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<div class="title">Implementing a new motion planner </div> </div>
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<div class="textblock"><p>In order to implement a new motion planner the following rules need to be followed:</p>
<ul>
<li>Define the new planner as a class that inherits from <a class="el" href="classompl_1_1base_1_1Planner.html" title="Base class for a planner.">ompl::base::Planner</a></li>
<li>Provide an implementation of <a class="el" href="classompl_1_1base_1_1Planner.html#acc87e95df04aa24ec52e24281c9fc223" title="Function that can solve the motion planning problem. This function can be called multiple times on th...">ompl::base::Planner::solve()</a>. We suggest leveraging the implementations of the routines available in <a class="el" href="classompl_1_1base_1_1SpaceInformation.html" title="The base class for space information. This contains all the information about the space planning is d...">ompl::base::SpaceInformation</a>, but this is not required.</li>
<li>If a solution is found, this function should return true and set the found solution path in the goal instance contained by <a class="el" href="classompl_1_1base_1_1ProblemDefinition.html" title="Definition of a problem to be solved. This includes the start state(s) for the system and a goal spec...">ompl::base::ProblemDefinition</a>. If no solution is found, the function should return false.</li>
<li>The function should terminate when a termination condition is met</li>
<li>It is desirable that calling solve() multiple times consecutively continues the solving process rather than restarting it.</li>
<li>Provide an implementation of <a class="el" href="classompl_1_1base_1_1Planner.html#a7e99408ada6e1572a14509fd566ae8b8" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">ompl::base::Planner::clear()</a>. The state of the planner should be restored to what it was at creation time.</li>
<li>Provide an implementation of <a class="el" href="classompl_1_1base_1_1Planner.html#afaaf08c87f8797803fbeb60771635ea5" title="Get information about the current run of the motion planner. Repeated calls to this function will upd...">ompl::base::Planner::getPlannerData()</a>. The provided implementation can be empty. This function is provided for debugging purposes: it allows the user of the algorithm to inspect the constructed exploration data structure.</li>
</ul>
<div class="fragment"><pre class="fragment"><span class="preprocessor"> #include "ompl/base/Planner.h"</span>
<span class="comment">// often useful headers:</span>
<span class="preprocessor"> #include "ompl/util/RandomNumbers.h"</span>
<span class="preprocessor"> #include "ompl/tools/config/SelfConfig.h"</span>
<span class="keyword">namespace </span>ompl
{
<span class="keyword">class </span>myNewPlanner : <span class="keyword">public</span> base::Planner
{
<span class="keyword">public</span>:
myNewPlanner(<span class="keyword">const</span> base::SpaceInformationPtr &si) : base::Planner(si, <span class="stringliteral">"the planner's name"</span>)
{
<span class="comment">// the specifications of this planner (ompl::base::PlannerSpecs)</span>
specs_.approximateSolutions = ...;
specs_.recognizedGoal = ...;
...
}
<span class="keyword">virtual</span> ~myNewPlanner(<span class="keywordtype">void</span>)
{
<span class="comment">// free any allocated memory</span>
}
<span class="keyword">virtual</span> <span class="keywordtype">bool</span> solve(<span class="keyword">const</span> base::PlannerTerminationCondition &ptc)
{
<span class="comment">// make sure the planner is configured correctly; this makes sure there </span>
<span class="comment">// are input states and a goal is specified</span>
checkValidity();
<span class="comment">// get problem definition from pdef_</span>
base::Goal *goal = pdef_->getGoal().get();
<span class="comment">// get input states with pis_</span>
<span class="keywordflow">while</span> (<span class="keyword">const</span> base::State *st = pis_.nextStart())
{
<span class="comment">// use start states</span>
<span class="comment">// usually, copies of st should be made</span>
}
<span class="comment">// if needed, sample states from the goal region (and wait until a state is sampled)</span>
<span class="keyword">const</span> base::State *st = pis_.nextGoal(ptc);
<span class="comment">// or sample a new goal state only if available:</span>
<span class="keyword">const</span> base::State *st = pis_.nextGoal();
<span class="comment">// call routines from si_ as needed</span>
<span class="comment">// periodically check if ptc() returns true.</span>
<span class="comment">// if it does, terminate planning.</span>
<span class="comment">// use msg_ to output messages.</span>
<span class="comment">// compute a valid motion plan and set it in the goal</span>
pdef_->getGoal()->setSolutionPath(...);
<span class="keywordflow">return</span> pdef_->getGoal()->isAchieved();
}
<span class="keyword">virtual</span> <span class="keywordtype">void</span> clear(<span class="keywordtype">void</span>)
{
Planner::clear();
<span class="comment">// clear the data structures</span>
}
<span class="comment">// optionally, if additional setup/configuration is needed, the setup() method can be implemented</span>
<span class="keyword">virtual</span> <span class="keywordtype">void</span> setup(<span class="keywordtype">void</span>)
{
Planner::setup();
<span class="comment">// perhaps attempt some auto-configuration</span>
SelfConfig sc(si_, getName());
sc.configure...
}
<span class="keyword">virtual</span> <span class="keywordtype">void</span> getPlannerData(base::PlannerData &data)<span class="keyword"> const</span>
<span class="keyword"> </span>{
<span class="comment">// fill data with the states and edges that were created</span>
<span class="comment">// in the exploration data structure</span>
<span class="comment">// perhaps also fill control::PlannerData</span>
}
};
}
</pre></div><p>Testing a newly added planner:</p>
<ul>
<li>Basic test to ensure that the functionality of <a class="el" href="classompl_1_1base_1_1Planner.html#a7e99408ada6e1572a14509fd566ae8b8" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">ompl::base::Planner::clear()</a> and <a class="el" href="classompl_1_1base_1_1Planner.html#acc87e95df04aa24ec52e24281c9fc223" title="Function that can solve the motion planning problem. This function can be called multiple times on th...">ompl::base::Planner::solve()</a> is correct: <div class="fragment"><pre class="fragment"> <span class="comment">// create a planning context such that planner->solve() can be called and expected to find a solution</span>
base::PlannerPtr planner;
<span class="comment">// create a testing scenario for the planner</span>
PlannerTest pt(planner);
pt.test();
</pre></div></li>
<li>Use the <a class="el" href="classompl_1_1Benchmark.html" title="Benchmark a set of planners on a problem instance.">ompl::Benchmark</a> class to evaluate performance </li>
</ul>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
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