A graph on a quotient-space. More...

#include <ompl/geometric/planners/quotientspace/datastructures/QuotientSpaceGraph.h>

Inheritance diagram for ompl::geometric::QuotientSpaceGraph:

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Classes
class	Configuration
	A configuration in quotient-space. More...

class	EdgeInternalState
	An edge in quotient-space. More...

struct	GraphBundle

Public Types
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.

Public Member Functions
	QuotientSpaceGraph (const ompl::base::SpaceInformationPtr &si, QuotientSpace *parent=nullptr)

virtual unsigned int	getNumberOfVertices () const

virtual unsigned int	getNumberOfEdges () const

virtual bool	sampleQuotient (ompl::base::State *) override

virtual bool	getSolution (ompl::base::PathPtr &solution) override

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)

virtual double	getImportance () const override
	Importance of quotient-space depending on number of vertices in quotient-graph.

void	init ()
	Initialization methods for the first iteration (adding start configuration and doing sanity checks)

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	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 Configuration *	nearest (const Configuration *s) const

const Graph &	getGraph () 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 void	grow ()=0

virtual bool	sample (ompl::base::State *q_random)

virtual bool	hasSolution ()

const ompl::base::SpaceInformationPtr &	getX1 () const
	Get SpaceInformationPtr for X1 (Note: X1 is the second component of Q1 = Q0 x X1)

const ompl::base::SpaceInformationPtr &	getQ1 () const
	Get SpaceInformationPtr for Q1 (Note: Q1 is the product space Q1 = Q0 x X1)

const ompl::base::SpaceInformationPtr &	getQ0 () 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::StateSamplerPtr &	getX1SamplerPtr () const

const ompl::base::StateSamplerPtr &	getQ1SamplerPtr () const

QuotientSpace *	getParent () const
	Parent is a more simplified quotient-space (higher in abstraction hierarchy)

QuotientSpace *	getChild () 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

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.

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 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.

Public Attributes
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}

Configuration *	qStart_ {nullptr}

Configuration *	qGoal_ {nullptr}

Vertex	vStart_

Vertex	vGoal_

std::vector< Vertex >	shortestVertexPath_

std::vector< Vertex >	startGoalVertexPath_

Protected Types
using	RNGType = boost::minstd_rand

Protected Member Functions
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.

Protected Attributes
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::State *	s_Q0_tmp_ {nullptr}
	A temporary state on Q0.

ompl::base::State *	s_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}

QuotientSpace *	parent_ {nullptr}

QuotientSpace *	child_ {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
Static Public Member Functions inherited from ompl::geometric::QuotientSpace
static void	resetCounter ()
	reset counter for number of levels

Static Protected Attributes inherited from ompl::geometric::QuotientSpace
static unsigned int	counter_ = 0

Detailed Description

A graph on a quotient-space.

Definition at line 67 of file QuotientSpaceGraph.h.

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

ompl/geometric/planners/quotientspace/datastructures/QuotientSpaceGraph.h
ompl/geometric/planners/quotientspace/datastructures/src/QuotientSpaceGraph.cpp

Classes

Public Types

Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description