereExplorer* > rl::plan::Eet::explorers

◆ explorersSetup

::std::vector< ExplorerSetup > rl::plan::Eet::explorersSetup

◆ gamma

::rl::math::Real rl::plan::Eet::gamma

Initialization value for exploration/exploitation balance.

◆ gauss

::boost::variate_generator< ::boost::mt19937, ::boost::normal_distribution< ::rl::math::Real > > rl::plan::Eet::gauss

protected

◆ goalEpsilon

::rl::math::Real rl::plan::Eet::goalEpsilon

Epsilon for goal state.

◆ goalEpsilonUseOrientation

bool rl::plan::Eet::goalEpsilonUseOrientation

Include frame orientation in goal epsilon calculation.

◆ max

::rl::math::Vector3 rl::plan::Eet::max

Upper workspace limit for workspace frame sampling.

◆ min

::rl::math::Vector3 rl::plan::Eet::min

Lower workspace limit for workspace frame sampling.

◆ rand

::boost::variate_generator< ::boost::mt19937, ::boost::uniform_real< ::rl::math::Real > > rl::plan::Eet::rand

protected

◆ selected

::std::vector< Vertex > rl::plan::Eet::selected

private

Vertices for nearest neighbor search.

◆ timer

::rl::util::Timer rl::plan::Eet::timer

private

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

rl/plan/Eet.h
rl/plan/Eet.cpp

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Eet()

◆ ~Eet()

Member Function Documentation

◆ addEdge()

◆ connect()

◆ distance()

◆ expand()

◆ extend()

◆ getExplorationTime()

◆ getName()

◆ getNumEdges()

◆ getNumVertices()

◆ getPath()

◆ nearest()

◆ reset()

◆ seed()

◆ solve()

Member Data Documentation

◆ alpha

◆ alternativeDistanceComputation

◆ distanceWeight

◆ exploration

◆ explorers

◆ explorersSetup

◆ gamma

◆ gauss

◆ goalEpsilon

◆ goalEpsilonUseOrientation

◆ max

◆ min

◆ rand

◆ selected

◆ timer