Exploring/Exploiting Trees. More...

#include <Eet.h>

Inheritance diagram for rl::plan::Eet:

[legend]

Classes
struct	ExplorerSetup

struct	VertexBundle

Public Member Functions
	Eet ()

virtual	~Eet ()

::std::chrono::steady_clock::duration	getExplorationDuration () const

virtual ::std::string	getName () const

virtual ::std::size_t	getNumEdges () const

virtual ::std::size_t	getNumVertices () const

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

void	seed (const ::std::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 ()

NearestNeighbors *	getNearestNeighbors (const ::std::size_t &i) const

virtual ::std::size_t	getNumEdges () const

virtual ::std::size_t	getNumVertices () const

void	setNearestNeighbors (NearestNeighbors *nearestNeighbors, const ::std::size_t &i)

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	beta
	Threshold for switching to uniform orientation sampling. More...

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

Sampler *	sampler

Public Attributes inherited from rl::plan::Planner
::std::chrono::steady_clock::duration	duration
	Upper bound for search. 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	addVertex (Tree &tree, const VectorPtr &q)

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)

::std::normal_distribution< ::rl::math::Real >::result_type	gauss ()

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

::std::uniform_real_distribution< ::rl::math::Real >::result_type	rand ()

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

::std::uniform_real_distribution< ::rl::math::Real >::result_type	rand ()

Protected Member Functions inherited from rl::plan::Rrt
bool	areEqual (const ::rl::math::Vector &lhs, const ::rl::math::Vector &rhs) const

virtual ::rl::math::Vector	choose ()

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)

Static Protected Member Functions
static VertexBundle *	get (const Tree &tree, const Vertex &v)

Static Protected Member Functions inherited from rl::plan::Rrt
static VertexBundle *	get (const Tree &tree, const Vertex &v)

Protected Attributes
::std::normal_distribution< ::rl::math::Real >	gaussDistribution

::std::mt19937	gaussEngine

::std::uniform_real_distribution< ::rl::math::Real >	randDistribution

::std::mt19937	randEngine

Protected Attributes inherited from rl::plan::RrtGoalBias
::std::uniform_real_distribution< ::rl::math::Real >	randDistribution

::std::mt19937	randEngine

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
::std::chrono::steady_clock::time_point	time

Private Attributes
::std::chrono::steady_clock::time_point	explorationTimeStart

::std::chrono::steady_clock::time_point	explorationTimeStop

::rl::math::GnatNearestNeighbors< WorkspaceMetric >	nn

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

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

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

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

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

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

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

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

Detailed Description

Exploring/Exploiting Trees.

Markus Rickert, Arne Sieverling, and Oliver Brock. Balancing exploration and exploitation in sampling-based motion planning. IEEE Transactions on Robotics, 30(6):1305-1317, December 2014.

http://dx.doi.org/10.1109/TRO.2014.2340191

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.

◆ addVertex()

Eet::Vertex rl::plan::Eet::addVertex	(	Tree &	tree,
		const VectorPtr &	q
	)

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

◆ gauss()

std::normal_distribution<::rl::math::Real >::result_type rl::plan::Eet::gauss ( )

protected

◆ get()

Eet::VertexBundle * rl::plan::Eet::get	(	const Tree &	tree,
		const Vertex &	v
	)

staticprotected

◆ getExplorationDuration()

std::chrono::steady_clock::duration rl::plan::Eet::getExplorationDuration ( ) 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()

VectorList rl::plan::Eet::getPath ( )

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

◆ rand()

std::uniform_real_distribution<::rl::math::Real >::result_type rl::plan::Eet::rand ( )

protected

◆ reset()

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

virtual

Reset planner.

Reimplemented from rl::plan::Rrt.

◆ seed()

void rl::plan::Eet::seed ( const ::std::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.

◆ beta

::rl::math::Real rl::plan::Eet::beta

Threshold for switching to uniform orientation sampling.

◆ distanceWeight

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

Weight factor translation vs. orientation.

◆ explorationTimeStart

::std::chrono::steady_clock::time_point rl::plan::Eet::explorationTimeStart

private

◆ explorationTimeStop

::std::chrono::steady_clock::time_point rl::plan::Eet::explorationTimeStop

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.

◆ gaussDistribution

::std::normal_distribution< ::rl::math::Real> rl::plan::Eet::gaussDistribution

protected

◆ gaussEngine

::std::mt19937 rl::plan::Eet::gaussEngine

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.

◆ nn

::rl::math::GnatNearestNeighbors<WorkspaceMetric> rl::plan::Eet::nn

private

◆ randDistribution

::std::uniform_real_distribution< ::rl::math::Real> rl::plan::Eet::randDistribution

protected

◆ randEngine

::std::mt19937 rl::plan::Eet::randEngine

protected

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

Static Protected Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Eet()

◆ ~Eet()

Member Function Documentation

◆ addEdge()

◆ addVertex()

◆ connect()

◆ distance()

◆ expand()

◆ extend()

◆ gauss()

◆ get()

◆ getExplorationDuration()

◆ getName()

◆ getNumEdges()

◆ getNumVertices()

◆ getPath()

◆ nearest()

◆ rand()

◆ reset()

◆ seed()

◆ solve()

Member Data Documentation

◆ alpha

◆ alternativeDistanceComputation

◆ beta

◆ distanceWeight

◆ explorationTimeStart

◆ explorationTimeStop

◆ explorers

◆ explorersSetup

◆ gamma

◆ gaussDistribution

◆ gaussEngine

◆ goalEpsilon

◆ goalEpsilonUseOrientation

◆ max

◆ min

◆ nn

◆ randDistribution

◆ randEngine