SBL planner setup. More...

#include <SBLOptions.hpp>

Public Types
enum	NearNodeSelection { UniformSelect , UniformFromCell , NearestFromCell , NearestNode }
	Policy for choosing a node in the vicinity of a given node, n. More...

enum	TreeSelection { UniformTree , WeightedTree , SmallestTree , LargestTree }
	Policy for selecting a tree. More...

enum	ConnectFrequency { ConnectAlways , ConnectAtReset }
	Policy for how often to connect trees. More...

Public Member Functions
	SBLOptions (rw::pathplanning::QConstraint::Ptr &constraint, rw::pathplanning::QEdgeConstraintIncremental::Ptr &edgeConstraint, SBLExpand::Ptr expansion, rw::math::QMetric::Ptr metric, double connectRadius)
	Construct a new set of options for the internal algorithms. More...

Public Attributes
SBLPlannerConstraint	constraint
	The constraint that determined if a path or configuration is valid (collision free) or not.

SBLExpand::Ptr	expansion
	The expand policy used to sample new configurations in the vicinity.

rw::math::QMetric::Ptr	metric
	the distance metric for nearest neighbor searching.

double	connectRadius
	Attempt connection of the trees if the distance to the nearest neighbor is below this threshold.

int	resetCount
	(default is 20).

int	rootSampleInterval
	(default is 25).

double	nodesPerCell
	(default is 10).

NearNodeSelection	nearNodeSelection
	(default is NearestNode).

TreeSelection	treeSelection
	(default is UniformTree).

ConnectFrequency	connectAt
	(default is ConnectAlways).

Detailed Description

SBL planner setup.

SBLOptions is the value stored in SBLSetup.

SBLOptions is a seperate file so that we can keep SBLSetup as abstract as possible.

SBLOptions is used by SBLInternal and is for internal use only.

Member Enumeration Documentation

Policy for how often to connect trees.

Enumerator
ConnectAlways	always connect (default)
ConnectAtReset	connect only at reset.

Policy for choosing a node in the vicinity of a given node, n.

Enumerator
UniformSelect	take a random node.
UniformFromCell	take a random node within the cell where node n lies.
NearestFromCell	take the nearest node from the cell where node n lies.
NearestNode	search for the nearest node (default)

Policy for selecting a tree.

Enumerator
UniformTree	randomly select one of the two trees (default)
WeightedTree	choose the tree randomly, but weighted according to the size of the tree.
SmallestTree	choose the smallest tree.
LargestTree	choose the largest tree.

SBLOptions	(	rw::pathplanning::QConstraint::Ptr &	constraint,
		rw::pathplanning::QEdgeConstraintIncremental::Ptr &	edgeConstraint,
		SBLExpand::Ptr	expansion,
		rw::math::QMetric::Ptr	metric,
		double	connectRadius
	)

Construct a new set of options for the internal algorithms.

Parameters

constraint	[in] a constraint on the valid configurations.
edgeConstraint	[in] a constraint on the edges between valid configurations.
expansion	[in] the policy for how to sample new configurations in the vicinity.
metric	[in] the distance metric for nearest neighbor searching.
connectRadius	[in] connect trees if the distance to the nearest neighbor is below this threshold.

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