Planning::RRTPlanner Class Reference

Given a start point and an end point and some conditions, plans a path for a robot to get there. More...

Public Member Functions
	RRTPlanner (int minIterations, int maxIterations)
	Constructor taking in the max iterations the RRT planner should run.
int	maxIterations () const
	gets the maximum number of iterations for the RRT algorithm
void	maxIterations (int value)
	sets the maximum number of iterations for th RRT algorithm
int	minIterations () const
void	minIterations (int value)
MotionCommand::CommandType	commandType () const override
	The MotionCommand type that this planner handles.
virtual std::unique_ptr< Path >	run (PlanRequest &planRequest) override
	Returns an obstacle-free Path subject to the specified MotionContraints.
Public Member Functions inherited from Planning::SingleRobotPathPlanner
virtual bool	canHandleDynamic ()

Static Public Member Functions
static std::unique_ptr< Planning::InterpolatedPath >	generatePath (const std::vector< Geometry2d::Point > &points, const Geometry2d::ShapeSet &obstacles, const MotionConstraints &motionConstraints, Geometry2d::Point vi, Geometry2d::Point vf)
	Takes in a waypoints and returns a full InterpolatedPath with a generated Velocity Profile.
static void	createConfiguration (Configuration *cfg)
static RJ::Seconds	getPartialReplanLeadTime ()
Static Public Member Functions inherited from Planning::SingleRobotPathPlanner
static double	goalPosChangeThreshold ()
static double	goalVelChangeThreshold ()
static double	replanTimeout ()
static void	createConfiguration (Configuration *cfg)
static void	allDynamicToStatic (Geometry2d::ShapeSet &obstacles, const std::vector< DynamicObstacle > &dynamicObstacles)
static void	splitDynamic (Geometry2d::ShapeSet &obstacles, std::vector< DynamicObstacle > &dynamicOut, const std::vector< DynamicObstacle > &dynamicObstacles)
static bool	shouldReplan (const PlanRequest &planRequest)
	Checks if the previous path is no longer valid and needs to be re-planned. More...

Protected Member Functions
bool	shouldReplan (const PlanRequest &planRequest, const std::vector< DynamicObstacle > dynamicObs, std::string *debugOut=nullptr) const
	Check to see if the previous path (if any) should be discarded and replaced with a newly-planned one.
std::vector< Geometry2d::Point >	runRRT (MotionInstant start, MotionInstant goal, const MotionConstraints &motionConstraints, const Geometry2d::ShapeSet &obstacles, Context *context, unsigned shellID, const std::optional< std::vector< Geometry2d::Point >> &biasWaypoints=std::nullopt)
	Runs a bi-directional RRT to attempt to join the start and end states.
std::unique_ptr< InterpolatedPath >	generateRRTPath (const MotionInstant &start, const MotionInstant &goal, const MotionConstraints &motionConstraints, Geometry2d::ShapeSet &origional, const std::vector< DynamicObstacle > dyObs, Context *context, unsigned shellID, const std::optional< std::vector< Geometry2d::Point >> &biasWayPoints=std::nullopt)
std::vector< Geometry2d::Point >	runRRTHelper (MotionInstant start, MotionInstant goal, const MotionConstraints &motionConstraints, const Geometry2d::ShapeSet &obstacles, Context *context, unsigned shellID, const std::optional< std::vector< Geometry2d::Point >> &biasWaypoints, bool straightLine)
	Helper method for runRRT(), which creates a vector of points representing the RRT path.
Protected Member Functions inherited from Planning::SingleRobotPathPlanner
	SingleRobotPathPlanner (bool handlesDynamic)

Static Protected Member Functions
static std::unique_ptr< Planning::InterpolatedPath >	generateCubicBezier (const std::vector< Geometry2d::Point > &points, const Geometry2d::ShapeSet &obstacles, const MotionConstraints &motionConstraints, Geometry2d::Point vi, Geometry2d::Point vf)
	Takes in waypoints and returns a InterpolatedPath with a generated Velocity Profile. More...
static void	optimize (std::vector< Geometry2d::Point > &path, const Geometry2d::ShapeSet &obstacles, Geometry2d::Point vi, Geometry2d::Point vf)
	Removes unnecesary waypoints in the path.
static std::vector< CubicBezierControlPoints >	generateCubicBezierPath (const std::vector< Geometry2d::Point > &points, const MotionConstraints &motionConstraints, Geometry2d::Point vi, Geometry2d::Point vf, const std::optional< std::vector< double >> &times=std::nullopt)
	Generates a Cubic Bezier Path based on Albert's Bezier Velocity Path Algorithm using waypoints. More...
static std::vector< InterpolatedPath::Entry >	generateVelocityPath (const std::vector< CubicBezierControlPoints > &controlPoints, const MotionConstraints &motionConstraints, Geometry2d::Point vi, Geometry2d::Point vf, int interpolations=40)
	Generates a velocity profile from a Cubic Bezier Path under the given motion constratins. More...
static std::vector< CubicBezierControlPoints >	generateNormalCubicBezierPath (const std::vector< Geometry2d::Point > &points, const MotionConstraints &motionConstraints, Geometry2d::Point vi, Geometry2d::Point vf)
	Generates a Cubic Bezier Path based on some attempted heuristical Control Point Placement.
static Eigen::VectorXd	cubicBezierCalc (double vi, double vf, std::vector< double > &points, std::vector< double > &ks, std::vector< double > &ks2)
	Helper function for cubicBezier() which uses Eigen matrices to solve for the cubic bezier equations.

Protected Attributes
int	_minIterations
	minimum and maximum number of rrt iterations to run this does not include connect attempts
int	_maxIterations

Static Protected Attributes
static ConfigDouble *	_partialReplanLeadTime

Detailed Description

Given a start point and an end point and some conditions, plans a path for a robot to get there.

There are many ways to plan paths. This planner uses bidirectional RRTs. You can check out our interactive RRT applet on GitHub here: https://github.com/RoboJackets/rrt.

Inheritance diagram for Planning::RRTPlanner:

Collaboration diagram for Planning::RRTPlanner:

Member Function Documentation

generateCubicBezier()

std::unique_ptr< Planning::InterpolatedPath > Planning::RRTPlanner::generateCubicBezier ( const std::vector< Geometry2d::Point > &  points, const Geometry2d::ShapeSet &  obstacles, const MotionConstraints &  motionConstraints, Geometry2d::Point  vi, Geometry2d::Point  vf  )

staticprotected

Takes in waypoints and returns a InterpolatedPath with a generated Velocity Profile.

1. It generates a bezier path from the waypoints given
2. It generates a velocity profile to fit the constraints given
3. It returns a interpolated path combining the bezier path and the velocity profile

generateCubicBezierPath()

vector< CubicBezierControlPoints > Planning::RRTPlanner::generateCubicBezierPath ( const std::vector< Geometry2d::Point > &  points, const MotionConstraints &  motionConstraints, Geometry2d::Point  vi, Geometry2d::Point  vf, const std::optional< std::vector< double >> &  times = std::nullopt  )

staticprotected

Generates a Cubic Bezier Path based on Albert's Bezier Velocity Path Algorithm using waypoints.

It creates a path with continuous velocity and acceleration that estimates speed using the trapezoidal motion heuristic

generateVelocityPath()

std::vector< InterpolatedPath::Entry > Planning::RRTPlanner::generateVelocityPath ( const std::vector< CubicBezierControlPoints > &  controlPoints, const MotionConstraints &  motionConstraints, Geometry2d::Point  vi, Geometry2d::Point  vf, int  interpolations = 40  )

staticprotected

Generates a velocity profile from a Cubic Bezier Path under the given motion constratins.

Generates a Cubic Bezier Path based on Albert's random Bezier Velocity Path Algorithm.

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

• soccer/planning/RRTPlanner.hpp
• soccer/planning/RRTPlanner.cpp