Synergistic Combination of Layers of Planning. More...

`#include <ompl/control/planners/syclop/Syclop.h>`

## Classes | |

class | Adjacency |

Representation of an adjacency (a directed edge) between two regions in the Decomposition assigned to Syclop. More... | |

struct | Defaults |

Contains default values for Syclop parameters. More... | |

class | Motion |

Representation of a motion. More... | |

class | Region |

Representation of a region in the Decomposition assigned to Syclop. More... | |

## Public Types | |

using | EdgeCostFactorFn = std::function< double(int, int)> |

Each edge weight between two adjacent regions in the Decomposition is defined as a product of edge cost factors. By default, given adjacent regions \(r\) and \(s\), Syclop uses the sole edge cost factor. More... | |

using | LeadComputeFn = std::function< void(int, int, std::vector< int > &)> |

Leads should consist of a path of adjacent regions in the decomposition that start with the start region and end at the end region. Default is \(A^\ast\) search. | |

Public Types inherited from ompl::base::Planner | |

using | PlannerProgressProperty = std::function< std::string()> |

Definition of a function which returns a property about the planner's progress that can be queried by a benchmarking routine. | |

using | PlannerProgressProperties = std::map< std::string, PlannerProgressProperty > |

A dictionary which maps the name of a progress property to the function to be used for querying that property. | |

## Public Member Functions | |

Syclop (const SpaceInformationPtr &si, DecompositionPtr d, const std::string &plannerName) | |

Constructor. Requires a Decomposition, which Syclop uses to create high-level leads. | |

ompl::base::Planner Interface | |

void | setup () override |

Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceInformation::setup() if needed. This must be called before solving. | |

void | clear () override |

Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work. | |

base::PlannerStatus | solve (const base::PlannerTerminationCondition &ptc) override |

Continues solving until a solution is found or a given planner termination condition is met. Returns true if solution was found. | |

Tunable parameters | |

void | setLeadComputeFn (const LeadComputeFn &compute) |

Allows the user to override the lead computation function. | |

void | addEdgeCostFactor (const EdgeCostFactorFn &factor) |

Adds an edge cost factor to be used for edge weights between adjacent regions. | |

void | clearEdgeCostFactors () |

Clears all edge cost factors, making all edge weights equivalent to 1. | |

int | getNumFreeVolumeSamples () const |

Get the number of states to sample when estimating free volume in the Decomposition. | |

void | setNumFreeVolumeSamples (int numSamples) |

Set the number of states to sample when estimating free volume in the Decomposition. | |

double | getProbShortestPathLead () const |

Get the probability [0,1] that a lead will be computed as a shortest-path instead of a random-DFS. | |

void | setProbShortestPathLead (double probability) |

Set the probability [0,1] that a lead will be computed as a shortest-path instead of a random-DFS. | |

double | getProbAddingToAvailableRegions () const |

Get the probability [0,1] that the set of available regions will be augmented. | |

void | setProbAddingToAvailableRegions (double probability) |

Set the probability [0,1] that the set of available regions will be augmented. | |

int | getNumRegionExpansions () const |

Get the number of times a new region will be chosen and promoted for expansion from a given lead. | |

void | setNumRegionExpansions (int regionExpansions) |

Set the number of times a new region will be chosen and promoted for expansion from a given lead. | |

int | getNumTreeExpansions () const |

Get the number of calls to selectAndExtend() in the low-level tree planner for a given lead and region. | |

void | setNumTreeExpansions (int treeExpansions) |

Set the number of calls to selectAndExtend() in the low-level tree planner for a given lead and region. | |

double | getProbAbandonLeadEarly () const |

Get the probability [0,1] that a lead will be abandoned early, before a new region is chosen for expansion. | |

void | setProbAbandonLeadEarly (double probability) |

The probability that a lead will be abandoned early, before a new region is chosen for expansion. | |

Public Member Functions inherited from ompl::base::Planner | |

Planner (const Planner &)=delete | |

Planner & | operator= (const Planner &)=delete |

Planner (SpaceInformationPtr si, std::string name) | |

Constructor. | |

virtual | ~Planner ()=default |

Destructor. | |

template<class T > | |

T * | as () |

Cast this instance to a desired type. More... | |

template<class T > | |

const T * | as () const |

Cast this instance to a desired type. More... | |

const SpaceInformationPtr & | getSpaceInformation () const |

Get the space information this planner is using. | |

const ProblemDefinitionPtr & | getProblemDefinition () const |

Get the problem definition the planner is trying to solve. | |

ProblemDefinitionPtr & | getProblemDefinition () |

Get the problem definition the planner is trying to solve. | |

const PlannerInputStates & | getPlannerInputStates () const |

Get the planner input states. | |

virtual void | setProblemDefinition (const ProblemDefinitionPtr &pdef) |

Set the problem definition for the planner. The problem needs to be set before calling solve(). Note: If this problem definition replaces a previous one, it may also be necessary to call clear() or clearQuery(). | |

PlannerStatus | solve (const PlannerTerminationConditionFn &ptc, double checkInterval) |

Same as above except the termination condition is only evaluated at a specified interval. | |

PlannerStatus | solve (double solveTime) |

Same as above except the termination condition is solely a time limit: the number of seconds the algorithm is allowed to spend planning. | |

virtual void | clearQuery () |

Clears internal datastructures of any query-specific information from the previous query. Planner settings are not affected. The planner, if able, should retain all datastructures generated from previous queries that can be used to help solve the next query. Note that clear() should also clear all query-specific information along with all other datastructures in the planner. By default clearQuery() calls clear(). | |

virtual void | getPlannerData (PlannerData &data) const |

Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between). | |

const std::string & | getName () const |

Get the name of the planner. | |

void | setName (const std::string &name) |

Set the name of the planner. | |

const PlannerSpecs & | getSpecs () const |

Return the specifications (capabilities of this planner) | |

virtual void | checkValidity () |

Check to see if the planner is in a working state (setup has been called, a goal was set, the input states seem to be in order). In case of error, this function throws an exception. | |

bool | isSetup () const |

Check if setup() was called for this planner. | |

ParamSet & | params () |

Get the parameters for this planner. | |

const ParamSet & | params () const |

Get the parameters for this planner. | |

const PlannerProgressProperties & | getPlannerProgressProperties () const |

Retrieve a planner's planner progress property map. | |

virtual void | printProperties (std::ostream &out) const |

Print properties of the motion planner. | |

virtual void | printSettings (std::ostream &out) const |

Print information about the motion planner's settings. | |

## Protected Member Functions | |

virtual Motion * | addRoot (const base::State *s)=0 |

Add State s as a new root in the low-level tree, and return the Motion corresponding to s. | |

virtual void | selectAndExtend (Region ®ion, std::vector< Motion * > &newMotions)=0 |

Select a Motion from the given Region, and extend the tree from the Motion. Add any new motions created to newMotions. | |

const Region & | getRegionFromIndex (const int rid) const |

Returns a reference to the Region object with the given index. Assumes the index is valid. | |

Protected Member Functions inherited from ompl::base::Planner | |

template<typename T , typename PlannerType , typename SetterType , typename GetterType > | |

void | declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter, const GetterType &getter, const std::string &rangeSuggestion="") |

This function declares a parameter for this planner instance, and specifies the setter and getter functions. | |

template<typename T , typename PlannerType , typename SetterType > | |

void | declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter, const std::string &rangeSuggestion="") |

This function declares a parameter for this planner instance, and specifies the setter function. | |

void | addPlannerProgressProperty (const std::string &progressPropertyName, const PlannerProgressProperty &prop) |

Add a planner progress property called progressPropertyName with a property querying function prop to this planner's progress property map. | |

## Protected Attributes | |

int | numFreeVolSamples_ {Defaults::NUM_FREEVOL_SAMPLES} |

The number of states to sample to estimate free volume in the Decomposition. | |

double | probShortestPath_ {Defaults::PROB_SHORTEST_PATH} |

The probability that a lead will be computed as a shortest-path instead of a random-DFS. | |

double | probKeepAddingToAvail_ {Defaults::PROB_KEEP_ADDING_TO_AVAIL} |

The probability that the set of available regions will be augmented. | |

int | numRegionExpansions_ {Defaults::NUM_REGION_EXPANSIONS} |

The number of times a new region will be chosen and promoted for expansion from a given lead. | |

int | numTreeSelections_ {Defaults::NUM_TREE_SELECTIONS} |

The number of calls to selectAndExtend() in the low-level tree planner for a given lead and region. | |

double | probAbandonLeadEarly_ {Defaults::PROB_ABANDON_LEAD_EARLY} |

The probability that a lead will be abandoned early, before a new region is chosen for expansion. | |

const SpaceInformation * | siC_ |

Handle to the control::SpaceInformation object. | |

DecompositionPtr | decomp_ |

The high level decomposition used to focus tree expansion. | |

RNG | rng_ |

Random number generator. | |

Protected Attributes inherited from ompl::base::Planner | |

SpaceInformationPtr | si_ |

The space information for which planning is done. | |

ProblemDefinitionPtr | pdef_ |

The user set problem definition. | |

PlannerInputStates | pis_ |

Utility class to extract valid input states | |

std::string | name_ |

The name of this planner. | |

PlannerSpecs | specs_ |

The specifications of the planner (its capabilities) | |

ParamSet | params_ |

A map from parameter names to parameter instances for this planner. This field is populated by the declareParam() function. | |

PlannerProgressProperties | plannerProgressProperties_ |

A mapping between this planner's progress property names and the functions used for querying those progress properties. | |

bool | setup_ |

Flag indicating whether setup() has been called. | |

## Detailed Description

Synergistic Combination of Layers of Planning.

- Short description
- Syclop is a multi-layered planner that guides a low-level sampling-based tree planner through a sequence of sequence of discrete workspace regions from start to goal. Syclop is defined as an abstract base class whose pure virtual methods are defined by the chosen low-level sampling-based tree planner.

- External documentation
- E. Plaku, L.E. Kavraki, and M.Y. Vardi, Motion Planning with Dynamics by a Synergistic Combination of Layers of Planning, in
*IEEE Transactions on Robotics*, 2010. DOI: 10.1109/TRO.2010.2047820

## Member Typedef Documentation

## ◆ EdgeCostFactorFn

using ompl::control::Syclop::EdgeCostFactorFn = std::function<double(int, int)> |

Each edge weight between two adjacent regions in the Decomposition is defined as a product of edge cost factors. By default, given adjacent regions \(r\) and \(s\), Syclop uses the sole edge cost factor.

\[ \frac{1 + \mbox{sel}^2(r,s)}{1 + \mbox{conn}^2(r,s)} \alpha(r) \alpha(s), \]

where for any region \(t\),

\[ \alpha(t) = \frac{1}{\left(1 + \mbox{cov}(t)\right) \mbox{freeVol}^4(t)}, \]

\(\mbox{sel}(r,s)\) is the number of times \(r\) and \(s\) have been part of a lead or selected for exploration, \(\mbox{conn}(r,s)\) estimates the progress made by the low-level planner in extending the tree from \(r\) to \(s\), \(\mbox{cov}(t)\) estimates the tree coverage of the region \(t\), and \(\mbox{freeVol}(t)\) estimates the free volume of \(t\). Additional edge cost factors can be added with the addEdgeCostFactor() function, and Syclop's list of edge cost factors can be cleared using clearEdgeCostFactors() .

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

- ompl/control/planners/syclop/Syclop.h
- ompl/control/planners/syclop/src/Syclop.cpp