LightningRetrieveRepair.h
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34 
35 /* Author: Dave Coleman */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_EXPERIENCE_LIGHTNING_RETRIEVE_REPAIR_
38 #define OMPL_GEOMETRIC_PLANNERS_EXPERIENCE_LIGHTNING_RETRIEVE_REPAIR_
39 
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include "ompl/geometric/PathGeometric.h"
42 #include "ompl/geometric/PathSimplifier.h"
43 #include "ompl/datastructures/NearestNeighbors.h"
44 
45 namespace ompl
46 {
47  namespace tools
48  {
49  OMPL_CLASS_FORWARD(LightningDB);
50  }
51 
52  namespace geometric
53  {
55 
56  OMPL_CLASS_FORWARD(LightningRetrieveRepair);
58 
77  {
78  public:
80  LightningRetrieveRepair(const base::SpaceInformationPtr &si, tools::LightningDBPtr experienceDB);
81 
82  ~LightningRetrieveRepair() override;
83 
86  void getPlannerData(base::PlannerData &data) const override;
87 
92  const std::vector<base::PlannerDataPtr> &getLastRecalledNearestPaths() const;
93 
98  std::size_t getLastRecalledNearestPathChosen() const;
99 
105 
107  void getRepairPlannerDatas(std::vector<base::PlannerDataPtr> &data) const;
108 
110 
111  void clear() override;
112 
114  void setLightningDB(const tools::LightningDBPtr &experienceDB);
115 
117  void setRepairPlanner(const base::PlannerPtr &planner);
118 
119  void setup() override;
120 
128 
136  bool replan(const base::State *start, const base::State *goal, geometric::PathGeometric &newPathSegment,
138 
143  {
144  return nearestK_;
145  }
146 
150  void setNumNearestSolutions(int nearestK)
151  {
152  nearestK_ = nearestK;
153  }
154 
155  protected:
163  std::size_t checkMotionScore(const base::State *s1, const base::State *s2) const;
164 
170  bool findBestPath(const base::State *startState, const base::State *goalState,
171  base::PlannerDataPtr &chosenPath);
172 
174  tools::LightningDBPtr experienceDB_;
175 
177  std::vector<base::PlannerDataPtr> nearestPaths_;
178 
181 
184 
187 
189  std::vector<base::PlannerDataPtr> repairPlannerDatas_;
190 
193 
196  };
197  }
198 }
199 
200 #endif
Save and load entire paths from file.
Definition: LightningDB.h:72
void getRepairPlannerDatas(std::vector< base::PlannerDataPtr > &data) const
Get information about the exploration data structure the repair motion planner used each call...
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
std::vector< base::PlannerDataPtr > nearestPaths_
Recall the nearest paths and store this in planner data for introspection later.
A shared pointer wrapper for ompl::base::ProblemDefinition.
void setRepairPlanner(const base::PlannerPtr &planner)
Set the planner that will be used for repairing invalid paths recalled from experience.
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...
void setNumNearestSolutions(int nearestK)
Setter for number of &#39;k&#39; close solutions to choose from database for further filtering.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
const std::vector< base::PlannerDataPtr > & getLastRecalledNearestPaths() const
Get debug information about the top recalled paths that were chosen for further filtering.
void getPlannerData(base::PlannerData &data) const override
Get information about the exploration data structure the planning from scratch motion planner used...
tools::LightningDBPtr experienceDB_
The database of motions to search through.
std::size_t getLastRecalledNearestPathChosen() const
Get debug information about the top recalled paths that were chosen for further filtering.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
A shared pointer wrapper for ompl::base::Planner.
Base class for a planner.
Definition: Planner.h:223
geometric::PathSimplifierPtr psk_
The instance of the path simplifier.
base::PlannerPtr repairPlanner_
A secondary planner for replanning.
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A shared pointer wrapper for ompl::base::SpaceInformation.
std::size_t nearestPathsChosenID_
the ID within nearestPaths_ of the path that was chosen for repair
The Lightning Framework&#39;s Retrieve-Repair component.
Definition of an abstract state.
Definition: State.h:49
A shared pointer wrapper for ompl::geometric::PathSimplifier.
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
std::vector< base::PlannerDataPtr > repairPlannerDatas_
Debug the repair planner by saving its planner data each time it is used.
int nearestK_
Number of &#39;k&#39; close solutions to choose from database for further filtering.
bool findBestPath(const base::State *startState, const base::State *goalState, base::PlannerDataPtr &chosenPath)
Filters the top n paths in nearestPaths_ to the top 1, based on state validity with current environme...
std::size_t checkMotionScore(const base::State *s1, const base::State *s2) const
Count the number of states along the discretized path that are in collision Note: This is kind of an ...
base::PlannerDataPtr getChosenRecallPath() const
Get the chosen path used from database for repair.
LightningRetrieveRepair(const base::SpaceInformationPtr &si, tools::LightningDBPtr experienceDB)
Constructor.
Definition of a geometric path.
Definition: PathGeometric.h:60
void setLightningDB(const tools::LightningDBPtr &experienceDB)
Pass a pointer of the database from the lightning framework.
base::ProblemDefinitionPtr repairProblemDef_
A secondary problem definition for the repair planner to use.
bool repairPath(const base::PlannerTerminationCondition &ptc, geometric::PathGeometric &primaryPath)
Repairs a path to be valid in the current planning environment.
A shared pointer wrapper for ompl::base::PlannerData.
bool replan(const base::State *start, const base::State *goal, geometric::PathGeometric &newPathSegment, const base::PlannerTerminationCondition &ptc)
Use our secondary planner to find a valid path between start and goal, and return that path...
int getNumNearestSolutions() const
Getter for number of &#39;k&#39; close solutions to choose from database for further filtering.
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...