ompl::control::Syclop Class Referenceabstract

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

typedef std::function< double(int, int)> EdgeCostFactorFn
 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() .

 
typedef std::function< void(int, int, std::vector< int > &)> LeadComputeFn
 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
typedef std::function< std::string()> PlannerProgressProperty
 Definition of a function which returns a property about the planner's progress that can be queried by a benchmarking routine.
 
typedef std::map< std::string, PlannerProgressPropertyPlannerProgressProperties
 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
 
Planneroperator= (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 SpaceInformationPtrgetSpaceInformation () const
 Get the space information this planner is using.
 
const ProblemDefinitionPtrgetProblemDefinition () const
 Get the problem definition the planner is trying to solve.
 
const PlannerInputStatesgetPlannerInputStates () 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().
 
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 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 PlannerSpecsgetSpecs () 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.
 
ParamSetparams ()
 Get the parameters for this planner.
 
const ParamSetparams () const
 Get the parameters for this planner.
 
const PlannerProgressPropertiesgetPlannerProgressProperties () 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 MotionaddRoot (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 RegiongetRegionFromIndex (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_
 The number of states to sample to estimate free volume in the Decomposition.
 
double probShortestPath_
 The probability that a lead will be computed as a shortest-path instead of a random-DFS.
 
double probKeepAddingToAvail_
 The probability that the set of available regions will be augmented.
 
int numRegionExpansions_
 The number of times a new region will be chosen and promoted for expansion from a given lead.
 
int numTreeSelections_
 The number of calls to selectAndExtend() in the low-level tree planner for a given lead and region.
 
double probAbandonLeadEarly_
 The probability that a lead will be abandoned early, before a new region is chosen for expansion.
 
const SpaceInformationsiC_
 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 73 of file Syclop.h.


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