The EST planner for kinodynamic systems. More...
#include <KinodynamicMotionPlanner.h>
Public Types | |
| typedef KinodynamicTree::Node | Node |
Public Member Functions | |
| ESTKinodynamicPlanner (KinodynamicSpace *s) | |
| void | EnableExtensionCaching (int cacheSize=100) |
| void | SetDensityEstimatorResolution (Real res) |
| void | SetDensityEstimatorResolution (const Vector &res) |
| virtual void | Init (const State &xinit, CSet *goalSet) |
| virtual bool | Plan (int maxIters) |
| virtual bool | Done () const |
| virtual bool | GetPath (KinodynamicMilestonePath &path) |
| virtual bool | FilterExtension (Node *n, const KinodynamicMilestonePath &path) |
| Subclasses can overload this to eliminate certain extensions of the tree. | |
| virtual void | GetStats (PropertyMap &stats) const |
| void | RebuildDensityEstimator () |
 Public Member Functions inherited from KinodynamicPlannerBase | |
| KinodynamicPlannerBase (KinodynamicSpace *s) | |
| virtual void | Init (const State &xinit, const State &xgoal, Real goalRadius) |
Public Attributes | |
| KinodynamicTree | tree |
| std::shared_ptr< DensityEstimatorBase > | densityEstimator |
| int | extensionCacheSize |
| std::vector< Node * > | extensionCache |
| std::vector< double > | extensionWeights |
| Node * | goalNode |
| int | numIters |
| int | numFilteredExtensions |
| int | numSuccessfulExtensions |
| Real | sampleTime |
| Real | simulateTime |
| Real | visibleTime |
| Real | overheadTime |
| Public Attributes inherited from KinodynamicPlannerBase | |
| KinodynamicSpace * | space |
| CSet * | goalSet |
Detailed Description
The EST planner for kinodynamic systems.
Node selection is performed by a density-weighted sampling from a grid-based density estimator. (MultiGridDensityEstimator)
This has an implementation of a semi-lazy method in that it maintains a difference between "official" and "unofficial" contributions to the tree. If extensionCacheSize > 0 (0 by default), then the extension cache contains several candidate extensions, and at each iteration tries making one official by sampling one candidate inversely proportional to their density, and then checking collisions.
Member Data Documentation
| std::vector<Node*> ESTKinodynamicPlanner::extensionCache |
These are a list of nodes that have been added to the tree but not checked for collision nor added to the density estimator.
The documentation for this class was generated from the following files:
- KinodynamicMotionPlanner.h
- KinodynamicMotionPlanner.cpp
