ompl::control::Syclop Class Reference

Synergistic Combination of Layers of Planning. More...

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

Inheritance diagram for ompl::control::Syclop:

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 &region, 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

Definition at line 137 of file Syclop.h.

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() .

Definition at line 192 of file Syclop.h.

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

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