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 
104  base::PlannerDataPtr getChosenRecallPath() const;
105 
107  void getRepairPlannerDatas(std::vector<base::PlannerDataPtr> &data) const;
108 
109  base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
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 
127  bool repairPath(const base::PlannerTerminationCondition &ptc, geometric::PathGeometric &primaryPath);
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
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 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...
tools::LightningDBPtr experienceDB_
The database of motions to search through.
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.
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.
Definition of a geometric path.
Definition: PathGeometric.h:60
base::ProblemDefinitionPtr repairProblemDef_
A secondary problem definition for the repair planner to use.
A shared pointer wrapper for ompl::base::PlannerData.
int getNumNearestSolutions() const
Getter for number of &#39;k&#39; close solutions to choose from database for further filtering.