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  using kind = boost::vertex_property_tag;
94  };
95 
97  {
98  using kind = boost::vertex_property_tag;
99  };
100 
102  {
103  using kind = boost::vertex_property_tag;
104  };
105 
107  {
108  using kind = boost::vertex_property_tag;
109  };
110 
112  {
113  using kind = boost::vertex_property_tag;
114  };
115 
117  using VertexIndexType = unsigned long;
118 
120  using InterfaceHash = std::unordered_map<VertexIndexType, std::set<VertexIndexType>>;
121 
123  using DensePath = std::deque<base::State *>;
124 
137  using SpannerGraph = 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>>;
149 
151  using SparseVertex = boost::graph_traits<SpannerGraph>::vertex_descriptor;
152 
154  using SparseEdge = boost::graph_traits<SpannerGraph>::edge_descriptor;
155 
157  using SparseNeighbors = std::shared_ptr<NearestNeighbors<SparseVertex> >;
158 
174  using DenseGraph = boost::adjacency_list<
175  boost::vecS, boost::vecS, boost::undirectedS,
176  boost::property<
178  boost::property<boost::vertex_predecessor_t, VertexIndexType,
179  boost::property<boost::vertex_rank_t, VertexIndexType,
180  boost::property<vertex_representative_t, SparseVertex>>>>,
181  boost::property<boost::edge_weight_t, double>>;
182 
184  using DenseVertex = boost::graph_traits<DenseGraph>::vertex_descriptor;
185 
187  using DenseEdge = boost::graph_traits<DenseGraph>::edge_descriptor;
188 
190  using DenseNeighbors = std::shared_ptr<NearestNeighbors<DenseVertex> >;
191 
193  SPARS(const base::SpaceInformationPtr &si);
195  ~SPARS() override;
196 
197  void setProblemDefinition(const base::ProblemDefinitionPtr &pdef) override;
198 
199  void getPlannerData(base::PlannerData &data) const override;
200 
203 
207  void constructRoadmap(const base::PlannerTerminationCondition &ptc, bool stopOnMaxFail);
208 
222 
227  void clearQuery() override;
228 
229  void clear() override;
230 
236  template <template <typename T> class NN>
238  {
239  nn_ = std::make_shared<NN<DenseVertex>>();
240  connectionStrategy_ = std::function<const std::vector<DenseVertex> &(const DenseVertex)>();
241  if (isSetup())
242  setup();
243  }
244 
249  template <template <typename T> class NN>
251  {
252  snn_ = std::make_shared<NN<SparseVertex>>();
253  if (isSetup())
254  setup();
255  }
256 
261  void setMaxFailures(unsigned int m)
262  {
263  maxFailures_ = m;
264  }
265 
269  void setDenseDeltaFraction(double d)
270  {
272  if (denseDelta_ > 0.0) // setup was previously called
273  denseDelta_ = d * si_->getMaximumExtent();
274  }
275 
280  void setSparseDeltaFraction(double d)
281  {
283  if (sparseDelta_ > 0.0) // setup was previously called
284  sparseDelta_ = d * si_->getMaximumExtent();
285  }
286 
292  void setStretchFactor(double t)
293  {
294  stretchFactor_ = t;
295  }
296 
298  unsigned getMaxFailures() const
299  {
300  return maxFailures_;
301  }
302 
304  double getDenseDeltaFraction() const
305  {
306  return denseDeltaFraction_;
307  }
308 
310  double getSparseDeltaFraction() const
311  {
312  return sparseDeltaFraction_;
313  }
314 
316  double getStretchFactor() const
317  {
318  return stretchFactor_;
319  }
320 
321  void setup() override;
322 
325  const DenseGraph &getDenseGraph() const
326  {
327  return g_;
328  }
329 
332  const SpannerGraph &getRoadmap() const
333  {
334  return s_;
335  }
336 
338  unsigned int milestoneCount() const
339  {
340  return boost::num_vertices(g_);
341  }
342 
344  unsigned int guardCount() const
345  {
346  return boost::num_vertices(s_);
347  }
348 
350  double averageValence() const;
351 
353  void printDebug(std::ostream &out = std::cout) const;
354 
356  bool reachedFailureLimit() const;
357 
359  // Planner progress property functions
360  std::string getIterationCount() const
361  {
362  return std::to_string(iterations_);
363  }
364  std::string getBestCost() const
365  {
366  return std::to_string(bestCost_.value());
367  }
368 
369  protected:
371  DenseVertex addSample(base::State *workState, const base::PlannerTerminationCondition &ptc);
372 
375 
378 
381  DenseVertex addMilestone(base::State *state);
382 
385  SparseVertex addGuard(base::State *state, GuardType type);
386 
389 
392 
394  bool checkAddCoverage(const base::State *lastState, const std::vector<SparseVertex> &neigh);
395 
397  bool checkAddConnectivity(const base::State *lastState, const std::vector<SparseVertex> &neigh);
398 
400  bool checkAddInterface(const std::vector<DenseVertex> &graphNeighborhood,
401  const std::vector<DenseVertex> &visibleNeighborhood, DenseVertex q);
402 
404  bool checkAddPath(DenseVertex q, const std::vector<DenseVertex> &neigh);
405 
408 
410  bool addPathToSpanner(const DensePath &dense_path, SparseVertex vp, SparseVertex vpp);
411 
414 
417 
419  void addToRepresentatives(DenseVertex q, SparseVertex rep, const std::set<SparseVertex> &oreps);
420 
423 
425  void computeVPP(DenseVertex v, DenseVertex vp, std::vector<SparseVertex> &VPPs);
426 
428  void computeX(DenseVertex v, DenseVertex vp, DenseVertex vpp, std::vector<SparseVertex> &Xs);
429 
431  void resetFailures();
432 
434  void checkForSolution(const base::PlannerTerminationCondition &ptc, base::PathPtr &solution);
435 
439  bool haveSolution(const std::vector<DenseVertex> &starts, const std::vector<DenseVertex> &goals,
440  base::PathPtr &solution);
441 
444  bool reachedTerminationCriterion() const;
445 
448  base::PathPtr constructSolution(SparseVertex start, SparseVertex goal) const;
449 
451  void computeDensePath(DenseVertex start, DenseVertex goal, DensePath &path) const;
452 
454  void freeMemory();
455 
457  void getSparseNeighbors(base::State *inState, std::vector<SparseVertex> &graphNeighborhood);
458 
460  void filterVisibleNeighbors(base::State *inState, const std::vector<SparseVertex> &graphNeighborhood,
461  std::vector<SparseVertex> &visibleNeighborhood) const;
462 
464  void getInterfaceNeighborRepresentatives(DenseVertex q, std::set<SparseVertex> &interfaceRepresentatives);
465 
467  void getInterfaceNeighborhood(DenseVertex q, std::vector<DenseVertex> &interfaceNeighborhood);
468 
471  double distanceFunction(const DenseVertex a, const DenseVertex b) const
472  {
473  return si_->distance(stateProperty_[a], stateProperty_[b]);
474  }
475 
477  double sparseDistanceFunction(const SparseVertex a, const SparseVertex b) const
478  {
479  return si_->distance(sparseStateProperty_[a], sparseStateProperty_[b]);
480  }
481 
483  base::ValidStateSamplerPtr sampler_;
484 
487 
490 
493 
496 
498  std::vector<SparseVertex> startM_;
499 
501  std::vector<SparseVertex> goalM_;
502 
505 
508 
511 
513  boost::property_map<DenseGraph, vertex_state_t>::type stateProperty_;
514 
516  boost::property_map<SpannerGraph, vertex_state_t>::type sparseStateProperty_;
517 
519  boost::property_map<SpannerGraph, vertex_color_t>::type sparseColorProperty_;
520 
522  boost::property_map<DenseGraph, vertex_representative_t>::type representativesProperty_;
523 
525  boost::property_map<SpannerGraph, vertex_list_t>::type nonInterfaceListsProperty_;
526 
528  boost::property_map<SpannerGraph, vertex_interface_list_t>::type interfaceListsProperty_;
529 
532 
534  boost::property_map<DenseGraph, boost::edge_weight_t>::type weightProperty_;
535 
537  boost::disjoint_sets<boost::property_map<SpannerGraph, boost::vertex_rank_t>::type,
538  boost::property_map<SpannerGraph, boost::vertex_predecessor_t>::type> sparseDJSets_;
539 
541  std::function<const std::vector<DenseVertex> &(const DenseVertex)> connectionStrategy_;
542 
544  unsigned int consecutiveFailures_{0u};
545 
547  double stretchFactor_{3.};
548 
550  unsigned int maxFailures_{1000u};
551 
553  bool addedSolution_{false};
554 
556  double denseDeltaFraction_{.001};
557 
559  double sparseDeltaFraction_{.25};
560 
562  double denseDelta_{0.};
563 
565  double sparseDelta_{0.};
566 
569 
571  mutable std::mutex graphMutex_;
572 
574  base::OptimizationObjectivePtr opt_;
575 
579 
581  // Planner progress properties
583  long unsigned int iterations_{0ul};
585  base::Cost bestCost_{std::numeric_limits<double>::quiet_NaN()};
586  };
587  }
588 }
589 
590 #endif
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
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
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
Definition of a geometric path.
Definition: PathGeometric.h:66
A shared pointer wrapper for ompl::geometric::PathSimplifier.
SPArse Roadmap Spanner technique.
Definition: SPARS.h:78
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SPARS.cpp:98
unsigned long VertexIndexType
The type used internally for representing vertex IDs.
Definition: SPARS.h:117
double denseDelta_
SPARS parameter for dense graph connection distance.
Definition: SPARS.h:562
long unsigned int iterations_
A counter for the number of iterations of the algorithm.
Definition: SPARS.h:583
bool checkAddPath(DenseVertex q, const std::vector< DenseVertex > &neigh)
Checks for adding an entire dense path to the Sparse Roadmap.
Definition: SPARS.cpp:626
bool reachedFailureLimit() const
Returns true if we have reached the iteration failures limit, maxFailures_
Definition: SPARS.cpp:296
void getInterfaceNeighborRepresentatives(DenseVertex q, std::set< SparseVertex > &interfaceRepresentatives)
Gets the representatives of all interfaces that q supports.
Definition: SPARS.cpp:939
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
double sparseDelta_
SPARS parameter for Sparse Roadmap connection distance.
Definition: SPARS.h:565
std::unordered_map< VertexIndexType, std::set< VertexIndexType > > InterfaceHash
Hash for storing interface information.
Definition: SPARS.h:120
const SpannerGraph & getRoadmap() const
Retrieve the sparse roadmap structure. This is the structure which answers given queries,...
Definition: SPARS.h:332
std::vector< SparseVertex > goalM_
Array of goal guards.
Definition: SPARS.h:501
void computeX(DenseVertex v, DenseVertex vp, DenseVertex vpp, std::vector< SparseVertex > &Xs)
Computes all nodes which qualify as a candidate x for v, v', and v".
Definition: SPARS.cpp:929
boost::graph_traits< DenseGraph >::vertex_descriptor DenseVertex
A vertex in DenseGraph.
Definition: SPARS.h:184
boost::property_map< DenseGraph, boost::edge_weight_t >::type weightProperty_
Access to the weights of each DenseEdge.
Definition: SPARS.h:534
~SPARS() override
Destructor.
Definition: SPARS.cpp:93
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
void setStretchFactor(double t)
Set the roadmap spanner stretch factor. This value represents a multiplicative upper bound on path qu...
Definition: SPARS.h:292
double stretchFactor_
The stretch factor in terms of graph spanners for SPARS to check against.
Definition: SPARS.h:547
boost::property_map< SpannerGraph, vertex_interface_list_t >::type interfaceListsProperty_
Access to the interface-supporting vertice hashes of the sparse nodes.
Definition: SPARS.h:528
void checkQueryStateInitialization()
Check that the query vertex is initialized (used for internal nearest neighbor searches)
Definition: SPARS.cpp:301
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 connectDensePoints(DenseVertex v, DenseVertex vp)
Connects points in the dense graph.
Definition: SPARS.cpp:540
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: SPARS.cpp:171
unsigned int consecutiveFailures_
A counter for the number of consecutive failed iterations of the algorithm.
Definition: SPARS.h:544
std::shared_ptr< NearestNeighbors< SparseVertex > > SparseNeighbors
Nearest neighbor structure which works over the SpannerGraph.
Definition: SPARS.h:157
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
bool reachedTerminationCriterion() const
Returns true if we have reached the iteration failures limit, maxFailures_ or if a solution was added...
Definition: SPARS.cpp:291
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
std::function< const std::vector< DenseVertex > &(const DenseVertex)> connectionStrategy_
Function that returns the milestones to attempt connections with.
Definition: SPARS.h:541
boost::property_map< DenseGraph, vertex_representative_t >::type representativesProperty_
Access to the representatives of the Dense vertices.
Definition: SPARS.h:522
boost::property_map< SpannerGraph, vertex_state_t >::type sparseStateProperty_
Access to the internal base::State for each SparseVertex of S.
Definition: SPARS.h:516
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:269
DenseNeighbors nn_
Nearest neighbors data structure.
Definition: SPARS.h:486
void updateRepresentatives(SparseVertex v)
Automatically updates the representatives of all dense samplse within sparseDelta_ of v.
Definition: SPARS.cpp:831
base::OptimizationObjectivePtr opt_
Objective cost function for PRM graph edges.
Definition: SPARS.h:574
double getDenseDeltaFraction() const
Retrieve the dense graph interface support delta fraction.
Definition: SPARS.h:304
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:148
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
PathGeometric geomPath_
Geometric Path variable used for smoothing out paths.
Definition: SPARS.h:510
DenseVertex queryVertex_
Vertex for performing nearest neighbor queries on the DENSE graph.
Definition: SPARS.h:507
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
std::deque< base::State * > DensePath
Internal representation of a dense path.
Definition: SPARS.h:123
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
unsigned int guardCount() const
Returns the number of guards added to S.
Definition: SPARS.h:344
boost::graph_traits< SpannerGraph >::edge_descriptor SparseEdge
An edge in the sparse roadmap that is constructed.
Definition: SPARS.h:154
boost::graph_traits< SpannerGraph >::vertex_descriptor SparseVertex
A vertex in the sparse roadmap that is constructed.
Definition: SPARS.h:151
double averageValence() const
Returns the average valence of the spanner graph.
Definition: SPARS.cpp:735
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
std::vector< SparseVertex > startM_
Array of start guards.
Definition: SPARS.h:498
boost::property_map< DenseGraph, vertex_state_t >::type stateProperty_
Access to the internal base::state at each DenseVertex.
Definition: SPARS.h:513
bool addedSolution_
A flag indicating that a solution has been added during solve()
Definition: SPARS.h:553
DenseVertex getInterfaceNeighbor(DenseVertex q, SparseVertex rep)
Get the first neighbor of q who has representative rep and is within denseDelta_.
Definition: SPARS.cpp:781
void clearQuery() override
Clear the query previously loaded from the ProblemDefinition. Subsequent calls to solve() will reuse ...
Definition: SPARS.cpp:160
unsigned getMaxFailures() const
Retrieve the maximum consecutive failure limit.
Definition: SPARS.h:298
void calculateRepresentative(DenseVertex q)
Calculates the representative for a dense sample.
Definition: SPARS.cpp:866
DenseVertex sparseQueryVertex_
DenseVertex for performing nearest neighbor queries on the SPARSE roadmap.
Definition: SPARS.h:504
void setSparseDeltaFraction(double d)
Set the delta fraction for connection distance on the sparse spanner. This value represents the visib...
Definition: SPARS.h:280
void printDebug(std::ostream &out=std::cout) const
Print debug information about planner.
Definition: SPARS.cpp:744
std::mutex graphMutex_
Mutex to guard access to the graphs.
Definition: SPARS.h:571
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:181
void constructRoadmap(const base::PlannerTerminationCondition &ptc)
While the termination condition permits, construct the spanner graph.
Definition: SPARS.cpp:415
std::shared_ptr< NearestNeighbors< DenseVertex > > DenseNeighbors
Nearest neighbor structure which works over the DenseGraph.
Definition: SPARS.h:190
base::Cost bestCost_
Best cost found so far by algorithm.
Definition: SPARS.h:585
PathSimplifierPtr psimp_
A path simplifier used to simplify dense paths added to S.
Definition: SPARS.h:531
double sparseDistanceFunction(const SparseVertex a, const SparseVertex b) const
Compute distance between two nodes in the sparse roadmap spanner.
Definition: SPARS.h:477
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
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
GuardType
Enumeration which specifies the reason a guard is added to the spanner.
Definition: SPARS.h:82
double denseDeltaFraction_
SPARS parameter for dense graph connection distance as a fraction of max. extent.
Definition: SPARS.h:556
void connectSparsePoints(SparseVertex v, SparseVertex vp)
Convenience function for creating an edge in the Spanner Roadmap.
Definition: SPARS.cpp:531
SpannerGraph s_
The sparse roadmap, S.
Definition: SPARS.h:495
void freeMemory()
Free all the memory allocated by the planner.
Definition: SPARS.cpp:186
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:538
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:519
base::ValidStateSamplerPtr sampler_
Sampler user for generating valid samples in the state space.
Definition: SPARS.h:483
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
boost::property_map< SpannerGraph, vertex_list_t >::type nonInterfaceListsProperty_
Access to all non-interface supporting vertices of the sparse nodes.
Definition: SPARS.h:525
double sparseDeltaFraction_
SPARS parameter for Sparse Roadmap connection distance as a fraction of max. extent.
Definition: SPARS.h:559
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
void setSparseNeighbors()
Set a different nearest neighbors datastructure for the spanner graph. This structure is stores only ...
Definition: SPARS.h:250
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
SparseNeighbors snn_
Nearest Neighbors structure for the sparse roadmap.
Definition: SPARS.h:489
DenseGraph g_
The dense graph, D.
Definition: SPARS.h:492
boost::graph_traits< DenseGraph >::edge_descriptor DenseEdge
An edge in DenseGraph.
Definition: SPARS.h:187
unsigned int maxFailures_
The maximum number of failures before terminating the algorithm.
Definition: SPARS.h:550
void resetFailures()
A reset function for resetting the failures count.
Definition: SPARS.cpp:155
RNG rng_
Random number generator.
Definition: SPARS.h:568
void setDenseNeighbors()
Set a different nearest neighbors datastructure for the roadmap graph. This nearest neighbor structur...
Definition: SPARS.h:237
const DenseGraph & getDenseGraph() const
Retrieve the underlying dense graph structure. This is built as a PRM* and asymptotically approximate...
Definition: SPARS.h:325
void setMaxFailures(unsigned int m)
Set the maximum consecutive failures to augment the spanner before termination. In general,...
Definition: SPARS.h:261
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:471
double getStretchFactor() const
Retrieve the spanner's set stretch factor.
Definition: SPARS.h:316
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
DenseVertex addSample(base::State *workState, const base::PlannerTerminationCondition &ptc)
Attempt to add a single sample to the roadmap.
Definition: SPARS.cpp:204
unsigned int milestoneCount() const
Returns the number of milestones added to D.
Definition: SPARS.h:338
double getSparseDeltaFraction() const
Retrieve the sparse graph visibility range delta fraction.
Definition: SPARS.h:310
void getInterfaceNeighborhood(DenseVertex q, std::vector< DenseVertex > &interfaceNeighborhood)
Gets the neighbors of q who help it support an interface.
Definition: SPARS.cpp:960
void filterVisibleNeighbors(base::State *inState, const std::vector< SparseVertex > &graphNeighborhood, std::vector< SparseVertex > &visibleNeighborhood) const
Get the visible neighbors.
Definition: SPARS.cpp:770
void removeFromRepresentatives(DenseVertex q, SparseVertex rep)
Removes the node from its representative's lists.
Definition: SPARS.cpp:908
bool sameComponent(SparseVertex m1, SparseVertex m2)
Check that two vertices are in the same connected component.
Definition: SPARS.cpp:313
void checkForSolution(const base::PlannerTerminationCondition &ptc, base::PathPtr &solution)
Definition: SPARS.cpp:226
SPARS(const base::SpaceInformationPtr &si)
Constructor.
Definition: SPARS.cpp:54
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