Thunder.h
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34 
35 /* Author: Dave Coleman
36 */
37 
38 #ifndef OMPL_TOOLS_THUNDER_THUNDER_
39 #define OMPL_TOOLS_THUNDER_THUNDER_
40 
41 #include <ompl/tools/experience/ExperienceSetup.h> // the parent class
42 
43 #include <ompl/tools/thunder/ThunderDB.h>
44 #include <ompl/geometric/planners/experience/ThunderRetrieveRepair.h>
45 
46 #include <ompl/base/Planner.h>
47 #include <ompl/base/PlannerData.h>
48 #include <ompl/base/ProblemDefinition.h>
49 #include <ompl/base/SpaceInformation.h>
50 #include <ompl/base/ProblemDefinition.h>
51 #include <ompl/base/StateSpace.h> // for storing to file
52 
53 #include <ompl/geometric/PathGeometric.h>
54 #include <ompl/geometric/PathSimplifier.h>
55 
56 #include <ompl/tools/multiplan/ParallelPlan.h>
57 
58 #include <ompl/util/Console.h>
59 #include <ompl/util/Exception.h>
60 
61 namespace ompl
62 {
63  namespace tools
64  {
78  OMPL_CLASS_FORWARD(Thunder);
81 
87  {
88  public:
90  explicit Thunder(const base::SpaceInformationPtr &si);
91 
95  explicit Thunder(const base::StateSpacePtr &space);
96 
97  private:
99  void initialize();
100 
101  public:
103  void printResultsInfo(std::ostream &out = std::cout) const override;
104 
106  void printLogs(std::ostream &out = std::cout) const override;
107 
110  {
111  return planner_;
112  }
113 
116  {
117  return static_cast<ompl::geometric::ThunderRetrieveRepair &>(*rrPlanner_);
118  }
119 
123  void setRepairPlanner(const base::PlannerPtr &planner) override
124  {
125  static_cast<ompl::geometric::ThunderRetrieveRepair &>(*rrPlanner_).setRepairPlanner(planner);
126  }
127 
132 
134  base::PlannerStatus solve(double time = 1.0) override;
135 
138 
140  bool save() override;
141 
143  bool saveIfChanged() override;
144 
148  void clear() override;
149 
151  void print(std::ostream &out = std::cout) const override;
152 
155  void setup() override;
156 
158  void getAllPlannerDatas(std::vector<ompl::base::PlannerDataPtr> &plannerDatas) const override;
159 
161  std::size_t getExperiencesCount() const override;
162 
164  void convertPlannerData(const ompl::base::PlannerDataPtr &plannerData,
166 
174 
176  ompl::tools::ThunderDBPtr getExperienceDB();
177 
179  bool doPostProcessing() override;
180 
181  protected:
184 
187 
190 
192  ompl::tools::ParallelPlanPtr pp_;
193 
195  ompl::tools::ThunderDBPtr experienceDB_;
196 
198  std::vector<ompl::geometric::PathGeometric> queuedSolutionPaths_;
199 
200  }; // end of class Thunder
201 
202  } // end of namespace
203 
204 } // end of namespace
205 #endif
base::PlannerPtr rrPlanner_
Definition: Thunder.h:183
std::vector< ompl::geometric::PathGeometric > queuedSolutionPaths_
Accumulated experiences to be later added to experience database.
Definition: Thunder.h:198
bool doPostProcessing() override
Allow accumlated experiences to be processed.
Definition: Thunder.cpp:526
ompl::tools::ThunderDBPtr getExperienceDB()
Hook for getting access to debug data.
Definition: Thunder.cpp:521
void printLogs(std::ostream &out=std::cout) const override
Display debug data about overall results from Thunder since being loaded.
Definition: Thunder.cpp:452
base::PlannerStatus solve(double time=1.0) override
Run the planner for up to a specified amount of time (default is 1 second)
Definition: Thunder.cpp:398
void convertPlannerData(const ompl::base::PlannerDataPtr &plannerData, ompl::geometric::PathGeometric &path)
Convert PlannerData to PathGeometric. Assume ordering of verticies is order of path.
Definition: Thunder.cpp:492
ompl::geometric::ThunderRetrieveRepair & getRetrieveRepairPlanner() const
Get a pointer to the retrieve repair planner.
Definition: Thunder.h:115
A shared pointer wrapper for ompl::base::StateSpace.
ompl::tools::ParallelPlanPtr pp_
Instance of parallel planning to use for computing solutions in parallel.
Definition: Thunder.h:192
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
base::PlannerPtr planner2_
Definition: Thunder.h:186
Built off of SimpleSetup but provides support for planning from experience.
Definition: Thunder.h:86
bool reversePathIfNecessary(ompl::geometric::PathGeometric &path1, ompl::geometric::PathGeometric &path2)
If path1 and path2 have a better start/goal match when reverse, then reverse path2.
Definition: Thunder.cpp:499
The Thunder Framework&#39;s Retrieve-Repair component.
Thunder(const base::SpaceInformationPtr &si)
Constructor needs the state space used for planning.
Definition: Thunder.cpp:46
void printResultsInfo(std::ostream &out=std::cout) const override
Display debug data about potential available solutions.
Definition: Thunder.cpp:416
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
void print(std::ostream &out=std::cout) const override
Print information about the current setup.
Definition: Thunder.cpp:426
A shared pointer wrapper for ompl::base::Planner.
bool save() override
Save the experience database to file.
Definition: Thunder.cpp:404
void setup() override
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition: Thunder.cpp:71
base::PlannerPtr planner_
The maintained planner instance.
Definition: SimpleSetup.h:280
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
bool saveIfChanged() override
Save the experience database to file if there has been a change.
Definition: Thunder.cpp:410
A shared pointer wrapper for ompl::base::SpaceInformation.
void setPlannerAllocator(const base::PlannerAllocator &pa)
Set the planner allocator to use. This is only used if no planner has been set. This is optional – a...
Definition: Thunder.cpp:186
void clear() override
Clear all planning data. This only includes data generated by motion plan computation. Planner settings, start & goal states are not affected.
Definition: Thunder.cpp:170
void setRepairPlanner(const base::PlannerPtr &planner)
Set the planner that will be used for repairing invalid paths recalled from experience.
void setRepairPlanner(const base::PlannerPtr &planner) override
Set the planner to use for repairing experience paths inside the ThunderRetrieveRepair planner...
Definition: Thunder.h:123
ompl::base::PlannerPtr & getPlanner()
Get the current planner.
Definition: Thunder.h:109
void getAllPlannerDatas(std::vector< ompl::base::PlannerDataPtr > &plannerDatas) const override
Get a vector of all the planning data in the database.
Definition: Thunder.cpp:487
Definition of a geometric path.
Definition: PathGeometric.h:60
std::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Definition: Planner.h:433
bool dualThreadScratchEnabled_
Definition: Thunder.h:189
A shared pointer wrapper for ompl::base::PlannerData.
Create the set of classes typically needed to solve a geometric problem.
std::size_t getExperiencesCount() const override
Get the total number of paths stored in the database.
Definition: Thunder.cpp:482
ompl::tools::ThunderDBPtr experienceDB_
A shared object between all the planners for saving and loading previous experience.
Definition: Thunder.h:195