Automaton.h
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34 
35 /* Author: Matt Maly, Keliang He */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_LTL_AUTOMATON_
38 #define OMPL_CONTROL_PLANNERS_LTL_AUTOMATON_
39 
40 #include "ompl/control/planners/ltl/World.h"
41 #include "ompl/util/ClassForward.h"
42 #include "ompl/config.h"
43 #include <unordered_map>
44 #include <limits>
45 #include <ostream>
46 #include <vector>
47 
48 namespace ompl
49 {
50  namespace control
51  {
53 
54  OMPL_CLASS_FORWARD(Automaton);
56 
70  class Automaton
71  {
72  public:
77  struct TransitionMap
78  {
82  int eval(const World &w) const;
83 
84  mutable std::unordered_map<World, unsigned int> entries;
85  };
86 
88  Automaton(unsigned int numProps, unsigned int numStates = 0);
89 
90 #if OMPL_HAVE_SPOT
91 
95  Automaton(unsigned numProps, std::string formula, bool isCosafe = true);
96 #endif
97 
99  unsigned int addState(bool accepting = false);
100 
102  void setAccepting(unsigned int s, bool a);
103 
105  bool isAccepting(unsigned int s) const;
106 
108  void setStartState(unsigned int s);
109 
112  int getStartState() const;
113 
115  void addTransition(unsigned int src, const World &w, unsigned int dest);
116 
122  bool run(const std::vector<World> &trace) const;
123 
127  int step(int state, const World &w) const;
128 
130  TransitionMap &getTransitions(unsigned int src);
131 
133  unsigned int numStates() const;
134 
136  unsigned int numTransitions() const;
137 
139  unsigned int numProps() const;
140 
142  void print(std::ostream &out) const;
143 
146  unsigned int distFromAccepting(unsigned int s) const;
147 
149  static AutomatonPtr AcceptingAutomaton(unsigned int numProps);
150 
153  static AutomatonPtr CoverageAutomaton(unsigned int numProps, const std::vector<unsigned int> &covProps);
154 
157  static AutomatonPtr SequenceAutomaton(unsigned int numProps, const std::vector<unsigned int> &seqProps);
158 
161  static AutomatonPtr DisjunctionAutomaton(unsigned int numProps, const std::vector<unsigned int> &disjProps);
162 
165  static AutomatonPtr AvoidanceAutomaton(unsigned int numProps, const std::vector<unsigned int> &avoidProps);
166 
170  static AutomatonPtr CoverageAutomaton(unsigned int numProps);
171 
175  static AutomatonPtr SequenceAutomaton(unsigned int numProps);
176 
179  static AutomatonPtr DisjunctionAutomaton(unsigned int numProps);
180 
181  protected:
182  unsigned int numProps_;
183  unsigned int numStates_;
184  int startState_{-1};
185  std::vector<bool> accepting_;
186  std::vector<TransitionMap> transitions_;
187  mutable std::vector<unsigned int> distances_;
188  };
189  }
190 }
191 #endif
void setStartState(unsigned int s)
Sets the start state of the automaton.
Definition: Automaton.cpp:182
TransitionMap & getTransitions(unsigned int src)
Returns the outgoing transition map for a given automaton state.
Definition: Automaton.cpp:217
static AutomatonPtr DisjunctionAutomaton(unsigned int numProps, const std::vector< unsigned int > &disjProps)
Helper function to return a disjunction automaton, which accepts when one of the given propositions b...
Definition: Automaton.cpp:363
static AutomatonPtr AcceptingAutomaton(unsigned int numProps)
Returns a single-state automaton that accepts on all inputs.
Definition: Automaton.cpp:296
static AutomatonPtr CoverageAutomaton(unsigned int numProps, const std::vector< unsigned int > &covProps)
Helper function to return a coverage automaton. Assumes all propositions are mutually exclusive.
Definition: Automaton.cpp:306
bool isAccepting(unsigned int s) const
Returns whether a given state of the automaton is accepting.
Definition: Automaton.cpp:177
unsigned int numStates() const
Returns the number of states in this automaton.
Definition: Automaton.cpp:222
int step(int state, const World &w) const
Runs the automaton for one step from the given state, using the values of propositions from a given W...
Definition: Automaton.cpp:210
bool run(const std::vector< World > &trace) const
Runs the automaton from its start state, using the values of propositions from a given sequence of Wo...
Definition: Automaton.cpp:198
static AutomatonPtr AvoidanceAutomaton(unsigned int numProps, const std::vector< unsigned int > &avoidProps)
Returns an avoidance automaton, which rejects when any one of the given list of propositions becomes ...
Definition: Automaton.cpp:382
unsigned int numTransitions() const
Returns the number of transitions in this automaton.
Definition: Automaton.cpp:227
A shared pointer wrapper for ompl::control::Automaton.
void addTransition(unsigned int src, const World &w, unsigned int dest)
Adds a given transition to the automaton.
Definition: Automaton.cpp:192
void setAccepting(unsigned int s, bool a)
Sets the accepting status of a given state.
Definition: Automaton.cpp:172
unsigned int numProps() const
Returns the number of propositions used by this automaton.
Definition: Automaton.cpp:235
Automaton(unsigned int numProps, unsigned int numStates=0)
Creates an automaton with a given number of propositions and states.
Definition: Automaton.cpp:75
int getStartState() const
Returns the start state of the automaton. Returns -1 if no start state has been set.
Definition: Automaton.cpp:187
int eval(const World &w) const
Returns the automaton state corresponding to a given World in this transition map....
Definition: Automaton.cpp:57
void print(std::ostream &out) const
Prints the automaton to a given output stream, in Graphviz dot format.
Definition: Automaton.cpp:240
unsigned int distFromAccepting(unsigned int s) const
Returns the shortest number of transitions from a given state to an accepting state.
Definition: Automaton.cpp:260
unsigned int addState(bool accepting=false)
Adds a new state to the automaton and returns an ID for it.
Definition: Automaton.cpp:162
static AutomatonPtr SequenceAutomaton(unsigned int numProps, const std::vector< unsigned int > &seqProps)
Helper function to return a sequence automaton. Assumes all propositions are mutually exclusive.
Definition: Automaton.cpp:340
Main namespace. Contains everything in this library.
Definition: AppBase.h:21