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  typedef unsigned long VertexIndexType;
93 
95  typedef std::pair<VertexIndexType, VertexIndexType> VertexPair;
96 
99  {
102  base::State *pointB_;
103 
106  base::State *sigmaB_;
107 
109  double d_;
110 
113  : pointA_(nullptr)
114  , pointB_(nullptr)
115  , sigmaA_(nullptr)
116  , sigmaB_(nullptr)
117  , d_(std::numeric_limits<double>::infinity())
118  {
119  }
120 
123  {
124  if (pointA_)
125  {
126  si->freeState(pointA_);
127  pointA_ = nullptr;
128  }
129  if (pointB_)
130  {
131  si->freeState(pointB_);
132  pointB_ = nullptr;
133  }
134  if (sigmaA_)
135  {
136  si->freeState(sigmaA_);
137  sigmaA_ = nullptr;
138  }
139  if (sigmaB_)
140  {
141  si->freeState(sigmaB_);
142  sigmaB_ = nullptr;
143  }
144  d_ = std::numeric_limits<double>::infinity();
145  }
146 
148  void setFirst(const base::State *p, const base::State *s, const base::SpaceInformationPtr &si)
149  {
150  if (pointA_)
151  si->copyState(pointA_, p);
152  else
153  pointA_ = si->cloneState(p);
154  if (sigmaA_)
155  si->copyState(sigmaA_, s);
156  else
157  sigmaA_ = si->cloneState(s);
158  if (pointB_)
159  d_ = si->distance(pointA_, pointB_);
160  }
161 
163  void setSecond(const base::State *p, const base::State *s, const base::SpaceInformationPtr &si)
164  {
165  if (pointB_)
166  si->copyState(pointB_, p);
167  else
168  pointB_ = si->cloneState(p);
169  if (sigmaB_)
170  si->copyState(sigmaB_, s);
171  else
172  sigmaB_ = si->cloneState(s);
173  if (pointA_)
174  d_ = si->distance(pointA_, pointB_);
175  }
176  };
177 
179  typedef std::unordered_map<VertexPair, InterfaceData> InterfaceHash;
180 
182  {
183  typedef boost::vertex_property_tag kind;
184  };
185 
187  {
188  typedef boost::vertex_property_tag kind;
189  };
190 
192  {
193  typedef boost::vertex_property_tag kind;
194  };
195 
211  typedef boost::adjacency_list<
212  boost::vecS, boost::vecS, boost::undirectedS,
213  boost::property<
215  boost::property<
216  boost::vertex_predecessor_t, VertexIndexType,
217  boost::property<boost::vertex_rank_t, VertexIndexType,
218  boost::property<vertex_color_t, GuardType,
219  boost::property<vertex_interface_data_t, InterfaceHash>>>>>,
220  boost::property<boost::edge_weight_t, base::Cost>>
222 
224  typedef boost::graph_traits<Graph>::vertex_descriptor Vertex;
225 
227  typedef boost::graph_traits<Graph>::edge_descriptor Edge;
228 
231 
233  ~SPARStwo() override;
234 
235  void setProblemDefinition(const base::ProblemDefinitionPtr &pdef) override;
236 
238  void setStretchFactor(double t)
239  {
240  stretchFactor_ = t;
241  }
242 
244  void setSparseDeltaFraction(double D)
245  {
247  if (sparseDelta_ > 0.0) // setup was previously called
248  sparseDelta_ = D * si_->getMaximumExtent();
249  }
250 
252  void setDenseDeltaFraction(double d)
253  {
255  if (denseDelta_ > 0.0) // setup was previously called
256  denseDelta_ = d * si_->getMaximumExtent();
257  }
258 
260  void setMaxFailures(unsigned int m)
261  {
262  maxFailures_ = m;
263  }
264 
266  unsigned int getMaxFailures() const
267  {
268  return maxFailures_;
269  }
270 
272  double getDenseDeltaFraction() const
273  {
274  return denseDeltaFraction_;
275  }
276 
278  double getSparseDeltaFraction() const
279  {
280  return sparseDeltaFraction_;
281  }
282 
284  double getStretchFactor() const
285  {
286  return stretchFactor_;
287  }
288 
291 
295  void constructRoadmap(const base::PlannerTerminationCondition &ptc, bool stopOnMaxFail);
296 
310 
315  void clearQuery();
316 
317  void clear() override;
318 
320  template <template <typename T> class NN>
322  {
323  if (nn_ && nn_->size() == 0)
324  OMPL_WARN("Calling setNearestNeighbors will clear all states.");
325  clear();
326  nn_ = std::make_shared<NN<Vertex>>();
327  if (isSetup())
328  setup();
329  }
330 
331  void setup() override;
332 
334  const Graph &getRoadmap() const
335  {
336  return g_;
337  }
338 
340  unsigned int milestoneCount() const
341  {
342  return boost::num_vertices(g_);
343  }
344 
345  void getPlannerData(base::PlannerData &data) const override;
346 
348  void printDebug(std::ostream &out = std::cout) const;
349 
351  // Planner progress property functions
352  std::string getIterationCount() const
353  {
354  return boost::lexical_cast<std::string>(iterations_);
355  }
356  std::string getBestCost() const
357  {
358  return boost::lexical_cast<std::string>(bestCost_);
359  }
360 
361  protected:
363  void freeMemory();
364 
367 
369  bool checkAddCoverage(const base::State *qNew, std::vector<Vertex> &visibleNeighborhood);
370 
372  bool checkAddConnectivity(const base::State *qNew, std::vector<Vertex> &visibleNeighborhood);
373 
376  bool checkAddInterface(const base::State *qNew, std::vector<Vertex> &graphNeighborhood,
377  std::vector<Vertex> &visibleNeighborhood);
378 
380  bool checkAddPath(Vertex v);
381 
383  void resetFailures();
384 
386  void findGraphNeighbors(base::State *st, std::vector<Vertex> &graphNeighborhood,
387  std::vector<Vertex> &visibleNeighborhood);
388 
390  void approachGraph(Vertex v);
391 
393  Vertex findGraphRepresentative(base::State *st);
394 
396  void findCloseRepresentatives(base::State *workArea, const base::State *qNew, Vertex qRep,
397  std::map<Vertex, base::State *> &closeRepresentatives,
399 
401  void updatePairPoints(Vertex rep, const base::State *q, Vertex r, const base::State *s);
402 
404  void computeVPP(Vertex v, Vertex vp, std::vector<Vertex> &VPPs);
405 
407  void computeX(Vertex v, Vertex vp, Vertex vpp, std::vector<Vertex> &Xs);
408 
410  VertexPair index(Vertex vp, Vertex vpp);
411 
413  InterfaceData &getData(Vertex v, Vertex vp, Vertex vpp);
414 
416  void distanceCheck(Vertex rep, const base::State *q, Vertex r, const base::State *s, Vertex rp);
417 
420  void abandonLists(base::State *st);
421 
424  Vertex addGuard(base::State *state, GuardType type);
425 
427  void connectGuards(Vertex v, Vertex vp);
428 
432  bool haveSolution(const std::vector<Vertex> &start, const std::vector<Vertex> &goal,
433  base::PathPtr &solution);
434 
437 
440  bool reachedTerminationCriterion() const;
441 
443  bool reachedFailureLimit() const;
444 
447  base::PathPtr constructSolution(const Vertex start, const Vertex goal) const;
448 
451  bool sameComponent(Vertex m1, Vertex m2);
452 
455  double distanceFunction(const Vertex a, const Vertex b) const
456  {
457  return si_->distance(stateProperty_[a], stateProperty_[b]);
458  }
459 
462 
464  std::shared_ptr<NearestNeighbors<Vertex>> nn_;
465 
468 
470  std::vector<Vertex> startM_;
471 
473  std::vector<Vertex> goalM_;
474 
476  Vertex queryVertex_;
477 
480 
483 
487 
489  unsigned int maxFailures_;
490 
492  unsigned int nearSamplePoints_;
493 
495  boost::property_map<Graph, vertex_state_t>::type stateProperty_;
496 
499 
501  boost::property_map<Graph, boost::edge_weight_t>::type weightProperty_;
502 
504  boost::property_map<Graph, vertex_color_t>::type colorProperty_;
505 
507  boost::property_map<Graph, vertex_interface_data_t>::type interfaceDataProperty_;
508 
510  boost::disjoint_sets<boost::property_map<Graph, boost::vertex_rank_t>::type,
511  boost::property_map<Graph, boost::vertex_predecessor_t>::type> disjointSets_;
514 
517 
519  unsigned int consecutiveFailures_;
520 
522  double sparseDelta_;
523 
525  double denseDelta_;
526 
528  mutable std::mutex graphMutex_;
529 
532 
535  base::Cost costHeuristic(Vertex u, Vertex v) const;
536 
538  // Planner progress properties
540  long unsigned int iterations_;
543  };
544  }
545 }
546 
547 #endif
void printDebug(std::ostream &out=std::cout) const
Print debug information about planner.
Definition: SPARStwo.cpp:863
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:223
double sparseDeltaFraction_
Maximum visibility range for nodes in the graph as a fraction of maximum extent.
Definition: SPARStwo.h:482
Graph g_
Connectivity graph.
Definition: SPARStwo.h:467
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:627
base::ValidStateSamplerPtr sampler_
Sampler user for generating valid samples in the state space.
Definition: SPARStwo.h:461
bool haveSolution(const std::vector< Vertex > &start, const std::vector< Vertex > &goal, 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:185
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:141
A shared pointer wrapper for ompl::base::ProblemDefinition.
base::PathPtr constructSolution(const Vertex start, const Vertex goal) const
Given two milestones from the same connected component, construct a path connecting them and set it a...
Definition: SPARStwo.cpp:819
void setDenseDeltaFraction(double d)
Sets interface support tolerance as a fraction of max. extent.
Definition: SPARStwo.h:252
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:179
void findGraphNeighbors(base::State *st, std::vector< Vertex > &graphNeighborhood, std::vector< Vertex > &visibleNeighborhood)
Finds visible nodes in the graph near st.
Definition: SPARStwo.cpp:581
double denseDeltaFraction_
Maximum range for allowing two samples to support an interface as a fraction of maximum extent...
Definition: SPARStwo.h:486
long unsigned int iterations_
A counter for the number of iterations of the algorithm.
Definition: SPARStwo.h:540
void setStretchFactor(double t)
Sets the stretch factor.
Definition: SPARStwo.h:238
double getDenseDeltaFraction() const
Retrieve the dense graph interface support delta.
Definition: SPARStwo.h:272
void resetFailures()
A reset function for resetting the failures count.
Definition: SPARStwo.cpp:576
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:727
SPARStwo(const base::SpaceInformationPtr &si)
Constructor.
Definition: SPARStwo.cpp:53
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:913
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Vertex findGraphRepresentative(base::State *st)
Finds the representative of the input state, st.
Definition: SPARStwo.cpp:609
STL namespace.
base::Cost bestCost_
Best cost found so far by algorithm.
Definition: SPARStwo.h:542
boost::property_map< Graph, boost::edge_weight_t >::type weightProperty_
Access to the weights of each Edge.
Definition: SPARStwo.h:501
std::vector< Vertex > startM_
Array of start milestones.
Definition: SPARStwo.h:470
double getStretchFactor() const
Retrieve the spanner&#39;s set stretch factor.
Definition: SPARStwo.h:284
void clearQuery()
Clear the query previously loaded from the ProblemDefinition. Subsequent calls to solve() will reuse ...
Definition: SPARStwo.cpp:147
std::vector< Vertex > goalM_
Array of goal milestones.
Definition: SPARStwo.h:473
void setSparseDeltaFraction(double D)
Sets vertex visibility range as a fraction of max. extent.
Definition: SPARStwo.h:244
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SPARStwo.cpp:103
base::OptimizationObjectivePtr opt_
Objective cost function for PRM graph edges.
Definition: SPARStwo.h:531
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:413
unsigned int consecutiveFailures_
A counter for the number of consecutive failed iterations of the algorithm.
Definition: SPARStwo.h:519
unsigned int milestoneCount() const
Get the number of vertices in the sparse roadmap.
Definition: SPARStwo.h:340
double denseDelta_
Maximum range for allowing two samples to support an interface.
Definition: SPARStwo.h:525
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
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:422
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:689
bool addedSolution_
A flag indicating that a solution has been added during solve()
Definition: SPARStwo.h:516
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: SPARStwo.h:321
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:163
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:789
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
void constructRoadmap(const base::PlannerTerminationCondition &ptc)
While the termination condition permits, construct the spanner graph.
Definition: SPARStwo.cpp:253
unsigned long VertexIndexType
The type used internally for representing vertex IDs.
Definition: SPARStwo.h:92
Base class for a planner.
Definition: Planner.h:232
SPArse Roadmap Spanner Version 2.0
Definition: SPARStwo.h:77
Interface information storage class, which does bookkeeping for criterion four.
Definition: SPARStwo.h:98
double sparseDelta_
Maximum visibility range for nodes in the graph.
Definition: SPARStwo.h:522
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:320
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:455
void approachGraph(Vertex v)
Approaches the graph from a given vertex.
Definition: SPARStwo.cpp:595
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:511
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:233
void clear(const base::SpaceInformationPtr &si)
Clears the given interface data.
Definition: SPARStwo.h:122
Definition of an abstract state.
Definition: State.h:49
PathSimplifierPtr psimp_
A path simplifier used to simplify dense paths added to the graph.
Definition: SPARStwo.h:498
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition: Console.h:66
std::mutex graphMutex_
Mutex to guard access to the Graph member (g_)
Definition: SPARStwo.h:528
void setMaxFailures(unsigned int m)
Sets the maximum failures until termination.
Definition: SPARStwo.h:260
unsigned int maxFailures_
The number of consecutive failures to add to the graph before termination.
Definition: SPARStwo.h:489
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:877
boost::graph_traits< Graph >::edge_descriptor Edge
Edge in Graph.
Definition: SPARStwo.h:227
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:455
InterfaceData & getData(Vertex v, Vertex vp, Vertex vpp)
Retrieves the Vertex data associated with v,vp,vpp.
Definition: SPARStwo.cpp:722
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:807
boost::property_map< Graph, vertex_color_t >::type colorProperty_
Access to the colors for the vertices.
Definition: SPARStwo.h:504
void checkForSolution(const base::PlannerTerminationCondition &ptc, base::PathPtr &solution)
Definition: SPARStwo.cpp:392
bool reachedFailureLimit() const
Returns whether we have reached the iteration failures limit, maxFailures_.
Definition: SPARStwo.cpp:228
boost::graph_traits< Graph >::vertex_descriptor Vertex
Vertex in Graph.
Definition: SPARStwo.h:224
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:221
bool isSetup() const
Check if setup() was called for this planner.
Definition: Planner.cpp:108
~SPARStwo() override
Destructor.
Definition: SPARStwo.cpp:98
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:677
void checkQueryStateInitialization()
Check that the query vertex is initialized (used for internal nearest neighbor searches) ...
Definition: SPARStwo.cpp:310
const Graph & getRoadmap() const
Retrieve the computed roadmap.
Definition: SPARStwo.h:334
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:479
bool checkAddPath(Vertex v)
Checks vertex v for short paths through its region and adds when appropriate.
Definition: SPARStwo.cpp:487
void freeMemory()
Free all the memory allocated by the planner.
Definition: SPARStwo.cpp:166
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:415
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:772
double getSparseDeltaFraction() const
Retrieve the sparse graph visibility range delta.
Definition: SPARStwo.h:278
boost::property_map< Graph, vertex_state_t >::type stateProperty_
Access to the internal base::state at each Vertex.
Definition: SPARStwo.h:495
VertexPair index(Vertex vp, Vertex vpp)
Rectifies indexing order for accessing the vertex data.
Definition: SPARStwo.cpp:712
unsigned int getMaxFailures() const
Retrieve the maximum consecutive failure limit.
Definition: SPARStwo.h:266
Vertex queryVertex_
Vertex for performing nearest neighbor queries.
Definition: SPARStwo.h:476
RNG rng_
Random number generator.
Definition: SPARStwo.h:513
boost::property_map< Graph, vertex_interface_data_t >::type interfaceDataProperty_
Access to the interface pair information for the vertices.
Definition: SPARStwo.h:507
void computeX(Vertex v, Vertex vp, Vertex vpp, std::vector< Vertex > &Xs)
Computes all nodes which qualify as a candidate x for v, v&#39;, and v".
Definition: SPARStwo.cpp:698
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:148
std::shared_ptr< NearestNeighbors< Vertex > > nn_
Nearest neighbors data structure.
Definition: SPARStwo.h:464
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:492
A shared pointer wrapper for ompl::base::Path.