MPL::PlannerBase< Dim, Coord > Class Template Reference

Motion planning base util class. More...

#include <planner_base.h>

Public Member Functions
	PlannerBase (bool verbose=false)
	Simple constructor.
bool	initialized ()
	Check if the planner has been initialized.
Trajectory< Dim >	getTraj () const
	Get optimal trajectory.
vec_E< Primitive< Dim > >	getValidPrimitives () const
	Get expanded collision free primitives.
vec_E< Primitive< Dim > >	getAllPrimitives () const
	Get expanded primitives.
vec_Vecf< Dim >	getOpenSet () const
	Get points in open set.
vec_Vecf< Dim >	getCloseSet () const
	Get points in close set.
vec_Vecf< Dim >	getNullSet () const
	Get points neither in open nor close set.
vec_Vecf< Dim >	getStates (const Coord &state) const
	Get points at certain state.
vec_Vecf< Dim >	getExpandedNodes () const
	Get expanded nodes, for A* it should be the same as the close set.
vec_E< Primitive< Dim > >	getExpandedEdges () const
	Get expanded edges, for A* it should be the same as the close set.
int	getExpandedNum () const
	Get number of expanded nodes.
void	getSubStateSpace (int time_step)
	Prune state space. More...
decimal_t	getTrajCost () const
	Get trajectory total cost.
void	checkValidation ()
	Check tree validation.
void	reset ()
	Reset state space.
void	setLPAstar (bool use_lpastar)
	Set max vel in each axis.
void	setVmax (decimal_t v)
	Set max vel in each axis.
void	setAmax (decimal_t a)
	Set max acc in each axis.
void	setJmax (decimal_t j)
	Set max jerk in each axis.
void	setYawmax (decimal_t yaw)
	Set max jerk in each axis.
void	setTmax (decimal_t t)
	Set max time step to explore.
void	setDt (decimal_t dt)
	Set dt for each primitive.
void	setW (decimal_t w)
	Set weight for cost in time.
void	setWyaw (decimal_t w)
	Set weight for cost in time.
void	setEpsilon (decimal_t eps)
	Set greedy searching param.
void	setHeurIgnoreDynamics (bool ignore)
	Calculate heuristic using dynamics.
void	setMaxNum (int num)
	Set max number of expansion.
void	setU (const vec_E< VecDf > &U)
	Set U.
void	setPriorTrajectory (const Trajectory< Dim > &traj)
	Set prior trajectory.
void	setTol (decimal_t tol_pos, decimal_t tol_vel=-1, decimal_t tol_acc=-1)
	Set tolerance in geometric and dynamic spaces.
bool	plan (const Coord &start, const Coord &goal)
	Planning thread. More...

Protected Attributes
std::shared_ptr< MPL::env_base< Dim > >	ENV_
	Environment class.
std::shared_ptr< MPL::StateSpace< Dim, Coord > >	ss_ptr_
	Planner workspace.
Trajectory< Dim >	traj_
	Optimal trajectory.
decimal_t	traj_cost_
	Total cost of final trajectory.
decimal_t	epsilon_ = 1.0
	Greedy searching parameter.
int	max_num_ = -1
	Maxmum number of expansion, -1 means no limitation.
bool	use_lpastar_ = false
	Enable LPAstar for planning.
bool	planner_verbose_
	Enabled to display debug message.

Detailed Description

template<int Dim, typename Coord>
class MPL::PlannerBase< Dim, Coord >

Motion planning base util class.

Member Function Documentation

getSubStateSpace()

template<int Dim, typename Coord>

void MPL::PlannerBase< Dim, Coord >::getSubStateSpace ( int  time_step )

inline

Prune state space.

Parameters

time_step

set the root of state space to be the waypoint on the best trajectory at best_child_[time_step]

plan()

template<int Dim, typename Coord>

bool MPL::PlannerBase< Dim, Coord >::plan ( const Coord &  start, const Coord &  goal  )

inline

Planning thread.

Parameters

start	start waypoint
goal	goal waypoint

The goal waypoint is the center of the goal region, the planner cannot find the trajectory hits the exact goal state due to discretization

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

• include/mpl_planner/common/planner_base.h