SPARStwo.h
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34 
35 /* Author: Andrew Dobson */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_SPARS_TWO_
38 #define OMPL_GEOMETRIC_PLANNERS_SPARS_TWO_
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 #include "ompl/util/Hash.h"
45 
46 #include <boost/range/adaptor/map.hpp>
47 #include <unordered_map>
48 #include <boost/graph/graph_traits.hpp>
49 #include <boost/graph/adjacency_list.hpp>
50 #include <boost/pending/disjoint_sets.hpp>
51 #include <mutex>
52 #include <iostream>
53 #include <fstream>
54 #include <utility>
55 #include <vector>
56 #include <map>
57 
58 namespace ompl
59 {
60  namespace geometric
61  {
77  class SPARStwo : 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  using VertexIndexType = unsigned long;
93 
95  using VertexPair = std::pair<VertexIndexType, VertexIndexType>;
96 
99  {
101  base::State *pointA_{nullptr};
102  base::State *pointB_{nullptr};
103 
105  base::State *sigmaA_{nullptr};
106  base::State *sigmaB_{nullptr};
107 
109  double d_{std::numeric_limits<double>::infinity()};
110 
112  InterfaceData() = default;
113 
115  void clear(const base::SpaceInformationPtr &si)
116  {
117  if (pointA_ != nullptr)
118  {
119  si->freeState(pointA_);
120  pointA_ = nullptr;
121  }
122  if (pointB_ != nullptr)
123  {
124  si->freeState(pointB_);
125  pointB_ = nullptr;
126  }
127  if (sigmaA_ != nullptr)
128  {
129  si->freeState(sigmaA_);
130  sigmaA_ = nullptr;
131  }
132  if (sigmaB_ != nullptr)
133  {
134  si->freeState(sigmaB_);
135  sigmaB_ = nullptr;
136  }
137  d_ = std::numeric_limits<double>::infinity();
138  }
139 
141  void setFirst(const base::State *p, const base::State *s, const base::SpaceInformationPtr &si)
142  {
143  if (pointA_ != nullptr)
144  si->copyState(pointA_, p);
145  else
146  pointA_ = si->cloneState(p);
147  if (sigmaA_ != nullptr)
148  si->copyState(sigmaA_, s);
149  else
150  sigmaA_ = si->cloneState(s);
151  if (pointB_ != nullptr)
152  d_ = si->distance(pointA_, pointB_);
153  }
154 
156  void setSecond(const base::State *p, const base::State *s, const base::SpaceInformationPtr &si)
157  {
158  if (pointB_ != nullptr)
159  si->copyState(pointB_, p);
160  else
161  pointB_ = si->cloneState(p);
162  if (sigmaB_ != nullptr)
163  si->copyState(sigmaB_, s);
164  else
165  sigmaB_ = si->cloneState(s);
166  if (pointA_ != nullptr)
167  d_ = si->distance(pointA_, pointB_);
168  }
169  };
170 
172  using InterfaceHash = std::unordered_map<VertexPair, InterfaceData>;
173 
175  {
176  using kind = boost::vertex_property_tag;
177  };
178 
180  {
181  using kind = boost::vertex_property_tag;
182  };
183 
185  {
186  using kind = boost::vertex_property_tag;
187  };
188 
204  using Graph = boost::adjacency_list<
205  boost::vecS, boost::vecS, boost::undirectedS,
206  boost::property<
208  boost::property<
209  boost::vertex_predecessor_t, VertexIndexType,
210  boost::property<boost::vertex_rank_t, VertexIndexType,
211  boost::property<vertex_color_t, GuardType,
212  boost::property<vertex_interface_data_t, InterfaceHash>>>>>,
213  boost::property<boost::edge_weight_t, base::Cost>>;
214 
216  using Vertex = boost::graph_traits<Graph>::vertex_descriptor;
217 
219  using Edge = boost::graph_traits<Graph>::edge_descriptor;
220 
222  SPARStwo(const base::SpaceInformationPtr &si);
223 
225  ~SPARStwo() override;
226 
227  void setProblemDefinition(const base::ProblemDefinitionPtr &pdef) override;
228 
230  void setStretchFactor(double t)
231  {
232  stretchFactor_ = t;
233  }
234 
236  void setSparseDeltaFraction(double D)
237  {
239  if (sparseDelta_ > 0.0) // setup was previously called
240  sparseDelta_ = D * si_->getMaximumExtent();
241  }
242 
244  void setDenseDeltaFraction(double d)
245  {
247  if (denseDelta_ > 0.0) // setup was previously called
248  denseDelta_ = d * si_->getMaximumExtent();
249  }
250 
252  void setMaxFailures(unsigned int m)
253  {
254  maxFailures_ = m;
255  }
256 
258  unsigned int getMaxFailures() const
259  {
260  return maxFailures_;
261  }
262 
264  double getDenseDeltaFraction() const
265  {
266  return denseDeltaFraction_;
267  }
268 
270  double getSparseDeltaFraction() const
271  {
272  return sparseDeltaFraction_;
273  }
274 
276  double getStretchFactor() const
277  {
278  return stretchFactor_;
279  }
280 
283 
287  void constructRoadmap(const base::PlannerTerminationCondition &ptc, bool stopOnMaxFail);
288 
302 
307  void clearQuery() override;
308 
309  void clear() override;
310 
312  template <template <typename T> class NN>
314  {
315  if (nn_ && nn_->size() == 0)
316  OMPL_WARN("Calling setNearestNeighbors will clear all states.");
317  clear();
318  nn_ = std::make_shared<NN<Vertex>>();
319  if (isSetup())
320  setup();
321  }
322 
323  void setup() override;
324 
326  const Graph &getRoadmap() const
327  {
328  return g_;
329  }
330 
332  unsigned int milestoneCount() const
333  {
334  return boost::num_vertices(g_);
335  }
336 
337  void getPlannerData(base::PlannerData &data) const override;
338 
340  void printDebug(std::ostream &out = std::cout) const;
341 
343  // Planner progress property functions
344  std::string getIterationCount() const
345  {
346  return std::to_string(iterations_);
347  }
348  std::string getBestCost() const
349  {
350  return std::to_string(bestCost_.value());
351  }
352 
353  protected:
355  void freeMemory();
356 
359 
361  bool checkAddCoverage(const base::State *qNew, std::vector<Vertex> &visibleNeighborhood);
362 
364  bool checkAddConnectivity(const base::State *qNew, std::vector<Vertex> &visibleNeighborhood);
365 
368  bool checkAddInterface(const base::State *qNew, std::vector<Vertex> &graphNeighborhood,
369  std::vector<Vertex> &visibleNeighborhood);
370 
372  bool checkAddPath(Vertex v);
373 
375  void resetFailures();
376 
378  void findGraphNeighbors(base::State *st, std::vector<Vertex> &graphNeighborhood,
379  std::vector<Vertex> &visibleNeighborhood);
380 
382  void approachGraph(Vertex v);
383 
385  Vertex findGraphRepresentative(base::State *st);
386 
388  void findCloseRepresentatives(base::State *workArea, const base::State *qNew, Vertex qRep,
389  std::map<Vertex, base::State *> &closeRepresentatives,
390  const base::PlannerTerminationCondition &ptc);
391 
393  void updatePairPoints(Vertex rep, const base::State *q, Vertex r, const base::State *s);
394 
396  void computeVPP(Vertex v, Vertex vp, std::vector<Vertex> &VPPs);
397 
399  void computeX(Vertex v, Vertex vp, Vertex vpp, std::vector<Vertex> &Xs);
400 
402  VertexPair index(Vertex vp, Vertex vpp);
403 
405  InterfaceData &getData(Vertex v, Vertex vp, Vertex vpp);
406 
408  void distanceCheck(Vertex rep, const base::State *q, Vertex r, const base::State *s, Vertex rp);
409 
412  void abandonLists(base::State *st);
413 
416  Vertex addGuard(base::State *state, GuardType type);
417 
419  void connectGuards(Vertex v, Vertex vp);
420 
424  bool haveSolution(const std::vector<Vertex> &starts, const std::vector<Vertex> &goals,
425  base::PathPtr &solution);
426 
428  void checkForSolution(const base::PlannerTerminationCondition &ptc, base::PathPtr &solution);
429 
432  bool reachedTerminationCriterion() const;
433 
435  bool reachedFailureLimit() const;
436 
439  base::PathPtr constructSolution(Vertex start, Vertex goal) const;
440 
443  bool sameComponent(Vertex m1, Vertex m2);
444 
447  double distanceFunction(const Vertex a, const Vertex b) const
448  {
449  return si_->distance(stateProperty_[a], stateProperty_[b]);
450  }
451 
453  base::ValidStateSamplerPtr sampler_;
454 
456  std::shared_ptr<NearestNeighbors<Vertex>> nn_;
457 
460 
462  std::vector<Vertex> startM_;
463 
465  std::vector<Vertex> goalM_;
466 
469 
471  double stretchFactor_{3.};
472 
474  double sparseDeltaFraction_{.25};
475 
478  double denseDeltaFraction_{.001};
479 
481  unsigned int maxFailures_{5000};
482 
484  unsigned int nearSamplePoints_;
485 
487  boost::property_map<Graph, vertex_state_t>::type stateProperty_;
488 
491 
493  boost::property_map<Graph, boost::edge_weight_t>::type weightProperty_;
494 
496  boost::property_map<Graph, vertex_color_t>::type colorProperty_;
497 
499  boost::property_map<Graph, vertex_interface_data_t>::type interfaceDataProperty_;
500 
502  boost::disjoint_sets<boost::property_map<Graph, boost::vertex_rank_t>::type,
503  boost::property_map<Graph, boost::vertex_predecessor_t>::type> disjointSets_;
506 
508  bool addedSolution_{false};
509 
511  unsigned int consecutiveFailures_{0};
512 
514  double sparseDelta_{0.};
515 
517  double denseDelta_{0.};
518 
520  mutable std::mutex graphMutex_;
521 
523  base::OptimizationObjectivePtr opt_;
524 
528 
530  // Planner progress properties
532  long unsigned int iterations_{0ul};
534  base::Cost bestCost_{std::numeric_limits<double>::quiet_NaN()};
535  };
536  }
537 }
538 
539 #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
A shared pointer wrapper for ompl::geometric::PathSimplifier.
SPArse Roadmap Spanner Version 2.0
Definition: SPARStwo.h:78
bool reachedFailureLimit() const
Returns whether we have reached the iteration failures limit, maxFailures_.
Definition: SPARStwo.cpp:218
bool addedSolution_
A flag indicating that a solution has been added during solve()
Definition: SPARStwo.h:508
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
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: SPARStwo.h:313
std::vector< Vertex > goalM_
Array of goal milestones.
Definition: SPARStwo.h:465
unsigned long VertexIndexType
The type used internally for representing vertex IDs.
Definition: SPARStwo.h:92
double denseDeltaFraction_
Maximum range for allowing two samples to support an interface as a fraction of maximum extent.
Definition: SPARStwo.h:478
boost::property_map< Graph, vertex_interface_data_t >::type interfaceDataProperty_
Access to the interface pair information for the vertices.
Definition: SPARStwo.h:499
void setDenseDeltaFraction(double d)
Sets interface support tolerance as a fraction of max. extent.
Definition: SPARStwo.h:244
void resetFailures()
A reset function for resetting the failures count.
Definition: SPARStwo.cpp:564
void setStretchFactor(double t)
Sets the stretch factor.
Definition: SPARStwo.h:230
double getSparseDeltaFraction() const
Retrieve the sparse graph visibility range delta.
Definition: SPARStwo.h:270
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 freeMemory()
Free all the memory allocated by the planner.
Definition: SPARStwo.cpp:156
long unsigned int iterations_
A counter for the number of iterations of the algorithm.
Definition: SPARStwo.h:532
boost::graph_traits< Graph >::edge_descriptor Edge
Edge in Graph.
Definition: SPARStwo.h:219
base::Cost bestCost_
Best cost found so far by algorithm.
Definition: SPARStwo.h:534
double sparseDelta_
Maximum visibility range for nodes in the graph.
Definition: SPARStwo.h:514
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
const Graph & getRoadmap() const
Retrieve the computed roadmap.
Definition: SPARStwo.h:326
double getStretchFactor() const
Retrieve the spanner's set stretch factor.
Definition: SPARStwo.h:276
unsigned int maxFailures_
The number of consecutive failures to add to the graph before termination.
Definition: SPARStwo.h:481
double denseDelta_
Maximum range for allowing two samples to support an interface.
Definition: SPARStwo.h:517
boost::property_map< Graph, vertex_color_t >::type colorProperty_
Access to the colors for the vertices.
Definition: SPARStwo.h:496
bool checkAddPath(Vertex v)
Checks vertex v for short paths through its region and adds when appropriate.
Definition: SPARStwo.cpp:475
void approachGraph(Vertex v)
Approaches the graph from a given vertex.
Definition: SPARStwo.cpp:583
void setSparseDeltaFraction(double D)
Sets vertex visibility range as a fraction of max. extent.
Definition: SPARStwo.h:236
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 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
unsigned int getMaxFailures() const
Retrieve the maximum consecutive failure limit.
Definition: SPARStwo.h:258
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
unsigned int consecutiveFailures_
A counter for the number of consecutive failed iterations of the algorithm.
Definition: SPARStwo.h:511
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:503
GuardType
Enumeration which specifies the reason a guard is added to the spanner.
Definition: SPARStwo.h:82
PathSimplifierPtr psimp_
A path simplifier used to simplify dense paths added to the graph.
Definition: SPARStwo.h:490
std::pair< VertexIndexType, VertexIndexType > VertexPair
Pair of vertices which support an interface.
Definition: SPARStwo.h:95
RNG rng_
Random number generator.
Definition: SPARStwo.h:505
std::vector< Vertex > startM_
Array of start milestones.
Definition: SPARStwo.h:462
void constructRoadmap(const base::PlannerTerminationCondition &ptc)
While the termination condition permits, construct the spanner graph.
Definition: SPARStwo.cpp:243
boost::property_map< Graph, vertex_state_t >::type stateProperty_
Access to the internal base::state at each Vertex.
Definition: SPARStwo.h:487
Graph g_
Connectivity graph.
Definition: SPARStwo.h:459
boost::property_map< Graph, boost::edge_weight_t >::type weightProperty_
Access to the weights of each Edge.
Definition: SPARStwo.h:493
std::mutex graphMutex_
Mutex to guard access to the Graph member (g_)
Definition: SPARStwo.h:520
base::OptimizationObjectivePtr opt_
Objective cost function for PRM graph edges.
Definition: SPARStwo.h:523
void printDebug(std::ostream &out=std::cout) const
Print debug information about planner.
Definition: SPARStwo.cpp:851
std::shared_ptr< NearestNeighbors< Vertex > > nn_
Nearest neighbors data structure.
Definition: SPARStwo.h:456
VertexPair index(Vertex vp, Vertex vpp)
Rectifies indexing order for accessing the vertex data.
Definition: SPARStwo.cpp:700
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
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
SPARStwo(const base::SpaceInformationPtr &si)
Constructor.
Definition: SPARStwo.cpp:53
double stretchFactor_
Stretch Factor as per graph spanner literature (multiplicative bound on path quality)
Definition: SPARStwo.h:471
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
void checkForSolution(const base::PlannerTerminationCondition &ptc, base::PathPtr &solution)
Definition: SPARStwo.cpp:382
void checkQueryStateInitialization()
Check that the query vertex is initialized (used for internal nearest neighbor searches)
Definition: SPARStwo.cpp:300
void connectGuards(Vertex v, Vertex vp)
Connect two guards in the roadmap.
Definition: SPARStwo.cpp:795
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
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SPARStwo.cpp:93
boost::graph_traits< Graph >::vertex_descriptor Vertex
Vertex in Graph.
Definition: SPARStwo.h:216
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
unsigned int nearSamplePoints_
Number of sample points to use when trying to detect interfaces.
Definition: SPARStwo.h:484
InterfaceData & getData(Vertex v, Vertex vp, Vertex vpp)
Retrieves the Vertex data associated with v,vp,vpp.
Definition: SPARStwo.cpp:710
base::ValidStateSamplerPtr sampler_
Sampler user for generating valid samples in the state space.
Definition: SPARStwo.h:453
double sparseDeltaFraction_
Maximum visibility range for nodes in the graph as a fraction of maximum extent.
Definition: SPARStwo.h:474
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
Vertex findGraphRepresentative(base::State *st)
Finds the representative of the input state, st
Definition: SPARStwo.cpp:597
double getDenseDeltaFraction() const
Retrieve the dense graph interface support delta.
Definition: SPARStwo.h:264
void setMaxFailures(unsigned int m)
Sets the maximum failures until termination.
Definition: SPARStwo.h:252
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:213
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 clearQuery() override
Clear the query previously loaded from the ProblemDefinition. Subsequent calls to solve() will reuse ...
Definition: SPARStwo.cpp:137
std::unordered_map< VertexPair, InterfaceData > InterfaceHash
the hash which maps pairs of neighbor points to pairs of states
Definition: SPARStwo.h:172
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
bool reachedTerminationCriterion() const
Returns true if we have reached the iteration failures limit, maxFailures_ or if a solution was added...
Definition: SPARStwo.cpp:223
unsigned int milestoneCount() const
Get the number of vertices in the sparse roadmap.
Definition: SPARStwo.h:332
~SPARStwo() override
Destructor.
Definition: SPARStwo.cpp:88
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: SPARStwo.cpp:144
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:447
Vertex queryVertex_
Vertex for performing nearest neighbor queries.
Definition: SPARStwo.h:468
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
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
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
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition: Console.h:66
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
Interface information storage class, which does bookkeeping for criterion four.
Definition: SPARStwo.h:99
double d_
Last known distance between the two interfaces supported by points_ and sigmas.
Definition: SPARStwo.h:109
base::State * sigmaA_
States which lie just outside the visibility region of a vertex and support an interface.
Definition: SPARStwo.h:105
base::State * pointA_
States which lie inside the visibility region of a vertex and support an interface.
Definition: SPARStwo.h:101
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
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
void clear(const base::SpaceInformationPtr &si)
Clears the given interface data.
Definition: SPARStwo.h:115