SPARS.h
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34 
35 /* Author: Andrew Dobson */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_SPARSE_ROADMAP_SPANNER_
38 #define OMPL_GEOMETRIC_PLANNERS_SPARSE_ROADMAP_SPANNER_
39 
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include "ompl/datastructures/NearestNeighbors.h"
42 #include "ompl/geometric/PathSimplifier.h"
43 #include "ompl/util/Time.h"
44 
45 #include <boost/range/adaptor/map.hpp>
46 #include <unordered_map>
47 #include <boost/graph/graph_traits.hpp>
48 #include <boost/graph/adjacency_list.hpp>
49 #include <boost/pending/disjoint_sets.hpp>
50 #include <mutex>
51 #include <iostream>
52 #include <fstream>
53 #include <utility>
54 #include <vector>
55 #include <deque>
56 #include <map>
57 #include <set>
58 
59 namespace ompl
60 {
61  namespace geometric
62  {
77  class SPARS : public base::Planner
78  {
79  public:
81  enum GuardType
82  {
83  START,
84  GOAL,
85  COVERAGE,
86  CONNECTIVITY,
87  INTERFACE,
88  QUALITY,
89  };
90 
92  {
93  typedef boost::vertex_property_tag kind;
94  };
95 
97  {
98  typedef boost::vertex_property_tag kind;
99  };
100 
102  {
103  typedef boost::vertex_property_tag kind;
104  };
105 
107  {
108  typedef boost::vertex_property_tag kind;
109  };
110 
112  {
113  typedef boost::vertex_property_tag kind;
114  };
115 
117  typedef unsigned long VertexIndexType;
118 
120  typedef std::unordered_map<VertexIndexType, std::set<VertexIndexType>> InterfaceHash;
121 
123  typedef std::deque<base::State *> DensePath;
124 
137  typedef boost::adjacency_list<
138  boost::vecS, boost::vecS, boost::undirectedS,
139  boost::property<
141  boost::property<
142  boost::vertex_predecessor_t, VertexIndexType,
143  boost::property<boost::vertex_rank_t, VertexIndexType,
144  boost::property<vertex_color_t, GuardType,
145  boost::property<vertex_list_t, std::set<VertexIndexType>,
146  boost::property<vertex_interface_list_t,
147  InterfaceHash>>>>>>,
148  boost::property<boost::edge_weight_t, base::Cost>>
150 
152  typedef boost::graph_traits<SpannerGraph>::vertex_descriptor SparseVertex;
153 
155  typedef boost::graph_traits<SpannerGraph>::edge_descriptor SparseEdge;
156 
158  typedef std::shared_ptr<NearestNeighbors<SparseVertex>> SparseNeighbors;
159 
175  typedef boost::adjacency_list<
176  boost::vecS, boost::vecS, boost::undirectedS,
177  boost::property<
178  vertex_state_t, base::State *,
179  boost::property<boost::vertex_predecessor_t, VertexIndexType,
180  boost::property<boost::vertex_rank_t, VertexIndexType,
181  boost::property<vertex_representative_t, SparseVertex>>>>,
182  boost::property<boost::edge_weight_t, double>>
184 
186  typedef boost::graph_traits<DenseGraph>::vertex_descriptor DenseVertex;
187 
189  typedef boost::graph_traits<DenseGraph>::edge_descriptor DenseEdge;
190 
192  typedef std::shared_ptr<NearestNeighbors<DenseVertex>> DenseNeighbors;
193 
195  SPARS(const base::SpaceInformationPtr &si);
197  ~SPARS() override;
198 
199  void setProblemDefinition(const base::ProblemDefinitionPtr &pdef) override;
200 
201  void getPlannerData(base::PlannerData &data) const override;
202 
205 
209  void constructRoadmap(const base::PlannerTerminationCondition &ptc, bool stopOnMaxFail);
210 
224 
229  void clearQuery();
230 
231  void clear() override;
232 
238  template <template <typename T> class NN>
240  {
241  nn_ = std::make_shared<NN<DenseVertex>>();
242  connectionStrategy_ = std::function<const std::vector<DenseVertex> &(const DenseVertex)>();
243  if (isSetup())
244  setup();
245  }
246 
251  template <template <typename T> class NN>
253  {
254  snn_ = std::make_shared<NN<SparseVertex>>();
255  if (isSetup())
256  setup();
257  }
258 
263  void setMaxFailures(unsigned int m)
264  {
265  maxFailures_ = m;
266  }
267 
271  void setDenseDeltaFraction(double d)
272  {
274  if (denseDelta_ > 0.0) // setup was previously called
275  denseDelta_ = d * si_->getMaximumExtent();
276  }
277 
282  void setSparseDeltaFraction(double d)
283  {
285  if (sparseDelta_ > 0.0) // setup was previously called
286  sparseDelta_ = d * si_->getMaximumExtent();
287  }
288 
294  void setStretchFactor(double t)
295  {
296  stretchFactor_ = t;
297  }
298 
300  unsigned getMaxFailures() const
301  {
302  return maxFailures_;
303  }
304 
306  double getDenseDeltaFraction() const
307  {
308  return denseDeltaFraction_;
309  }
310 
312  double getSparseDeltaFraction() const
313  {
314  return sparseDeltaFraction_;
315  }
316 
318  double getStretchFactor() const
319  {
320  return stretchFactor_;
321  }
322 
323  void setup() override;
324 
327  const DenseGraph &getDenseGraph() const
328  {
329  return g_;
330  }
331 
334  const SpannerGraph &getRoadmap() const
335  {
336  return s_;
337  }
338 
340  unsigned int milestoneCount() const
341  {
342  return boost::num_vertices(g_);
343  }
344 
346  unsigned int guardCount() const
347  {
348  return boost::num_vertices(s_);
349  }
350 
352  double averageValence() const;
353 
355  void printDebug(std::ostream &out = std::cout) const;
356 
358  bool reachedFailureLimit() const;
359 
361  // Planner progress property functions
362  std::string getIterationCount() const
363  {
364  return std::to_string(iterations_);
365  }
366  std::string getBestCost() const
367  {
368  return boost::lexical_cast<std::string>(bestCost_);
369  }
370 
371  protected:
373  DenseVertex addSample(base::State *workState, const base::PlannerTerminationCondition &ptc);
374 
377 
379  bool sameComponent(SparseVertex m1, SparseVertex m2);
380 
383  DenseVertex addMilestone(base::State *state);
384 
387  SparseVertex addGuard(base::State *state, GuardType type);
388 
390  void connectSparsePoints(SparseVertex v, SparseVertex vp);
391 
393  void connectDensePoints(DenseVertex v, DenseVertex vp);
394 
396  bool checkAddCoverage(const base::State *lastState, const std::vector<SparseVertex> &neigh);
397 
399  bool checkAddConnectivity(const base::State *lastState, const std::vector<SparseVertex> &neigh);
400 
402  bool checkAddInterface(const std::vector<DenseVertex> &graphNeighborhood,
403  const std::vector<DenseVertex> &visibleNeighborhood, DenseVertex q);
404 
406  bool checkAddPath(DenseVertex q, const std::vector<DenseVertex> &neigh);
407 
409  DenseVertex getInterfaceNeighbor(DenseVertex q, SparseVertex rep);
410 
412  bool addPathToSpanner(const DensePath &dense_path, SparseVertex vp, SparseVertex vpp);
413 
415  void updateRepresentatives(SparseVertex v);
416 
418  void calculateRepresentative(DenseVertex q);
419 
421  void addToRepresentatives(DenseVertex q, SparseVertex rep, const std::set<SparseVertex> &oreps);
422 
424  void removeFromRepresentatives(DenseVertex q, SparseVertex rep);
425 
427  void computeVPP(DenseVertex v, DenseVertex vp, std::vector<SparseVertex> &VPPs);
428 
430  void computeX(DenseVertex v, DenseVertex vp, DenseVertex vpp, std::vector<SparseVertex> &Xs);
431 
433  void resetFailures();
434 
437 
441  bool haveSolution(const std::vector<DenseVertex> &starts, const std::vector<DenseVertex> &goals,
442  base::PathPtr &solution);
443 
446  bool reachedTerminationCriterion() const;
447 
450  base::PathPtr constructSolution(SparseVertex start, SparseVertex goal) const;
451 
453  void computeDensePath(DenseVertex start, DenseVertex goal, DensePath &path) const;
454 
456  void freeMemory();
457 
459  void getSparseNeighbors(base::State *inState, std::vector<SparseVertex> &graphNeighborhood);
460 
462  void filterVisibleNeighbors(base::State *inState, const std::vector<SparseVertex> &graphNeighborhood,
463  std::vector<SparseVertex> &visibleNeighborhood) const;
464 
466  void getInterfaceNeighborRepresentatives(DenseVertex q, std::set<SparseVertex> &interfaceRepresentatives);
467 
469  void getInterfaceNeighborhood(DenseVertex q, std::vector<DenseVertex> &interfaceNeighborhood);
470 
473  double distanceFunction(const DenseVertex a, const DenseVertex b) const
474  {
475  return si_->distance(stateProperty_[a], stateProperty_[b]);
476  }
477 
479  double sparseDistanceFunction(const SparseVertex a, const SparseVertex b) const
480  {
481  return si_->distance(sparseStateProperty_[a], sparseStateProperty_[b]);
482  }
483 
486 
488  DenseNeighbors nn_;
489 
491  SparseNeighbors snn_;
492 
495 
498 
500  std::vector<SparseVertex> startM_;
501 
503  std::vector<SparseVertex> goalM_;
504 
506  DenseVertex sparseQueryVertex_;
507 
509  DenseVertex queryVertex_;
510 
513 
515  boost::property_map<DenseGraph, vertex_state_t>::type stateProperty_;
516 
518  boost::property_map<SpannerGraph, vertex_state_t>::type sparseStateProperty_;
519 
521  boost::property_map<SpannerGraph, vertex_color_t>::type sparseColorProperty_;
522 
524  boost::property_map<DenseGraph, vertex_representative_t>::type representativesProperty_;
525 
527  boost::property_map<SpannerGraph, vertex_list_t>::type nonInterfaceListsProperty_;
528 
530  boost::property_map<SpannerGraph, vertex_interface_list_t>::type interfaceListsProperty_;
531 
534 
536  boost::property_map<DenseGraph, boost::edge_weight_t>::type weightProperty_;
537 
539  boost::disjoint_sets<boost::property_map<SpannerGraph, boost::vertex_rank_t>::type,
540  boost::property_map<SpannerGraph, boost::vertex_predecessor_t>::type> sparseDJSets_;
541 
543  std::function<const std::vector<DenseVertex> &(const DenseVertex)> connectionStrategy_;
544 
546  unsigned int consecutiveFailures_{0u};
547 
549  double stretchFactor_{3.};
550 
552  unsigned int maxFailures_{1000u};
553 
555  bool addedSolution_{false};
556 
558  double denseDeltaFraction_{.001};
559 
561  double sparseDeltaFraction_{.25};
562 
564  double denseDelta_{0.};
565 
567  double sparseDelta_{0.};
568 
571 
573  mutable std::mutex graphMutex_;
574 
577 
580  base::Cost costHeuristic(SparseVertex u, SparseVertex v) const;
581 
583  // Planner progress properties
585  long unsigned int iterations_{0ul};
587  base::Cost bestCost_{std::numeric_limits<double>::quiet_NaN()};
588  };
589  }
590 }
591 
592 #endif
double stretchFactor_
The stretch factor in terms of graph spanners for SPARS to check against.
Definition: SPARS.h:549
void freeMemory()
Free all the memory allocated by the planner.
Definition: SPARS.cpp:186
bool reachedTerminationCriterion() const
Returns true if we have reached the iteration failures limit, maxFailures_ or if a solution was added...
Definition: SPARS.cpp:291
boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, boost::property< vertex_state_t, base::State *, boost::property< boost::vertex_predecessor_t, VertexIndexType, boost::property< boost::vertex_rank_t, VertexIndexType, boost::property< vertex_representative_t, SparseVertex > > > >, boost::property< boost::edge_weight_t, double > > DenseGraph
The underlying roadmap graph.
Definition: SPARS.h:183
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
void clearQuery()
Clear the query previously loaded from the ProblemDefinition. Subsequent calls to solve() will reuse ...
Definition: SPARS.cpp:160
SPARS(const base::SpaceInformationPtr &si)
Constructor.
Definition: SPARS.cpp:54
base::ValidStateSamplerPtr sampler_
Sampler user for generating valid samples in the state space.
Definition: SPARS.h:485
A shared pointer wrapper for ompl::base::ProblemDefinition.
PathSimplifierPtr psimp_
A path simplifier used to simplify dense paths added to S.
Definition: SPARS.h:533
bool haveSolution(const std::vector< DenseVertex > &starts, const std::vector< DenseVertex > &goals, base::PathPtr &solution)
Check if there exists a solution, i.e., there exists a pair of milestones such that the first is in s...
Definition: SPARS.cpp:250
RNG rng_
Random number generator.
Definition: SPARS.h:570
std::deque< base::State * > DensePath
Internal representation of a dense path.
Definition: SPARS.h:123
A shared pointer wrapper for ompl::base::ValidStateSampler.
long unsigned int iterations_
A counter for the number of iterations of the algorithm.
Definition: SPARS.h:585
boost::property_map< SpannerGraph, vertex_interface_list_t >::type interfaceListsProperty_
Access to the interface-supporting vertice hashes of the sparse nodes.
Definition: SPARS.h:530
DenseVertex getInterfaceNeighbor(DenseVertex q, SparseVertex rep)
Get the first neighbor of q who has representative rep and is within denseDelta_. ...
Definition: SPARS.cpp:781
double denseDeltaFraction_
SPARS parameter for dense graph connection distance as a fraction of max. extent. ...
Definition: SPARS.h:558
void computeDensePath(DenseVertex start, DenseVertex goal, DensePath &path) const
Constructs the dense path between the start and goal vertices (if connected)
Definition: SPARS.cpp:1023
void setDenseDeltaFraction(double d)
Set the delta fraction for interface detection. If two nodes in the dense graph are more than a delta...
Definition: SPARS.h:271
double sparseDelta_
SPARS parameter for Sparse Roadmap connection distance.
Definition: SPARS.h:567
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
bool checkAddPath(DenseVertex q, const std::vector< DenseVertex > &neigh)
Checks for adding an entire dense path to the Sparse Roadmap.
Definition: SPARS.cpp:626
boost::graph_traits< SpannerGraph >::edge_descriptor SparseEdge
An edge in the sparse roadmap that is constructed.
Definition: SPARS.h:155
void printDebug(std::ostream &out=std::cout) const
Print debug information about planner.
Definition: SPARS.cpp:744
void removeFromRepresentatives(DenseVertex q, SparseVertex rep)
Removes the node from its representative&#39;s lists.
Definition: SPARS.cpp:908
void getInterfaceNeighborRepresentatives(DenseVertex q, std::set< SparseVertex > &interfaceRepresentatives)
Gets the representatives of all interfaces that q supports.
Definition: SPARS.cpp:939
double getStretchFactor() const
Retrieve the spanner&#39;s set stretch factor.
Definition: SPARS.h:318
base::PathPtr constructSolution(SparseVertex start, SparseVertex goal) const
Given two milestones from the same connected component, construct a path connecting them and set it a...
Definition: SPARS.cpp:977
SparseNeighbors snn_
Nearest Neighbors structure for the sparse roadmap.
Definition: SPARS.h:491
void constructRoadmap(const base::PlannerTerminationCondition &ptc)
While the termination condition permits, construct the spanner graph.
Definition: SPARS.cpp:415
void computeVPP(DenseVertex v, DenseVertex vp, std::vector< SparseVertex > &VPPs)
Computes all nodes which qualify as a candidate v" for v and vp.
Definition: SPARS.cpp:921
unsigned int maxFailures_
The maximum number of failures before terminating the algorithm.
Definition: SPARS.h:552
boost::property_map< SpannerGraph, vertex_list_t >::type nonInterfaceListsProperty_
Access to all non-interface supporting vertices of the sparse nodes.
Definition: SPARS.h:527
bool checkAddCoverage(const base::State *lastState, const std::vector< SparseVertex > &neigh)
Checks the latest dense sample for the coverage property, and adds appropriately. ...
Definition: SPARS.cpp:548
void filterVisibleNeighbors(base::State *inState, const std::vector< SparseVertex > &graphNeighborhood, std::vector< SparseVertex > &visibleNeighborhood) const
Get the visible neighbors.
Definition: SPARS.cpp:770
void setMaxFailures(unsigned int m)
Set the maximum consecutive failures to augment the spanner before termination. In general...
Definition: SPARS.h:263
void calculateRepresentative(DenseVertex q)
Calculates the representative for a dense sample.
Definition: SPARS.cpp:866
void updateRepresentatives(SparseVertex v)
Automatically updates the representatives of all dense samplse within sparseDelta_ of v...
Definition: SPARS.cpp:831
void setStretchFactor(double t)
Set the roadmap spanner stretch factor. This value represents a multiplicative upper bound on path qu...
Definition: SPARS.h:294
void addToRepresentatives(DenseVertex q, SparseVertex rep, const std::set< SparseVertex > &oreps)
Adds a dense sample to the appropriate lists of its representative.
Definition: SPARS.cpp:883
unsigned long VertexIndexType
The type used internally for representing vertex IDs.
Definition: SPARS.h:117
double getSparseDeltaFraction() const
Retrieve the sparse graph visibility range delta fraction.
Definition: SPARS.h:312
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
DenseVertex addMilestone(base::State *state)
Construct a milestone for a given state (state) and store it in the nearest neighbors data structure...
Definition: SPARS.cpp:474
double sparseDistanceFunction(const SparseVertex a, const SparseVertex b) const
Compute distance between two nodes in the sparse roadmap spanner.
Definition: SPARS.h:479
double getDenseDeltaFraction() const
Retrieve the dense graph interface support delta fraction.
Definition: SPARS.h:306
std::vector< SparseVertex > goalM_
Array of goal guards.
Definition: SPARS.h:503
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
void getInterfaceNeighborhood(DenseVertex q, std::vector< DenseVertex > &interfaceNeighborhood)
Gets the neighbors of q who help it support an interface.
Definition: SPARS.cpp:960
boost::graph_traits< SpannerGraph >::vertex_descriptor SparseVertex
A vertex in the sparse roadmap that is constructed.
Definition: SPARS.h:152
boost::property_map< DenseGraph, vertex_state_t >::type stateProperty_
Access to the internal base::state at each DenseVertex.
Definition: SPARS.h:515
boost::graph_traits< DenseGraph >::edge_descriptor DenseEdge
An edge in DenseGraph.
Definition: SPARS.h:189
boost::property_map< SpannerGraph, vertex_state_t >::type sparseStateProperty_
Access to the internal base::State for each SparseVertex of S.
Definition: SPARS.h:518
boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, boost::property< vertex_state_t, base::State *, boost::property< boost::vertex_predecessor_t, VertexIndexType, boost::property< boost::vertex_rank_t, VertexIndexType, boost::property< vertex_color_t, GuardType, boost::property< vertex_list_t, std::set< VertexIndexType >, boost::property< vertex_interface_list_t, InterfaceHash > > > > > >, boost::property< boost::edge_weight_t, base::Cost > > SpannerGraph
The constructed roadmap spanner.
Definition: SPARS.h:149
Base class for a planner.
Definition: Planner.h:223
void connectDensePoints(DenseVertex v, DenseVertex vp)
Connects points in the dense graph.
Definition: SPARS.cpp:540
boost::graph_traits< DenseGraph >::vertex_descriptor DenseVertex
A vertex in DenseGraph.
Definition: SPARS.h:186
void setDenseNeighbors()
Set a different nearest neighbors datastructure for the roadmap graph. This nearest neighbor structur...
Definition: SPARS.h:239
double sparseDeltaFraction_
SPARS parameter for Sparse Roadmap connection distance as a fraction of max. extent.
Definition: SPARS.h:561
base::Cost bestCost_
Best cost found so far by algorithm.
Definition: SPARS.h:587
SPArse Roadmap Spanner technique.
Definition: SPARS.h:77
boost::property_map< SpannerGraph, vertex_color_t >::type sparseColorProperty_
Access to draw colors for the SparseVertexs of S, to indicate addition type.
Definition: SPARS.h:521
void computeX(DenseVertex v, DenseVertex vp, DenseVertex vpp, std::vector< SparseVertex > &Xs)
Computes all nodes which qualify as a candidate x for v, v&#39;, and v".
Definition: SPARS.cpp:929
std::mutex graphMutex_
Mutex to guard access to the graphs.
Definition: SPARS.h:573
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: SPARS.cpp:171
A shared pointer wrapper for ompl::base::SpaceInformation.
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: SPARS.cpp:1052
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SPARS.cpp:98
Definition of an abstract state.
Definition: State.h:49
~SPARS() override
Destructor.
Definition: SPARS.cpp:93
base::Cost costHeuristic(SparseVertex u, SparseVertex v) const
Given two vertices, returns a heuristic on the cost of the path connecting them. This method wraps Op...
Definition: SPARS.cpp:1082
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: SPARS.cpp:318
std::function< const std::vector< DenseVertex > &(const DenseVertex)> connectionStrategy_
Function that returns the milestones to attempt connections with.
Definition: SPARS.h:543
DenseVertex sparseQueryVertex_
DenseVertex for performing nearest neighbor queries on the SPARSE roadmap.
Definition: SPARS.h:506
const DenseGraph & getDenseGraph() const
Retrieve the underlying dense graph structure. This is built as a PRM* and asymptotically approximate...
Definition: SPARS.h:327
std::shared_ptr< NearestNeighbors< SparseVertex > > SparseNeighbors
Nearest neighbor structure which works over the SpannerGraph.
Definition: SPARS.h:158
A shared pointer wrapper for ompl::geometric::PathSimplifier.
unsigned int guardCount() const
Returns the number of guards added to S.
Definition: SPARS.h:346
std::shared_ptr< NearestNeighbors< DenseVertex > > DenseNeighbors
Nearest neighbor structure which works over the DenseGraph.
Definition: SPARS.h:192
unsigned int consecutiveFailures_
A counter for the number of consecutive failed iterations of the algorithm.
Definition: SPARS.h:546
A shared pointer wrapper for ompl::base::OptimizationObjective.
DenseVertex queryVertex_
Vertex for performing nearest neighbor queries on the DENSE graph.
Definition: SPARS.h:509
bool addPathToSpanner(const DensePath &dense_path, SparseVertex vp, SparseVertex vpp)
Method for actually adding a dense path to the Roadmap Spanner, S.
Definition: SPARS.cpp:790
bool checkAddInterface(const std::vector< DenseVertex > &graphNeighborhood, const std::vector< DenseVertex > &visibleNeighborhood, DenseVertex q)
Checks the latest dense sample for bridging an edge-less interface.
Definition: SPARS.cpp:594
double averageValence() const
Returns the average valence of the spanner graph.
Definition: SPARS.cpp:735
bool reachedFailureLimit() const
Returns true if we have reached the iteration failures limit, maxFailures_.
Definition: SPARS.cpp:296
bool isSetup() const
Check if setup() was called for this planner.
Definition: Planner.cpp:108
SpannerGraph s_
The sparse roadmap, S.
Definition: SPARS.h:497
double denseDelta_
SPARS parameter for dense graph connection distance.
Definition: SPARS.h:564
void checkForSolution(const base::PlannerTerminationCondition &ptc, base::PathPtr &solution)
Definition: SPARS.cpp:226
void setProblemDefinition(const base::ProblemDefinitionPtr &pdef) override
Set the problem definition for the planner. The problem needs to be set before calling solve()...
Definition: SPARS.cpp:149
bool addedSolution_
A flag indicating that a solution has been added during solve()
Definition: SPARS.h:555
bool checkAddConnectivity(const base::State *lastState, const std::vector< SparseVertex > &neigh)
Checks the latest dense sample for connectivity, and adds appropriately.
Definition: SPARS.cpp:561
base::OptimizationObjectivePtr opt_
Objective cost function for PRM graph edges.
Definition: SPARS.h:576
void connectSparsePoints(SparseVertex v, SparseVertex vp)
Convenience function for creating an edge in the Spanner Roadmap.
Definition: SPARS.cpp:531
void getSparseNeighbors(base::State *inState, std::vector< SparseVertex > &graphNeighborhood)
Get all nodes in the sparse graph which are within sparseDelta_ of the given state.
Definition: SPARS.cpp:760
void setSparseNeighbors()
Set a different nearest neighbors datastructure for the spanner graph. This structure is stores only ...
Definition: SPARS.h:252
void checkQueryStateInitialization()
Check that the query vertex is initialized (used for internal nearest neighbor searches) ...
Definition: SPARS.cpp:301
std::vector< SparseVertex > startM_
Array of start guards.
Definition: SPARS.h:500
Definition of a geometric path.
Definition: PathGeometric.h:60
const SpannerGraph & getRoadmap() const
Retrieve the sparse roadmap structure. This is the structure which answers given queries, and has the desired property of asymptotic near-optimality.
Definition: SPARS.h:334
std::unordered_map< VertexIndexType, std::set< VertexIndexType > > InterfaceHash
Hash for storing interface information.
Definition: SPARS.h:120
boost::property_map< DenseGraph, boost::edge_weight_t >::type weightProperty_
Access to the weights of each DenseEdge.
Definition: SPARS.h:536
SparseVertex addGuard(base::State *state, GuardType type)
Construct a node with the given state (state) for the spanner and store it in the nn structure...
Definition: SPARS.cpp:514
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:406
boost::disjoint_sets< boost::property_map< SpannerGraph, boost::vertex_rank_t >::type, boost::property_map< SpannerGraph, boost::vertex_predecessor_t >::type > sparseDJSets_
Data structure that maintains the connected components of S.
Definition: SPARS.h:540
void resetFailures()
A reset function for resetting the failures count.
Definition: SPARS.cpp:155
unsigned int milestoneCount() const
Returns the number of milestones added to D.
Definition: SPARS.h:340
PathGeometric geomPath_
Geometric Path variable used for smoothing out paths.
Definition: SPARS.h:512
boost::property_map< DenseGraph, vertex_representative_t >::type representativesProperty_
Access to the representatives of the Dense vertices.
Definition: SPARS.h:524
GuardType
Enumeration which specifies the reason a guard is added to the spanner.
Definition: SPARS.h:81
DenseGraph g_
The dense graph, D.
Definition: SPARS.h:494
void setSparseDeltaFraction(double d)
Set the delta fraction for connection distance on the sparse spanner. This value represents the visib...
Definition: SPARS.h:282
DenseVertex addSample(base::State *workState, const base::PlannerTerminationCondition &ptc)
Attempt to add a single sample to the roadmap.
Definition: SPARS.cpp:204
bool sameComponent(SparseVertex m1, SparseVertex m2)
Check that two vertices are in the same connected component.
Definition: SPARS.cpp:313
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
unsigned getMaxFailures() const
Retrieve the maximum consecutive failure limit.
Definition: SPARS.h:300
DenseNeighbors nn_
Nearest neighbors data structure.
Definition: SPARS.h:488
A shared pointer wrapper for ompl::base::Path.
double distanceFunction(const DenseVertex a, const DenseVertex b) const
Compute distance between two milestones (this is simply distance between the states of the milestones...
Definition: SPARS.h:473