LazyPRM.h
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34 
35 /* Author: Ioan Sucan, Henning Kayser */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_PRM_LAZY_PRM_
38 #define OMPL_GEOMETRIC_PLANNERS_PRM_LAZY_PRM_
39 
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include "ompl/datastructures/NearestNeighbors.h"
42 #include <boost/graph/graph_traits.hpp>
43 #include <boost/graph/adjacency_list.hpp>
44 #include <utility>
45 #include <vector>
46 #include <map>
47 
48 namespace ompl
49 {
50  namespace base
51  {
52  // Forward declare for use in implementation
53  OMPL_CLASS_FORWARD(OptimizationObjective);
54  }
55 
56  namespace geometric
57  {
73  class LazyPRM : public base::Planner
74  {
75  public:
77  {
78  using kind = boost::vertex_property_tag;
79  };
80 
82  {
83  using kind = boost::vertex_property_tag;
84  };
85 
87  {
88  using kind = boost::vertex_property_tag;
89  };
90 
91  struct edge_flags_t
92  {
93  using kind = boost::edge_property_tag;
94  };
95 
97  using Vertex =
98  boost::adjacency_list_traits<boost::vecS, boost::listS, boost::undirectedS>::vertex_descriptor;
99 
116  using Graph = boost::adjacency_list<
117  boost::vecS, boost::listS, boost::undirectedS,
118  boost::property<
120  boost::property<
121  boost::vertex_index_t, unsigned long int,
122  boost::property<vertex_flags_t, unsigned int,
123  boost::property<vertex_component_t, unsigned long int,
124  boost::property<boost::vertex_predecessor_t, Vertex,
125  boost::property<boost::vertex_rank_t,
126  unsigned long int>>>>>>,
127  boost::property<boost::edge_weight_t, base::Cost, boost::property<edge_flags_t, unsigned int>>>;
128 
130  using Edge = boost::graph_traits<Graph>::edge_descriptor;
131 
133  using RoadmapNeighbors = std::shared_ptr<NearestNeighbors<Vertex> >;
134 
137  using ConnectionStrategy = std::function<const std::vector<Vertex> &(const Vertex)>;
138 
144  using ConnectionFilter = std::function<bool (const Vertex &, const Vertex &)>;
145 
147  LazyPRM(const base::SpaceInformationPtr &si, bool starStrategy = false);
148 
150  LazyPRM(const base::PlannerData &data, bool starStrategy = false);
151 
152  ~LazyPRM() override;
153 
155  void setRange(double distance);
156 
158  double getRange() const
159  {
160  return maxDistance_;
161  }
162 
164  template <template <typename T> class NN>
166  {
167  if (nn_ && nn_->size() == 0)
168  OMPL_WARN("Calling setNearestNeighbors will clear all states.");
169  clear();
170  nn_ = std::make_shared<NN<Vertex>>();
173  if (isSetup())
174  setup();
175  }
176 
177  void setProblemDefinition(const base::ProblemDefinitionPtr &pdef) override;
178 
192  void setConnectionStrategy(const ConnectionStrategy &connectionStrategy)
193  {
194  connectionStrategy_ = connectionStrategy;
196  }
199 
203  void setMaxNearestNeighbors(unsigned int k);
204 
218  void setConnectionFilter(const ConnectionFilter &connectionFilter)
219  {
220  connectionFilter_ = connectionFilter;
221  }
222 
224  unsigned long int milestoneCount() const
225  {
226  return boost::num_vertices(g_);
227  }
228 
230  unsigned long int edgeCount() const
231  {
232  return boost::num_edges(g_);
233  }
234 
235  void getPlannerData(base::PlannerData &data) const override;
236 
237  void setup() override;
238 
239  void clear() override;
240 
245  void clearQuery() override;
246 
248  void clearValidity();
249 
251 
252  protected:
254  static const unsigned int VALIDITY_UNKNOWN = 0;
255 
257  static const unsigned int VALIDITY_TRUE = 1;
258 
260  // Planner progress property functions
261  std::string getIterationCount() const
262  {
263  return std::to_string(iterations_);
264  }
265  std::string getBestCost() const
266  {
267  return std::to_string(bestCost_.value());
268  }
269  std::string getMilestoneCountString() const
270  {
271  return std::to_string(milestoneCount());
272  }
273  std::string getEdgeCountString() const
274  {
275  return std::to_string(edgeCount());
276  }
277 
279  void freeMemory();
280 
284  Vertex addMilestone(base::State *state);
285 
286  void uniteComponents(Vertex a, Vertex b);
287 
288  void markComponent(Vertex v, unsigned long int newComponent);
289 
292  long int solutionComponent(std::pair<std::size_t, std::size_t> *startGoalPair) const;
293 
296  ompl::base::PathPtr constructSolution(const Vertex &start, const Vertex &goal);
297 
300  double distanceFunction(const Vertex a, const Vertex b) const
301  {
302  return si_->distance(stateProperty_[a], stateProperty_[b]);
303  }
304 
307  base::Cost costHeuristic(Vertex u, Vertex v) const;
308 
311 
314 
317 
321 
323  double maxDistance_{0.};
324 
326  base::StateSamplerPtr sampler_;
327 
330 
333 
335  std::vector<Vertex> startM_;
336 
338  std::vector<Vertex> goalM_;
339 
341  boost::property_map<Graph, boost::vertex_index_t>::type indexProperty_;
342 
344  boost::property_map<Graph, vertex_state_t>::type stateProperty_;
345 
347  boost::property_map<Graph, boost::edge_weight_t>::type weightProperty_;
348 
350  boost::property_map<Graph, vertex_component_t>::type vertexComponentProperty_;
351 
353  boost::property_map<Graph, vertex_flags_t>::type vertexValidityProperty_;
354 
356  boost::property_map<Graph, edge_flags_t>::type edgeValidityProperty_;
357 
360  unsigned long int componentCount_{0};
361 
363  std::map<unsigned long int, unsigned long int> componentSize_;
364 
366  base::OptimizationObjectivePtr opt_;
367 
368  base::Cost bestCost_{std::numeric_limits<double>::quiet_NaN()};
369 
370  unsigned long int iterations_{0};
371  };
372  }
373 }
374 
375 #endif
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
double value() const
The value of the cost.
Definition: Cost.h:56
A shared pointer wrapper for ompl::base::Path.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Base class for a planner.
Definition: Planner.h:223
bool isSetup() const
Check if setup() was called for this planner.
Definition: Planner.cpp:113
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:417
Definition of an abstract state.
Definition: State.h:50
Lazy Probabilistic RoadMap planner.
Definition: LazyPRM.h:74
void clearQuery() override
Clear the query previously loaded from the ProblemDefinition. Subsequent calls to solve() will reuse ...
Definition: LazyPRM.cpp:250
static const unsigned int VALIDITY_UNKNOWN
Flag indicating validity of an edge of a vertex.
Definition: LazyPRM.h:254
void clearValidity()
change the validity flag of each node and edge to VALIDITY_UNKNOWN
Definition: LazyPRM.cpp:257
boost::property_map< Graph, edge_flags_t >::type edgeValidityProperty_
Access the validity state of an edge.
Definition: LazyPRM.h:356
void setRange(double distance)
Set the maximum length of a motion to be added to the roadmap.
Definition: LazyPRM.cpp:200
std::vector< Vertex > startM_
Array of start milestones.
Definition: LazyPRM.h:335
void setConnectionStrategy(const ConnectionStrategy &connectionStrategy)
Set the connection strategy function that specifies the milestones that connection attempts will be m...
Definition: LazyPRM.h:192
unsigned long int componentCount_
Number of connected components created so far. This is used as an ID only, does not represent the act...
Definition: LazyPRM.h:360
boost::adjacency_list_traits< boost::vecS, boost::listS, boost::undirectedS >::vertex_descriptor Vertex
The type for a vertex in the roadmap.
Definition: LazyPRM.h:98
boost::property_map< Graph, vertex_flags_t >::type vertexValidityProperty_
Access the validity state of a vertex.
Definition: LazyPRM.h:353
void freeMemory()
Free all the memory allocated by the planner.
Definition: LazyPRM.cpp:278
bool userSetConnectionStrategy_
Flag indicating whether the employed connection strategy was set by the user (or defaults are assumed...
Definition: LazyPRM.h:320
void setMaxNearestNeighbors(unsigned int k)
Convenience function that sets the connection strategy to the default one with k nearest neighbors.
Definition: LazyPRM.cpp:209
base::Cost costHeuristic(Vertex u, Vertex v) const
Given two vertices, returns a heuristic on the cost of the path connecting them. This method wraps Op...
Definition: LazyPRM.cpp:612
ompl::base::PathPtr constructSolution(const Vertex &start, const Vertex &goal)
Given two milestones from the same connected component, construct a path connecting them and set it a...
Definition: LazyPRM.cpp:485
std::function< const std::vector< Vertex > &(const Vertex)> ConnectionStrategy
A function returning the milestones that should be attempted to connect to.
Definition: LazyPRM.h:137
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: LazyPRM.cpp:265
std::shared_ptr< NearestNeighbors< Vertex > > RoadmapNeighbors
A nearest neighbors data structure for roadmap vertices.
Definition: LazyPRM.h:133
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: LazyPRM.cpp:311
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: LazyPRM.h:165
boost::property_map< Graph, vertex_component_t >::type vertexComponentProperty_
Access the connected component of a vertex.
Definition: LazyPRM.h:350
std::map< unsigned long int, unsigned long int > componentSize_
The number of elements in each component in the LazyPRM roadmap.
Definition: LazyPRM.h:363
static const unsigned int VALIDITY_TRUE
Flag indicating validity of an edge of a vertex.
Definition: LazyPRM.h:257
boost::property_map< Graph, boost::edge_weight_t >::type weightProperty_
Access to the weights of each Edge.
Definition: LazyPRM.h:347
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: LazyPRM.h:323
Vertex addMilestone(base::State *state)
Construct a milestone for a given state (state), store it in the nearest neighbors data structure and...
Definition: LazyPRM.cpp:285
bool starStrategy_
Flag indicating whether the default connection strategy is the Star strategy.
Definition: LazyPRM.h:310
Graph g_
Connectivity graph.
Definition: LazyPRM.h:332
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: LazyPRM.cpp:617
void setConnectionFilter(const ConnectionFilter &connectionFilter)
Set the function that can reject a milestone connection.
Definition: LazyPRM.h:218
unsigned long int edgeCount() const
Return the number of edges currently in the graph.
Definition: LazyPRM.h:230
boost::adjacency_list< boost::vecS, boost::listS, boost::undirectedS, boost::property< vertex_state_t, base::State *, boost::property< boost::vertex_index_t, unsigned long int, boost::property< vertex_flags_t, unsigned int, boost::property< vertex_component_t, unsigned long int, boost::property< boost::vertex_predecessor_t, Vertex, boost::property< boost::vertex_rank_t, unsigned long int > >> >> >, boost::property< boost::edge_weight_t, base::Cost, boost::property< edge_flags_t, unsigned int > >> Graph
The underlying roadmap graph.
Definition: LazyPRM.h:127
double getRange() const
Get the range the planner is using.
Definition: LazyPRM.h:158
unsigned long int milestoneCount() const
Return the number of milestones currently in the graph.
Definition: LazyPRM.h:224
LazyPRM(const base::SpaceInformationPtr &si, bool starStrategy=false)
Constructor.
Definition: LazyPRM.cpp:67
RoadmapNeighbors nn_
Nearest neighbors data structure.
Definition: LazyPRM.h:329
std::vector< Vertex > goalM_
Array of goal milestones.
Definition: LazyPRM.h:338
void setDefaultConnectionStrategy()
Definition: LazyPRM.cpp:227
boost::property_map< Graph, boost::vertex_index_t >::type indexProperty_
Access to the internal base::state at each Vertex.
Definition: LazyPRM.h:341
double distanceFunction(const Vertex a, const Vertex b) const
Compute distance between two milestones (this is simply distance between the states of the milestones...
Definition: LazyPRM.h:300
std::function< bool(const Vertex &, const Vertex &)> ConnectionFilter
A function that can reject connections.
Definition: LazyPRM.h:144
ConnectionStrategy connectionStrategy_
Function that returns the milestones to attempt connections with.
Definition: LazyPRM.h:313
boost::graph_traits< Graph >::edge_descriptor Edge
The type for an edge in the roadmap.
Definition: LazyPRM.h:130
long int solutionComponent(std::pair< std::size_t, std::size_t > *startGoalPair) const
Check if any pair of a start state and goal state are part of the same connected component....
Definition: LazyPRM.cpp:467
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: LazyPRM.cpp:153
base::StateSamplerPtr sampler_
Sampler user for generating random in the state space.
Definition: LazyPRM.h:326
base::OptimizationObjectivePtr opt_
Objective cost function for PRM graph edges.
Definition: LazyPRM.h:366
boost::property_map< Graph, vertex_state_t >::type stateProperty_
Access to the internal base::state at each Vertex.
Definition: LazyPRM.h:344
ConnectionFilter connectionFilter_
Function that can reject a milestone connection.
Definition: LazyPRM.h:316
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition: Console.h:66
Main namespace. Contains everything in this library.
Definition: AppBase.h:22
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49