ompl::geometric::CForest Class Reference

Coupled Forest of Random Engrafting Search Trees. More...

#include <ompl/geometric/planners/cforest/CForest.h>

Inheritance diagram for ompl::geometric::CForest:

Public Member Functions

 CForest (const base::SpaceInformationPtr &si)
 
void getPlannerData (base::PlannerData &data) const override
 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).
 
void clear () override
 Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.
 
template<class T >
void addPlannerInstance ()
 Add an specific planner instance.
 
template<class T >
void addPlannerInstances (std::size_t num=2)
 Add specific planner instances. CFOREST sets the planner's parameter named focus_search (if present) to the current value of CFOREST's focus_search parameter.
 
void clearPlannerInstances ()
 Remove all planner instances.
 
base::PlannerPtrgetPlannerInstance (const std::size_t idx)
 Return an specific planner instance.
 
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.
 
base::PlannerStatus solve (const base::PlannerTerminationCondition &ptc) override
 Function that can solve the motion planning problem. This function can be called multiple times on the same problem, without calling clear() in between. This allows the planner to continue work for more time on an unsolved problem, for example. If this option is used, it is assumed the problem definition is not changed (unpredictable results otherwise). The only change in the problem definition that is accounted for is the addition of starting or goal states (but not changing previously added start/goal states). The function terminates if the call to ptc returns true.
 
void addSampler (const base::StateSamplerPtr &sampler)
 
void setFocusSearch (const bool focus)
 Option to control whether the search is focused during the search.
 
bool getFocusSearch () const
 Get the state of the search focusing option.
 
void setNumThreads (unsigned int numThreads=0)
 Set default number of threads to use when no planner instances are specified by the user.
 
unsigned int getNumThreads ()
 Get default number of threads used by CForest when no planner instances are specified by the user.
 
std::string getBestCost () const
 Get best cost among all the planners.
 
std::string getNumPathsShared () const
 Get number of paths shared by the algorithm.
 
std::string getNumStatesShared () const
 Get number of states actually shared by the algorithm.
 
- 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.
 
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

void solve (base::Planner *planner, const base::PlannerTerminationCondition &ptc)
 Manages the call to solve() for each individual planner.
 
- 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

base::OptimizationObjectivePtr opt_
 Optimization objective taken into account when planning.
 
std::vector< base::PlannerPtrplanners_
 The set of planners to be used.
 
std::vector< base::StateSamplerPtrsamplers_
 The set of sampler allocated by the planners.
 
std::unordered_set< const base::State * > statesShared_
 Stores the states already shared to check if a specific state has been shared.
 
base::Cost bestCost_
 Cost of the best path found so far among planners.
 
unsigned int numPathsShared_
 Number of paths shared among threads.
 
unsigned int numStatesShared_
 Number of states shared among threads.
 
std::mutex newSolutionFoundMutex_
 Mutex to control the access to the newSolutionFound() method.
 
std::mutex addSamplerMutex_
 Mutex to control the access to samplers_.
 
bool focusSearch_
 Flag to control whether the search is focused.
 
unsigned int numThreads_
 Default number of threads to use when no planner instances are specified by the user.
 
- 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.
 

Additional Inherited Members

- 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.
 

Detailed Description

Coupled Forest of Random Engrafting Search Trees.

Short description
CForest (Coupled Forest of Random Engrafting Search Trees) is a parallelization framework that is designed for single-query shortest path planning algorithms. It is not a planning algorithm per se.

CForest is designed to be used with any random tree algorithm that operates in any configuration space such that: 1) the search tree has almost sure convergence to the optimal solution and 2) the configuration space obeys the triangle inequality. It relies in the OptimizationObjective set for the underlying planners.

See also the extensive documentation here.

External documentation
M. Otte, N. Correll, C-FOREST: Parallel Shortest Path Planning With Superlinear Speedup, IEEE Transactions on Robotics, Vol 20, No 3, 2013. DOI: 10.1109/TRO.2013.2240176
[PDF]

Definition at line 75 of file CForest.h.


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