ompl::geometric::MultiQuotient< T > Class Template Reference

A sequence of multiple quotient-spaces The class MultiQuotient can be used with any planner which inherits the ompl::geometric::QuotientSpace class. More...

#include <ompl/geometric/planners/quotientspace/algorithms/MultiQuotient.h>

Inheritance diagram for ompl::geometric::MultiQuotient< T >:

## Classes

struct  CmpQuotientSpacePtrs
Compare function for priority queue. More...

## Public Member Functions

MultiQuotient (std::vector< ompl::base::SpaceInformationPtr > &siVec, std::string type="QuotientPlanner")
Constructor taking a sequence of ompl::base::SpaceInformationPtr and computing the quotient-spaces for each pair in the sequence.

MultiQuotient (ompl::base::SpaceInformationPtr si)=delete

MultiQuotient (ompl::base::SpaceInformationPtr si, std::string type)=delete

void getPlannerData (ompl::base::PlannerData &data) const override
Return annotated vertices (with information about QuotientSpace level)

ompl::base::PlannerStatus solve (const ompl::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). If clearQuery() is called, the planner may retain prior datastructures generated from a previous query on a new problem definition. The function terminates if the call to ptc returns true.

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.

virtual void setProblemDefinition (const ompl::base::ProblemDefinitionPtr &pdef) override
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().

const ompl::base::ProblemDefinitionPtrgetProblemDefinition (unsigned int kQuotientSpace) const

int getLevels () const
Number of quotient-spaces.

std::vector< int > getFeasibleNodes () const
Number of feasible nodes on each QuotientSpace (for DEBUGGING)

std::vector< int > getNodes () const
Number of nodes on each QuotientSpace (for DEBUGGING)

std::vector< int > getDimensionsPerLevel () const
Get all dimensions of the quotient-spaces in the sequence.

void setStopLevel (unsigned int level_)

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.

ProblemDefinitionPtrgetProblemDefinition ()
Get the problem definition the planner is trying to solve.

const PlannerInputStatesgetPlannerInputStates () const
Get the planner input states.

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().

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.

## Public Attributes

const bool DEBUG {false}

## Protected Types

typedef std::priority_queue< QuotientSpace *, std::vector< QuotientSpace * >, CmpQuotientSpacePtrsQuotientSpacePriorityQueue
Priority queue of QuotientSpaces which keeps track of how often every tree on each space has been expanded.

## Protected Attributes

std::vector< ompl::base::PathPtrsolutions_
Solution paths on each quotient-space.

std::vector< QuotientSpace * > quotientSpaces_
Sequence of quotient-spaces.

bool foundKLevelSolution_ {false}
Indicator if a solution has been found on the current quotient-spaces.

unsigned int currentQuotientLevel_ {0}
Current level on which we have not yet found a path.

unsigned int stopAtLevel_
Sometimes we only want to plan until a certain quotient-space level (for debugging for example). This variable sets the stopping level.

std::vector< ompl::base::SpaceInformationPtrsiVec_
Each QuotientSpace has a unique ompl::base::SpaceInformationPtr.

QuotientSpacePriorityQueue priorityQueue_

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.

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.

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.

## Detailed Description

### template<class T> class ompl::geometric::MultiQuotient< T >

A sequence of multiple quotient-spaces The class MultiQuotient can be used with any planner which inherits the ompl::geometric::QuotientSpace class.

Example usage with QRRT (using a sequence si_vec of ompl::base::SpaceInformationPtr) ompl::base::PlannerPtr planner = std::make_shared<MultiQuotient<ompl::geometric::QRRT> >(si_vec);

Definition at line 58 of file MultiQuotient.h.

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