ThunderRetrieveRepair.h
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34 
35 /* Author: Dave Coleman */
36 
37 #ifndef OMPL_TOOLS_THUNDER_THUNDER_RETRIEVE_REPAIR_
38 #define OMPL_TOOLS_THUNDER_THUNDER_RETRIEVE_REPAIR_
39 
40 #include <ompl/geometric/planners/PlannerIncludes.h>
41 #include <ompl/geometric/PathGeometric.h>
42 #include <ompl/geometric/PathSimplifier.h>
43 #include <ompl/datastructures/NearestNeighbors.h>
44 
45 namespace ompl
46 {
47  namespace tools
48  {
49  OMPL_CLASS_FORWARD(ThunderDB);
50  }
51 
52  namespace geometric
53  {
55 
56  OMPL_CLASS_FORWARD(ThunderRetrieveRepair);
58 
76  class ThunderRetrieveRepair : public base::Planner
77  {
78  public:
80  ThunderRetrieveRepair(const base::SpaceInformationPtr &si, tools::ThunderDBPtr experienceDB);
81 
82  ~ThunderRetrieveRepair() override;
83 
86  void getPlannerData(base::PlannerData &data) const override;
87 
92  const std::vector<PathGeometric> &getLastRecalledNearestPaths() const;
93 
98  std::size_t getLastRecalledNearestPathChosen() const;
99 
104  const PathGeometric &getChosenRecallPath() const;
105 
107  void getRepairPlannerDatas(std::vector<base::PlannerDataPtr> &data) const;
108 
110 
111  void clear() override;
112 
116  void setExperienceDB(const tools::ThunderDBPtr &experienceDB);
117 
119  void setRepairPlanner(const base::PlannerPtr &planner);
120 
121  void setup() override;
122 
128  bool repairPath(const base::PlannerTerminationCondition &ptc, PathGeometric &primaryPath);
129 
137  bool replan(const base::State *start, const base::State *goal, PathGeometric &newPathSegment,
139 
141  int getNearestK() const
142  {
143  return nearestK_;
144  }
145 
147  void setNearestK(int nearestK)
148  {
149  nearestK_ = nearestK;
150  }
151 
153  void enableSmoothing(bool enable)
154  {
155  smoothingEnabled_ = enable;
156  }
157 
158  protected:
166  std::size_t checkMotionScore(const base::State *s1, const base::State *s2) const;
167 
169  void freeMemory();
170 
172  tools::ThunderDBPtr experienceDB_;
173 
175  std::vector<PathGeometric> nearestPaths_;
176 
178  std::size_t nearestPathsChosenID_;
179 
181  base::PlannerPtr repairPlanner_;
182 
184  base::ProblemDefinitionPtr repairProblemDef_;
185 
187  std::vector<base::PlannerDataPtr> repairPlannerDatas_;
188 
191 
193  int nearestK_;
194 
196  bool smoothingEnabled_;
197  };
198 
199  } // namespace geometric
200 } // namespace ompl
201 
202 #endif
A shared pointer wrapper for ompl::geometric::PathSimplifier.
Definition of an abstract state.
Definition: State.h:113
void freeMemory()
Free the memory allocated by this planner.
ThunderRetrieveRepair(const base::SpaceInformationPtr &si, tools::ThunderDBPtr experienceDB)
Constructor.
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
std::size_t checkMotionScore(const base::State *s1, const base::State *s2) const
Count the number of states along the discretized path that are in collision Note: This is kind of an ...
void setRepairPlanner(const base::PlannerPtr &planner)
Set the planner that will be used for repairing invalid paths recalled from experience.
void enableSmoothing(bool enable)
Optionally smooth retrieved and repaired paths from database.
void setExperienceDB(const tools::ThunderDBPtr &experienceDB)
Pass a pointer of the database from the thunder framework.
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...
void setNearestK(int nearestK)
Setter for number of 'k' close solutions to choose from database for further filtering.
const PathGeometric & getChosenRecallPath() const
Get the chosen path used from database for repair.
int getNearestK() const
Getter for number of 'k' close solutions to choose from database for further filtering.
base::ProblemDefinitionPtr repairProblemDef_
A secondary problem definition for the repair planner to use.
Definition of a geometric path.
Definition: PathGeometric.h:97
tools::ThunderDBPtr experienceDB_
The database of motions to search through.
std::size_t nearestPathsChosenID_
the ID within nearestPaths_ of the path that was chosen for repair
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
bool replan(const base::State *start, const base::State *goal, PathGeometric &newPathSegment, const base::PlannerTerminationCondition &ptc)
Use our secondary planner to find a valid path between start and goal, and return that path.
A class to store the exit status of Planner::solve()
bool repairPath(const base::PlannerTerminationCondition &ptc, PathGeometric &primaryPath)
Repairs a path to be valid in the current planning environment.
std::size_t getLastRecalledNearestPathChosen() const
Get debug information about the top recalled paths that were chosen for further filtering.
PathSimplifierPtr path_simplifier_
The instance of the path simplifier.
int nearestK_
Number of 'k' close solutions to choose from database for further filtering.
base::PlannerPtr repairPlanner_
A secondary planner for replanning.
std::vector< PathGeometric > nearestPaths_
Recall the nearest paths and store this in planner data for introspection later.
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
void getPlannerData(base::PlannerData &data) const override
Get information about the exploration data structure the planning from scratch motion planner used.
std::vector< base::PlannerDataPtr > repairPlannerDatas_
Debug the repair planner by saving its planner data each time it is used.
const std::vector< PathGeometric > & getLastRecalledNearestPaths() const
Get debug information about the top recalled paths that were chosen for further filtering.
bool smoothingEnabled_
Optionally smooth retrieved and repaired paths from database.
void getRepairPlannerDatas(std::vector< base::PlannerDataPtr > &data) const
Get information about the exploration data structure the repair motion planner used each call.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21