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document new feature for setting planner termination conditions in OMPL #427

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Nov 21, 2019
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document new feature for setting planner termination conditions in OMPL #427

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document new feature for setting planner termination conditions in OMPL
mamoll Nov 20, 2019
a6a8c31
add note that CostConvergence is available only in OMPL 1.5.0 and newer
mamoll Nov 20, 2019
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23 changes: 23 additions & 0 deletions doc/ompl_interface/ompl_interface_tutorial.rst
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Expand Up @@ -97,6 +97,29 @@ The configuration of these optimization objectives can be done in the *ompl_plan
For more information on the OMPL optimal planners, the reader is referred to the
`OMPL - Optimal Planning documentation <http://ompl.kavrakilab.org/optimalPlanning.html>`_.

OMPL Planner Termination Conditions
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

The planners in OMPL typically terminate when a given time limit has been exceeded. However, it possible to specify an additional planner termination condition per planner
configuration in ompl_planning.yaml via the ``termination_condition`` parameter. Possible values are:

* ``Iteration[num]``: Terminate after ``num`` iterations. Here, ``num`` should be replaced with a positive integer.
* ``CostConvergence[solutionsWindow,epsilon]``: Terminate after the cost (as specified by an optimization objective) has converged. The parameter ``solutionsWindow`` specifies the minimum number of solutions to use in deciding whether a planner has converged. The parameter ``epsilon`` is the threshold to consider for convergence. This should be a positive number close to 0. If the cumulative moving average does not change by a relative fraction of epsilon after a new better solution is found, convergence has been reached. *This termination condition is only available in OMPL 1.5.0 and newer.*
* ``ExactSolution``: Terminate as soon as an exact solution is found or a timeout occurs. This modifies the behavior of anytime/optimizing planners to terminate upon discovering the first feasible solution.

In all cases, the planner will terminate when either the user-specified termination condition is satisfied or the time limit specified by ``timeout`` has been reached, whichever occurs first.

For example, to specify that RRTstar should terminate upon convergence, the following settings could be used: ::

RRTstarkConfigDefault:
type: geometric::RRTstar
termination_condition: CostConvergence[10,.1]
range: 0.0
goal_bias: 0.05
delay_collision_checking: 1

Note that no optimization objective is specified, so the default one, PathLengthOptimizationObjective, will be used.

Post-Processing Smoothing
^^^^^^^^^^^^^^^^^^^^^^^^^

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