Automaton.h
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34 
35 /* Author: Matt Maly */
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 <unordered_map>
43 #include <limits>
44 #include <ostream>
45 #include <vector>
46 
47 namespace ompl
48 {
49  namespace control
50  {
52 
53  OMPL_CLASS_FORWARD(Automaton);
55 
69  class Automaton
70  {
71  public:
77  {
81  int eval(const World &w) const;
82 
83  TransitionMap &operator=(const TransitionMap &tm) = default;
84 
85  mutable std::unordered_map<World, unsigned int> entries;
86  };
87 
89  Automaton(unsigned int numProps, unsigned int numStates = 0);
90 
92  unsigned int addState(bool accepting = false);
93 
95  void setAccepting(unsigned int s, bool a);
96 
98  bool isAccepting(unsigned int s) const;
99 
101  void setStartState(unsigned int s);
102 
105  int getStartState() const;
106 
108  void addTransition(unsigned int src, const World &w, unsigned int dest);
109 
115  bool run(const std::vector<World> &trace) const;
116 
120  int step(int state, const World &w) const;
121 
123  TransitionMap &getTransitions(unsigned int src);
124 
126  unsigned int numStates() const;
127 
129  unsigned int numTransitions() const;
130 
132  unsigned int numProps() const;
133 
135  void print(std::ostream &out) const;
136 
139  unsigned int distFromAccepting(unsigned int s,
140  unsigned int maxDist = std::numeric_limits<unsigned int>::max()) const;
141 
143  static AutomatonPtr AcceptingAutomaton(unsigned int numProps);
144 
147  static AutomatonPtr CoverageAutomaton(unsigned int numProps, const std::vector<unsigned int> &covProps);
148 
151  static AutomatonPtr SequenceAutomaton(unsigned int numProps, const std::vector<unsigned int> &seqProps);
152 
155  static AutomatonPtr DisjunctionAutomaton(unsigned int numProps, const std::vector<unsigned int> &disjProps);
156 
159  static AutomatonPtr AvoidanceAutomaton(unsigned int numProps, const std::vector<unsigned int> &avoidProps);
160 
164  static AutomatonPtr CoverageAutomaton(unsigned int numProps);
165 
169  static AutomatonPtr SequenceAutomaton(unsigned int numProps);
170 
173  static AutomatonPtr DisjunctionAutomaton(unsigned int numProps);
174 
175  protected:
176  unsigned int numProps_;
177  unsigned int numStates_;
178  int startState_{-1};
179  std::vector<bool> accepting_;
180  std::vector<TransitionMap> transitions_;
181  mutable std::vector<unsigned int> distances_;
182  };
183  }
184 }
185 #endif
void print(std::ostream &out) const
Prints the automaton to a given output stream, in Graphviz dot format.
Definition: Automaton.cpp:152
unsigned int numTransitions() const
Returns the number of transitions in this automaton.
Definition: Automaton.cpp:139
void setAccepting(unsigned int s, bool a)
Sets the accepting status of a given state.
Definition: Automaton.cpp:84
A class to represent an assignment of boolean values to propositions. A World can be partially restri...
Definition: World.h:71
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:122
unsigned int distFromAccepting(unsigned int s, unsigned int maxDist=std::numeric_limits< unsigned int >::max()) const
Returns the shortest number of transitions from a given state to an accepting state.
Definition: Automaton.cpp:172
unsigned int numProps() const
Returns the number of propositions used by this automaton.
Definition: Automaton.cpp:147
int getStartState() const
Returns the start state of the automaton. Returns -1 if no start state has been set.
Definition: Automaton.cpp:99
Automaton(unsigned int numProps, unsigned int numStates=0)
Creates an automaton with a given number of propositions and states.
Definition: Automaton.cpp:66
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:252
void setStartState(unsigned int s)
Sets the start state of the automaton.
Definition: Automaton.cpp:94
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
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:275
int eval(const World &w) const
Returns the automaton state corresponding to a given World in this transition map. Returns -1 if no such transition exists.
Definition: Automaton.cpp:48
Each automaton state has a transition map, which maps from a World to another automaton state...
Definition: Automaton.h:76
unsigned int addState(bool accepting=false)
Adds a new state to the automaton and returns an ID for it.
Definition: Automaton.cpp:75
void addTransition(unsigned int src, const World &w, unsigned int dest)
Adds a given transition to the automaton.
Definition: Automaton.cpp:104
A shared pointer wrapper for ompl::control::Automaton.
static AutomatonPtr AcceptingAutomaton(unsigned int numProps)
Returns a single-state automaton that accepts on all inputs.
Definition: Automaton.cpp:208
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:218
bool isAccepting(unsigned int s) const
Returns whether a given state of the automaton is accepting.
Definition: Automaton.cpp:89
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:294
A class to represent a deterministic finite automaton, each edge of which corresponds to a World...
Definition: Automaton.h:69
unsigned int numStates() const
Returns the number of states in this automaton.
Definition: Automaton.cpp:134
TransitionMap & getTransitions(unsigned int src)
Returns the outgoing transition map for a given automaton state.
Definition: Automaton.cpp:129
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:110