ompl::control::LTLSpaceInformation Class Reference
Inheritance diagram for ompl::control::LTLSpaceInformation:

Public Member Functions

 LTLSpaceInformation (const SpaceInformationPtr &si, const ProductGraphPtr &prod)
 
void setup () override
 Perform additional setup tasks (run once, before use). If state validity checking resolution has not been set, estimateMaxResolution() is called to estimate it.
 
const ProductGraphPtrgetProductGraph () const
 
const SpaceInformationPtrgetLowSpace ()
 
void getFullState (const base::State *low, base::State *full)
 
base::StategetLowLevelState (base::State *s)
 
const base::StategetLowLevelState (const base::State *s)
 
ProductGraph::StategetProdGraphState (const base::State *s) const
 
- Public Member Functions inherited from ompl::control::SpaceInformation
 SpaceInformation (const base::StateSpacePtr &stateSpace, ControlSpacePtr controlSpace)
 Constructor. Sets the instance of the state and control spaces to plan with.
 
const ControlSpacePtrgetControlSpace () const
 Get the control space.
 
void printSettings (std::ostream &out=std::cout) const override
 Print information about the current instance of the state space.
 
void setup () override
 Perform additional setup tasks (run once, before use)
 
ControlallocControl () const
 Allocate memory for a control.
 
void freeControl (Control *control) const
 Free the memory of a control.
 
void copyControl (Control *destination, const Control *source) const
 Copy a control to another.
 
ControlcloneControl (const Control *source) const
 Clone a control.
 
void printControl (const Control *control, std::ostream &out=std::cout) const
 Print a control to a stream.
 
bool equalControls (const Control *control1, const Control *control2) const
 Check if two controls are the same.
 
void nullControl (Control *control) const
 Make the control have no effect if it were to be applied to a state for any amount of time.
 
ControlSamplerPtr allocControlSampler () const
 Allocate a control sampler.
 
void setMinMaxControlDuration (unsigned int minSteps, unsigned int maxSteps)
 Set the minimum and maximum number of steps a control is propagated for.
 
unsigned int getMinControlDuration () const
 Get the minimum number of steps a control is propagated for.
 
unsigned int getMaxControlDuration () const
 Get the maximum number of steps a control is propagated for.
 
DirectedControlSamplerPtr allocDirectedControlSampler () const
 Allocate an instance of the DirectedControlSampler to use. This will be the default (SimpleDirectedControlSampler) unless setDirectedControlSamplerAllocator() was previously called.
 
void setDirectedControlSamplerAllocator (const DirectedControlSamplerAllocator &dcsa)
 Set the allocator to use for the DirectedControlSampler.
 
void clearDirectedSamplerAllocator ()
 Reset the DirectedControlSampler to be the default one.
 
const StatePropagatorPtr & getStatePropagator () const
 Get the instance of StatePropagator that performs state propagation.
 
void setStatePropagator (const StatePropagatorFn &fn)
 Set the function that performs state propagation.
 
void setStatePropagator (const StatePropagatorPtr &sp)
 Set the instance of StatePropagator to perform state propagation.
 
void setPropagationStepSize (double stepSize)
 When controls are applied to states, they are applied for a time duration that is an integer multiple of the stepSize, within the bounds specified by setMinMaxControlDuration()
 
double getPropagationStepSize () const
 Propagation is performed at integer multiples of a specified step size. This function returns the value of this step size.
 
void propagate (const base::State *state, const Control *control, int steps, base::State *result) const
 Propagate the model of the system forward, starting a a given state, with a given control, for a given number of steps. More...
 
bool canPropagateBackward () const
 Some systems can only propagate forward in time (i.e., the steps argument for the propagate() function is always positive). If this is the case, this function will return false. Planners that need backward propagation (negative steps) will call this function to check. If backward propagation is possible, this function will return true (this is the default).
 
unsigned int propagateWhileValid (const base::State *state, const Control *control, int steps, base::State *result) const
 Propagate the model of the system forward, starting at a given state, with a given control, for a given number of steps. Stop if a collision is found and return the number of steps actually performed without collision. If no collision is found, the returned value is equal to the steps argument. If a collision is found after the first step, the return value is 0 and result = state. More...
 
void propagate (const base::State *state, const Control *control, int steps, std::vector< base::State *> &result, bool alloc) const
 Propagate the model of the system forward, starting a a given state, with a given control, for a given number of steps. More...
 
unsigned int propagateWhileValid (const base::State *state, const Control *control, int steps, std::vector< base::State *> &result, bool alloc) const
 Propagate the model of the system forward, starting at a given state, with a given control, for a given number of steps. Stop if a collision is found and return the number of steps actually performed without collision. If no collision is found, the returned value is equal to the steps argument. If a collision is found after the first step, the return value is 0 and no states are added to result. If alloc is false and result cannot store all the generated states, propagation is stopped prematurely (when result is full). The starting state (state) is not included in result. The return value of the function indicates how many states have been written to result. More...
 
- Public Member Functions inherited from ompl::base::SpaceInformation
 SpaceInformation (const SpaceInformation &)=delete
 
SpaceInformationoperator= (const SpaceInformation &)=delete
 
 SpaceInformation (StateSpacePtr space)
 Constructor. Sets the instance of the state space to plan with.
 
bool isValid (const State *state) const
 Check if a given state is valid or not.
 
const StateSpacePtrgetStateSpace () const
 Return the instance of the used state space.
 
unsigned int getStateDimension () const
 Return the dimension of the state space.
 
double getSpaceMeasure () const
 Get a measure of the space (this can be thought of as a generalization of volume)
 
bool equalStates (const State *state1, const State *state2) const
 Check if two states are the same.
 
bool satisfiesBounds (const State *state) const
 Check if a state is inside the bounding box.
 
double distance (const State *state1, const State *state2) const
 Compute the distance between two states.
 
void enforceBounds (State *state) const
 Bring the state within the bounds of the state space.
 
void printState (const State *state, std::ostream &out=std::cout) const
 Print a state to a stream.
 
void setStateValidityChecker (const StateValidityCheckerPtr &svc)
 Set the instance of the state validity checker to use. Parallel implementations of planners assume this validity checker is thread safe.
 
void setStateValidityChecker (const StateValidityCheckerFn &svc)
 If no state validity checking class is specified (StateValidityChecker), a function can be specified instead. This version however incurs a small additional overhead when calling the function, since there is one more level of indirection.
 
const StateValidityCheckerPtrgetStateValidityChecker () const
 Return the instance of the used state validity checker.
 
void setMotionValidator (const MotionValidatorPtr &mv)
 Set the instance of the motion validity checker to use. Parallel implementations of planners assume this validity checker is thread safe.
 
const MotionValidatorPtrgetMotionValidator () const
 Return the instance of the used state validity checker.
 
MotionValidatorPtrgetMotionValidator ()
 Return the non-const instance of the used state validity checker.
 
void setStateValidityCheckingResolution (double resolution)
 Set the resolution at which state validity needs to be verified in order for a motion between two states to be considered valid. This value is specified as a fraction of the space's extent. This call is only applicable if a ompl::base::DiscreteMotionValidator is used. See State Validity Checking.
 
double getStateValidityCheckingResolution () const
 Get the resolution at which state validity is verified. This call is only applicable if a ompl::base::DiscreteMotionValidator is used. See State Validity Checking.
 
StateallocState () const
 Allocate memory for a state.
 
void allocStates (std::vector< State *> &states) const
 Allocate memory for each element of the array states.
 
void freeState (State *state) const
 Free the memory of a state.
 
void freeStates (std::vector< State *> &states) const
 Free the memory of an array of states.
 
void copyState (State *destination, const State *source) const
 Copy a state to another.
 
StatecloneState (const State *source) const
 Clone a state.
 
StateSamplerPtr allocStateSampler () const
 Allocate a uniform state sampler for the state space.
 
ValidStateSamplerPtr allocValidStateSampler () const
 Allocate an instance of a valid state sampler for this space. If setValidStateSamplerAllocator() was previously called, the specified allocator is used to produce the state sampler. Otherwise, a ompl::base::UniformValidStateSampler() is allocated.
 
void setValidStateSamplerAllocator (const ValidStateSamplerAllocator &vssa)
 Set the allocator to use for a valid state sampler. This replaces the default uniform valid state sampler. This call can be made at any time, but it should not be changed while ompl::base::Planner::solve() is executing.
 
void clearValidStateSamplerAllocator ()
 Clear the allocator used for the valid state sampler. This will revert to using the uniform valid state sampler (the default).
 
double getMaximumExtent () const
 Get the maximum extent of the space we are planning in. This is the maximum distance that could be reported between any two given states.
 
bool searchValidNearby (State *state, const State *near, double distance, unsigned int attempts) const
 Find a valid state near a given one. If the given state is valid, it will be returned itself. The two passed state pointers need not point to different memory. Returns true on success. More...
 
bool searchValidNearby (const ValidStateSamplerPtr &sampler, State *state, const State *near, double distance) const
 Find a valid state near a given one. If the given state is valid, it will be returned itself. The two passed state pointers need not point to different memory. Returns true on success. More...
 
unsigned int randomBounceMotion (const StateSamplerPtr &sss, const State *start, unsigned int steps, std::vector< State *> &states, bool alloc) const
 Produce a valid motion starting at start by randomly bouncing off of invalid states. The start state start is not included in the computed motion (states). Returns the number of elements written to states (less or equal to steps). More...
 
bool checkMotion (const State *s1, const State *s2, std::pair< State *, double > &lastValid) const
 Incrementally check if the path between two motions is valid. Also compute the last state that was valid and the time of that state. The time is used to parametrize the motion from s1 to s2, s1 being at t = 0 and s2 being at t = 1. This function assumes s1 is valid. More...
 
bool checkMotion (const State *s1, const State *s2) const
 Check if the path between two states (from s1 to s2) is valid, using the MotionValidator. This function assumes s1 is valid.
 
bool checkMotion (const std::vector< State *> &states, unsigned int count, unsigned int &firstInvalidStateIndex) const
 Incrementally check if a sequence of states is valid. Given a vector of states, this routine only checks the first count elements and marks the index of the first invalid state. More...
 
bool checkMotion (const std::vector< State *> &states, unsigned int count) const
 Check if a sequence of states is valid using subdivision.
 
unsigned int getMotionStates (const State *s1, const State *s2, std::vector< State *> &states, unsigned int count, bool endpoints, bool alloc) const
 Get count states that make up a motion between s1 and s2. Returns the number of states that were added to states. If states.size() >= count or alloc is true, the returned value is equal to count (or count + 2, if endpoints is true). Otherwise, fewer states can be returned. More...
 
unsigned int getCheckedMotionCount () const
 Get the total number of motion segments checked by the MotionValidator so far.
 
double probabilityOfValidState (unsigned int attempts) const
 Estimate probability of sampling a valid state. setup() is assumed to have been called.
 
double averageValidMotionLength (unsigned int attempts) const
 Estimate the length of a valid motion. setup() is assumed to have been called.
 
void samplesPerSecond (double &uniform, double &near, double &gaussian, unsigned int attempts) const
 Estimate the number of samples that can be drawn per second, using the sampler returned by allocStateSampler()
 
virtual void printProperties (std::ostream &out=std::cout) const
 Print properties of the current instance of the state space.
 
ParamSetparams ()
 Get the combined parameters for the classes that the space information manages.
 
const ParamSetparams () const
 Get the combined parameters for the classes that the space information manages.
 
bool isSetup () const
 Return true if setup was called.
 

Protected Types

enum  SpaceIndex { LOW_LEVEL = 0, REGION = 1, COSAFE = 2, SAFE = 3 }
 

Protected Member Functions

void extendPropagator (const SpaceInformationPtr &oldsi)
 
void extendValidityChecker (const SpaceInformationPtr &oldsi)
 
- Protected Member Functions inherited from ompl::base::SpaceInformation
void setDefaultMotionValidator ()
 Set default motion validator for the state space.
 

Protected Attributes

ProductGraphPtr prod_
 
SpaceInformationPtr lowSpace_
 
- Protected Attributes inherited from ompl::control::SpaceInformation
ControlSpacePtr controlSpace_
 The control space describing the space of controls applicable to states in the state space.
 
StatePropagatorPtr statePropagator_
 The state propagator used to model the motion of the system being planned for.
 
unsigned int minSteps_
 The minimum number of steps to apply a control for.
 
unsigned int maxSteps_
 The maximum number of steps to apply a control for.
 
DirectedControlSamplerAllocator dcsa_
 Optional allocator for the DirectedControlSampler. If not specified, the default implementation is used.
 
double stepSize_
 The actual duration of each step.
 
- Protected Attributes inherited from ompl::base::SpaceInformation
StateSpacePtr stateSpace_
 The state space planning is to be performed in.
 
StateValidityCheckerPtr stateValidityChecker_
 The instance of the state validity checker used for determining the validity of states in the planning process.
 
MotionValidatorPtr motionValidator_
 The instance of the motion validator to use when determining the validity of motions in the planning process.
 
bool setup_
 Flag indicating whether setup() has been called on this instance.
 
ValidStateSamplerAllocator vssa_
 The optional valid state sampler allocator.
 
ParamSet params_
 Combined parameters for the contained classes.
 

Detailed Description

Definition at line 55 of file LTLSpaceInformation.h.


The documentation for this class was generated from the following files: