ompl::geometric::QRRTImpl Class Reference

Implementation of QuotientSpace Rapidly-Exploring Random Trees Algorithm. More...

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

Inheritance diagram for ompl::geometric::QRRTImpl:

Public Member Functions

 QRRTImpl (const ompl::base::SpaceInformationPtr &si, QuotientSpace *parent_)
 
virtual void grow () override
 One iteration of RRT with adjusted sampling function.
 
virtual bool getSolution (ompl::base::PathPtr &solution) override
 
double getImportance () const override
 Importance based on how many vertices the tree has.
 
virtual bool sample (ompl::base::State *q_random) override
 Uniform sampling.
 
virtual bool sampleQuotient (ompl::base::State *) override
 Quotient-Space sampling by choosing a random vertex from parent class tree.
 
virtual 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.
 
virtual void clear () override
 Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.
 
void setGoalBias (double goalBias)
 
double getGoalBias () const
 
void setRange (double distance)
 
double getRange () const
 
- Public Member Functions inherited from ompl::geometric::QuotientSpaceGraph
 QuotientSpaceGraph (const ompl::base::SpaceInformationPtr &si, QuotientSpace *parent=nullptr)
 
virtual unsigned int getNumberOfVertices () const
 
virtual unsigned int getNumberOfEdges () const
 
virtual void getPlannerData (ompl::base::PlannerData &data) const override
 Return plannerdata structure, whereby each vertex is marked depending to which component it belongs (start/goal/non-connected)
 
void init ()
 Initialization methods for the first iteration (adding start configuration and doing sanity checks)
 
void clearQuery () override
 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 clearVertices ()
 
virtual void deleteConfiguration (Configuration *q)
 
template<template< typename T > class NN>
void setNearestNeighbors ()
 
void uniteComponents (Vertex m1, Vertex m2)
 
bool sameComponent (Vertex m1, Vertex m2)
 
const Configurationnearest (const Configuration *s) const
 
const GraphgetGraph () const
 
double getGraphLength () const
 
const RoadmapNeighborsPtr & getRoadmapNeighborsPtr () const
 
virtual void print (std::ostream &out) const override
 Internal function implementing actual printing to stream.
 
void printConfiguration (const Configuration *) const
 Print configuration to std::cout.
 
- Public Member Functions inherited from ompl::geometric::QuotientSpace
 QuotientSpace (const ompl::base::SpaceInformationPtr &si, QuotientSpace *parent_=nullptr)
 Quotient Space contains three OMPL spaces, which we call Q1, Q0 and X1. More...
 
ompl::base::PlannerStatus solve (const ompl::base::PlannerTerminationCondition &ptc) override final
 solve disabled (use MultiQuotient::solve) final prevents subclasses to override
 
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().
 
virtual bool hasSolution ()
 
const ompl::base::SpaceInformationPtrgetX1 () const
 Get SpaceInformationPtr for X1 (Note: X1 is the second component of Q1 = Q0 x X1)
 
const ompl::base::SpaceInformationPtrgetQ1 () const
 Get SpaceInformationPtr for Q1 (Note: Q1 is the product space Q1 = Q0 x X1)
 
const ompl::base::SpaceInformationPtrgetQ0 () const
 Get SpaceInformationPtr for Q0 (Note: Q0 is the first component of Q1 = Q0 x X1)
 
unsigned int getX1Dimension () const
 Dimension of space X1.
 
unsigned int getQ1Dimension () const
 Dimension of space Q1.
 
unsigned int getQ0Dimension () const
 Dimension of space Q0.
 
unsigned int getDimension () const
 Dimension of space Q1.
 
const ompl::base::StateSamplerPtrgetX1SamplerPtr () const
 
const ompl::base::StateSamplerPtrgetQ1SamplerPtr () const
 
QuotientSpacegetParent () const
 Parent is a more simplified quotient-space (higher in abstraction hierarchy)
 
QuotientSpacegetChild () const
 Child is a less simplified quotient-space (lower in abstraction hierarchy)
 
unsigned int getLevel () const
 Level in abstraction hierarchy of quotient-spaces.
 
void setLevel (unsigned int)
 Change abstraction level.
 
QuotientSpaceType getType () const
 Type of quotient-space.
 
void setChild (QuotientSpace *child_)
 Set pointer to less simplified quotient-space.
 
void setParent (QuotientSpace *parent_)
 Set pointer to more simplified quotient-space.
 
unsigned int getTotalNumberOfSamples () const
 Number of samples drawn on space Q1.
 
unsigned int getTotalNumberOfFeasibleSamples () const
 Number of feasible samples drawn on space Q1.
 
void projectX1 (const ompl::base::State *q, ompl::base::State *qX1) const
 Quotient Space Projection Operator onto second component ProjectX1: Q0 \times X1 \rightarrow X1.
 
void projectQ0 (const ompl::base::State *q, ompl::base::State *qQ0) const
 Quotient Space Projection Operator onto first component ProjectQ0: Q0 \times X1 \rightarrow Q0.
 
void mergeStates (const ompl::base::State *qQ0, const ompl::base::State *qX1, ompl::base::State *qQ1) const
 Merge a state from Q0 and X1 into a state on Q1 (concatenate)
 
void checkSpaceHasFiniteMeasure (const ompl::base::StateSpacePtr space) const
 Check if quotient-space is unbounded.
 
ompl::base::OptimizationObjectivePtr getOptimizationObjectivePtr () const
 
- 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.
 
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 Attributes

ConfigurationqRandom_ {nullptr}
 Random configuration placeholder.
 
std::vector< Vertex > shortestPathVertices_
 Current shortest path on tree.
 
double maxDistance_ {.0}
 Maximum distance of expanding the tree.
 
double goalBias_ {.05}
 Goal bias similar to RRT.
 
ompl::base::Goalgoal_
 Goal state or goal region.
 
- Protected Attributes inherited from ompl::geometric::QuotientSpaceGraph
RoadmapNeighborsPtr nearestDatastructure_
 Nearest neighbor structure for quotient space configurations.
 
Graph graph_
 
ompl::base::PathPtr solutionPath_
 
RNG rng_
 
RNGType rng_boost
 
double graphLength_ {0.0}
 Length of graph (useful for determing importance of quotient-space.
 
- Protected Attributes inherited from ompl::geometric::QuotientSpace
ompl::base::SpaceInformationPtr Q1 {nullptr}
 
ompl::base::SpaceInformationPtr Q0 {nullptr}
 
ompl::base::SpaceInformationPtr X1 {nullptr}
 
ompl::base::StateSamplerPtr X1_sampler_
 
ompl::base::StateSamplerPtr Q1_sampler_
 
ompl::base::ValidStateSamplerPtr Q1_valid_sampler_
 
ompl::base::OptimizationObjectivePtr opt_
 
ompl::base::States_Q0_tmp_ {nullptr}
 A temporary state on Q0.
 
ompl::base::States_X1_tmp_ {nullptr}
 A temporary state on X1.
 
QuotientSpaceType type_
 
unsigned int Q1_dimension_ {0}
 
unsigned int Q0_dimension_ {0}
 
unsigned int X1_dimension_ {0}
 
unsigned int id_ {0}
 Identity of space (to keep track of number of quotient-spaces created)
 
unsigned int level_ {0}
 Level in sequence of quotient-spaces.
 
bool hasSolution_ {false}
 
bool firstRun_ {true}
 
QuotientSpaceparent_ {nullptr}
 
QuotientSpacechild_ {nullptr}
 
unsigned int totalNumberOfSamples_ {0}
 
unsigned int totalNumberOfFeasibleSamples_ {0}
 
- 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::geometric::QuotientSpaceGraph
using normalized_index_type = int
 
using Graph = boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, Configuration *, EdgeInternalState, GraphBundle >
 A quotient-graph structure using boost::adjacency_list bundles.
 
using BGT = boost::graph_traits< Graph >
 
using Vertex = BGT::vertex_descriptor
 
using Edge = BGT::edge_descriptor
 
using VertexIndex = BGT::vertices_size_type
 
using IEIterator = BGT::in_edge_iterator
 
using OEIterator = BGT::out_edge_iterator
 
using VertexParent = Vertex
 
using VertexRank = VertexIndex
 
using RoadmapNeighborsPtr = std::shared_ptr< NearestNeighbors< Configuration * > >
 
using PDF = ompl::PDF< Configuration * >
 
using PDF_Element = PDF::Element
 
- 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.
 
- Static Public Member Functions inherited from ompl::geometric::QuotientSpace
static void resetCounter ()
 reset counter for number of levels
 
- Public Attributes inherited from ompl::geometric::QuotientSpaceGraph
std::map< Vertex, VertexRank > vrank
 
std::map< Vertex, Vertex > vparent
 
boost::disjoint_sets< boost::associative_property_map< std::map< Vertex, VertexRank > >, boost::associative_property_map< std::map< Vertex, Vertex > > > disjointSets_ {boost::make_assoc_property_map(vrank), boost::make_assoc_property_map(vparent)}
 
ompl::base::Cost bestCost_ {+ompl::base::dInf}
 
ConfigurationqStart_ {nullptr}
 
ConfigurationqGoal_ {nullptr}
 
Vertex vStart_
 
Vertex vGoal_
 
std::vector< Vertex > shortestVertexPath_
 
std::vector< Vertex > startGoalVertexPath_
 
- Protected Types inherited from ompl::geometric::QuotientSpaceGraph
using RNGType = boost::minstd_rand
 
- Protected Member Functions inherited from ompl::geometric::QuotientSpaceGraph
virtual double distance (const Configuration *a, const Configuration *b) const
 
virtual Vertex addConfiguration (Configuration *q)
 
void addEdge (const Vertex a, const Vertex b)
 
ompl::base::Cost costHeuristic (Vertex u, Vertex v) const
 
ompl::base::PathPtr getPath (const Vertex &start, const Vertex &goal)
 Shortest path on quotient-graph.
 
- Protected Member Functions inherited from ompl::geometric::QuotientSpace
const ompl::base::StateSpacePtr computeQuotientSpace (const ompl::base::StateSpacePtr Q1, const ompl::base::StateSpacePtr Q0)
 Compute the quotient Q1 / Q0 between two given spaces.
 
QuotientSpaceType identifyQuotientSpaceType (const ompl::base::StateSpacePtr Q1, const ompl::base::StateSpacePtr Q0)
 Identify the type of the quotient Q1 / Q0.
 
- 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.
 
- Static Protected Attributes inherited from ompl::geometric::QuotientSpace
static unsigned int counter_ = 0
 

Detailed Description

Implementation of QuotientSpace Rapidly-Exploring Random Trees Algorithm.

Definition at line 85 of file QRRTImpl.h.


The documentation for this class was generated from the following files:
  • ompl/geometric/planners/quotientspace/algorithms/QRRTImpl.h
  • ompl/geometric/planners/quotientspace/algorithms/src/QRRTImpl.cpp