SPARStwo.h
409 void distanceCheck(Vertex rep, const base::State *q, Vertex r, const base::State *s, Vertex rp);
void printDebug(std::ostream &out=std::cout) const
Print debug information about planner.
Definition: SPARStwo.cpp:851
bool sameComponent(Vertex m1, Vertex m2)
Check if two milestones (m1 and m2) are part of the same connected component. This is not a const fun...
Definition: SPARStwo.cpp:213
double sparseDeltaFraction_
Maximum visibility range for nodes in the graph as a fraction of maximum extent.
Definition: SPARStwo.h:475
base::State * pointA_
States which lie inside the visibility region of a vertex and support an interface.
Definition: SPARStwo.h:101
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
void findCloseRepresentatives(base::State *workArea, const base::State *qNew, Vertex qRep, std::map< Vertex, base::State *> &closeRepresentatives, const base::PlannerTerminationCondition &ptc)
Finds representatives of samples near qNew_ which are not his representative.
Definition: SPARStwo.cpp:615
base::ValidStateSamplerPtr sampler_
Sampler user for generating valid samples in the state space.
Definition: SPARStwo.h:454
void setProblemDefinition(const base::ProblemDefinitionPtr &pdef) override
Set the problem definition for the planner. The problem needs to be set before calling solve()...
Definition: SPARStwo.cpp:131
A shared pointer wrapper for ompl::base::ProblemDefinition.
void setDenseDeltaFraction(double d)
Sets interface support tolerance as a fraction of max. extent.
Definition: SPARStwo.h:245
A shared pointer wrapper for ompl::base::ValidStateSampler.
std::unordered_map< VertexPair, InterfaceData > InterfaceHash
the hash which maps pairs of neighbor points to pairs of states
Definition: SPARStwo.h:172
void findGraphNeighbors(base::State *st, std::vector< Vertex > &graphNeighborhood, std::vector< Vertex > &visibleNeighborhood)
Finds visible nodes in the graph near st.
Definition: SPARStwo.cpp:569
double denseDeltaFraction_
Maximum range for allowing two samples to support an interface as a fraction of maximum extent...
Definition: SPARStwo.h:479
long unsigned int iterations_
A counter for the number of iterations of the algorithm.
Definition: SPARStwo.h:533
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: SPARStwo.cpp:144
double getDenseDeltaFraction() const
Retrieve the dense graph interface support delta.
Definition: SPARStwo.h:265
void distanceCheck(Vertex rep, const base::State *q, Vertex r, const base::State *s, Vertex rp)
Performs distance checking for the candidate new state, q against the current information.
Definition: SPARStwo.cpp:715
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: SPARStwo.cpp:901
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
Vertex findGraphRepresentative(base::State *st)
Finds the representative of the input state, st.
Definition: SPARStwo.cpp:597
boost::property_map< Graph, boost::edge_weight_t >::type weightProperty_
Access to the weights of each Edge.
Definition: SPARStwo.h:494
double getStretchFactor() const
Retrieve the spanner's set stretch factor.
Definition: SPARStwo.h:277
void clearQuery()
Clear the query previously loaded from the ProblemDefinition. Subsequent calls to solve() will reuse ...
Definition: SPARStwo.cpp:137
void setSparseDeltaFraction(double D)
Sets vertex visibility range as a fraction of max. extent.
Definition: SPARStwo.h:237
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SPARStwo.cpp:93
base::OptimizationObjectivePtr opt_
Objective cost function for PRM graph edges.
Definition: SPARStwo.h:524
base::State * sigmaA_
States which lie just outside the visibility region of a vertex and support an interface.
Definition: SPARStwo.h:105
bool checkAddCoverage(const base::State *qNew, std::vector< Vertex > &visibleNeighborhood)
Checks to see if the sample needs to be added to ensure coverage of the space.
Definition: SPARStwo.cpp:403
unsigned int consecutiveFailures_
A counter for the number of consecutive failed iterations of the algorithm.
Definition: SPARStwo.h:512
unsigned int milestoneCount() const
Get the number of vertices in the sparse roadmap.
Definition: SPARStwo.h:333
double denseDelta_
Maximum range for allowing two samples to support an interface.
Definition: SPARStwo.h:518
bool checkAddConnectivity(const base::State *qNew, std::vector< Vertex > &visibleNeighborhood)
Checks to see if the sample needs to be added to ensure connectivity.
Definition: SPARStwo.cpp:412
void computeVPP(Vertex v, Vertex vp, std::vector< Vertex > &VPPs)
Computes all nodes which qualify as a candidate v" for v and vp.
Definition: SPARStwo.cpp:677
bool addedSolution_
A flag indicating that a solution has been added during solve()
Definition: SPARStwo.h:509
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: SPARStwo.h:314
void setSecond(const base::State *p, const base::State *s, const base::SpaceInformationPtr &si)
Sets information for the second interface (i.e. interface with larger index vertex).
Definition: SPARStwo.h:156
Vertex addGuard(base::State *state, GuardType type)
Construct a guard for a given state (state) and store it in the nearest neighbors data structure...
Definition: SPARStwo.cpp:777
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:56
void constructRoadmap(const base::PlannerTerminationCondition &ptc)
While the termination condition permits, construct the spanner graph.
Definition: SPARStwo.cpp:243
unsigned long VertexIndexType
The type used internally for representing vertex IDs.
Definition: SPARStwo.h:92
Interface information storage class, which does bookkeeping for criterion four.
Definition: SPARStwo.h:98
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: SPARStwo.cpp:310
bool checkAddInterface(const base::State *qNew, std::vector< Vertex > &graphNeighborhood, std::vector< Vertex > &visibleNeighborhood)
Checks to see if the current sample reveals the existence of an interface, and if so...
Definition: SPARStwo.cpp:445
base::PathPtr constructSolution(Vertex start, Vertex goal) const
Given two milestones from the same connected component, construct a path connecting them and set it a...
Definition: SPARStwo.cpp:807
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
boost::disjoint_sets< boost::property_map< Graph, boost::vertex_rank_t >::type, boost::property_map< Graph, boost::vertex_predecessor_t >::type > disjointSets_
Data structure that maintains the connected components.
Definition: SPARStwo.h:504
A shared pointer wrapper for ompl::base::SpaceInformation.
bool reachedTerminationCriterion() const
Returns true if we have reached the iteration failures limit, maxFailures_ or if a solution was added...
Definition: SPARStwo.cpp:223
bool haveSolution(const std::vector< Vertex > &starts, const std::vector< Vertex > &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: SPARStwo.cpp:175
void clear(const base::SpaceInformationPtr &si)
Clears the given interface data.
Definition: SPARStwo.h:115
PathSimplifierPtr psimp_
A path simplifier used to simplify dense paths added to the graph.
Definition: SPARStwo.h:491
void setMaxFailures(unsigned int m)
Sets the maximum failures until termination.
Definition: SPARStwo.h:253
unsigned int maxFailures_
The number of consecutive failures to add to the graph before termination.
Definition: SPARStwo.h:482
A shared pointer wrapper for ompl::geometric::PathSimplifier.
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: SPARStwo.cpp:865
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: SPARStwo.h:448
InterfaceData & getData(Vertex v, Vertex vp, Vertex vpp)
Retrieves the Vertex data associated with v,vp,vpp.
Definition: SPARStwo.cpp:710
GuardType
Enumeration which specifies the reason a guard is added to the spanner.
Definition: SPARStwo.h:81
A shared pointer wrapper for ompl::base::OptimizationObjective.
void connectGuards(Vertex v, Vertex vp)
Connect two guards in the roadmap.
Definition: SPARStwo.cpp:795
boost::property_map< Graph, vertex_color_t >::type colorProperty_
Access to the colors for the vertices.
Definition: SPARStwo.h:497
void checkForSolution(const base::PlannerTerminationCondition &ptc, base::PathPtr &solution)
Definition: SPARStwo.cpp:382
bool reachedFailureLimit() const
Returns whether we have reached the iteration failures limit, maxFailures_.
Definition: SPARStwo.cpp:218
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_interface_data_t, InterfaceHash > > > > >, boost::property< boost::edge_weight_t, base::Cost > > Graph
The underlying roadmap graph.
Definition: SPARStwo.h:214
std::pair< VertexIndexType, VertexIndexType > VertexPair
Pair of vertices which support an interface.
Definition: SPARStwo.h:95
void updatePairPoints(Vertex rep, const base::State *q, Vertex r, const base::State *s)
High-level method which updates pair point information for repV_ with neighbor r. ...
Definition: SPARStwo.cpp:665
void checkQueryStateInitialization()
Check that the query vertex is initialized (used for internal nearest neighbor searches) ...
Definition: SPARStwo.cpp:300
double d_
Last known distance between the two interfaces supported by points_ and sigmas.
Definition: SPARStwo.h:109
double stretchFactor_
Stretch Factor as per graph spanner literature (multiplicative bound on path quality) ...
Definition: SPARStwo.h:472
bool checkAddPath(Vertex v)
Checks vertex v for short paths through its region and adds when appropriate.
Definition: SPARStwo.cpp:475
void abandonLists(base::State *st)
When a new guard is added at state st, finds all guards who must abandon their interface information ...
Definition: SPARStwo.cpp:760
double getSparseDeltaFraction() const
Retrieve the sparse graph visibility range delta.
Definition: SPARStwo.h:271
boost::property_map< Graph, vertex_state_t >::type stateProperty_
Access to the internal base::state at each Vertex.
Definition: SPARStwo.h:488
VertexPair index(Vertex vp, Vertex vpp)
Rectifies indexing order for accessing the vertex data.
Definition: SPARStwo.cpp:700
unsigned int getMaxFailures() const
Retrieve the maximum consecutive failure limit.
Definition: SPARStwo.h:259
boost::property_map< Graph, vertex_interface_data_t >::type interfaceDataProperty_
Access to the interface pair information for the vertices.
Definition: SPARStwo.h:500
void computeX(Vertex v, Vertex vp, Vertex vpp, std::vector< Vertex > &Xs)
Computes all nodes which qualify as a candidate x for v, v', and v".
Definition: SPARStwo.cpp:686
void setFirst(const base::State *p, const base::State *s, const base::SpaceInformationPtr &si)
Sets information for the first interface (i.e. interface with smaller index vertex).
Definition: SPARStwo.h:141
std::shared_ptr< NearestNeighbors< Vertex > > nn_
Nearest neighbors data structure.
Definition: SPARStwo.h:457
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
unsigned int nearSamplePoints_
Number of sample points to use when trying to detect interfaces.
Definition: SPARStwo.h:485