ompl::geometric::TRRT::TRRT(const base::SpaceInformationPtr &si) : base::Planner(si, "TRRT")
{
// Standard RRT Variables
specs_.approximateSolutions = true;
specs_.directed = true;
Planner::declareParam<double>("range", this, &TRRT::setRange, &TRRT::getRange, "0.:1.:10000.");
Planner::declareParam<double>("goal_bias", this, &TRRT::setGoalBias, &TRRT::getGoalBias, "0.:.05:1.");
// TRRT Specific Variables
frontierThreshold_ = 0.0; // set in setup()
setTempChangeFactor(0.1); // how much to increase the temp each time
costThreshold_ = base::Cost(std::numeric_limits<double>::infinity());
initTemperature_ = 100; // where the temperature starts out
frontierNodeRatio_ = 0.1; // 1/10, or 1 nonfrontier for every 10 frontier
Planner::declareParam<double>("temp_change_factor", this, &TRRT::setTempChangeFactor, &TRRT::getTempChangeFactor,
"0.:.1:1.");
Planner::declareParam<double>("init_temperature", this, &TRRT::setInitTemperature, &TRRT::getInitTemperature);
Planner::declareParam<double>("frontier_threshold", this, &TRRT::setFrontierThreshold, &TRRT::getFrontierThreshold);
Planner::declareParam<double>("frontierNodeRatio", this, &TRRT::setFrontierNodeRatio, &TRRT::getFrontierNodeRatio);
Planner::declareParam<double>("cost_threshold", this, &TRRT::setCostThreshold, &TRRT::getCostThreshold);
}
ompl::geometric::BiTRRT::BiTRRT(const base::SpaceInformationPtr &si) : base::Planner(si, "BiTRRT")
{
specs_.approximateSolutions = false;
specs_.directed = true;
maxDistance_ = 0.0; // set in setup()
connectionPoint_ = std::make_pair<Motion*, Motion*>(NULL, NULL);
Planner::declareParam<double>("range", this, &BiTRRT::setRange, &BiTRRT::getRange, "0.:1.:10000.");
// BiTRRT Specific Variables
frontierThreshold_ = 0.0; // set in setup()
setTempChangeFactor(0.1); // how much to increase the temp each time
costThreshold_ = base::Cost(std::numeric_limits<double>::infinity());
initTemperature_ = 100; // where the temperature starts out
frontierNodeRatio_ = 0.1; // 1/10, or 1 non-frontier for every 10 frontier
Planner::declareParam<double>("temp_change_factor", this, &BiTRRT::setTempChangeFactor, &BiTRRT::getTempChangeFactor,"0.:.1:1.");
Planner::declareParam<double>("init_temperature", this, &BiTRRT::setInitTemperature, &BiTRRT::getInitTemperature);
Planner::declareParam<double>("frontier_threshold", this, &BiTRRT::setFrontierThreshold, &BiTRRT::getFrontierThreshold);
Planner::declareParam<double>("frontier_node_ratio", this, &BiTRRT::setFrontierNodeRatio, &BiTRRT::getFrontierNodeRatio);
Planner::declareParam<double>("cost_threshold", this, &BiTRRT::setCostThreshold, &BiTRRT::getCostThreshold);
}