LazyPRM.cpp
81 Planner::declareParam<double>("range", this, &LazyPRM::setRange, &LazyPRM::getRange, "0.:1.:10000.");
83 Planner::declareParam<unsigned int>("max_nearest_neighbors", this, &LazyPRM::setMaxNearestNeighbors,
126 specs_.multithreaded = false; // temporarily set to false since nn_ is used only in single thread
129 nn_->setDistanceFunction([this](const Vertex a, const Vertex b) { return distanceFunction(a, b); });
196 OMPL_INFORM("%s: problem definition is not set, deferring setup completion...", getName().c_str());
242 connectionStrategy_ = KStarStrategy<Vertex>([this] { return milestoneCount(); }, nn_, si_->getStateDimension());
244 connectionStrategy_ = KBoundedStrategy<Vertex>(magic::DEFAULT_NEAREST_NEIGHBORS_LAZY, maxDistance_, nn_);
314 ompl::base::PlannerStatus ompl::geometric::LazyPRM::solve(const base::PlannerTerminationCondition &ptc)
356 OMPL_INFORM("%s: Starting planning with %lu states already in datastructure", getName().c_str(), nrStartStates);
396 } while (!solution && vertexComponentProperty_[startV] == vertexComponentProperty_[goalV] && !ptc);
428 OMPL_INFORM("%s: Created %u states", getName().c_str(), boost::num_vertices(g_) - nrStartStates);
470 long int ompl::geometric::LazyPRM::solutionComponent(std::pair<std::size_t, std::size_t> *startGoalPair) const
488 ompl::base::PathPtr ompl::geometric::LazyPRM::constructSolution(const Vertex &start, const Vertex &goal)
584 std::vector<const base::State *>::const_iterator prevState = states.begin(), state = prevState + 1;
610 for (std::vector<const base::State *>::const_reverse_iterator st = states.rbegin(); st != states.rend(); ++st)
637 data.addEdge(base::PlannerDataVertex(stateProperty_[v1]), base::PlannerDataVertex(stateProperty_[v2]));
640 data.addEdge(base::PlannerDataVertex(stateProperty_[v2]), base::PlannerDataVertex(stateProperty_[v1]));
void setDefaultConnectionStrategy()
Definition: LazyPRM.cpp:230
unsigned long int componentCount_
Number of connected components created so far. This is used as an ID only, does not represent the act...
Definition: LazyPRM.h:392
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: LazyPRM.cpp:268
bool getEdgeWeight(unsigned int v1, unsigned int v2, Cost *weight) const
Returns the weight of the edge between the given vertex indices. If there exists an edge between v1 a...
Definition: PlannerData.cpp:157
@ UNRECOGNIZED_GOAL_TYPE
The goal is of a type that a planner does not recognize.
Definition: PlannerStatus.h:188
A shared pointer wrapper for ompl::base::Path.
static const unsigned int VALIDITY_UNKNOWN
Flag indicating validity of an edge of a vertex.
Definition: LazyPRM.h:286
Vertex addMilestone(base::State *state)
Construct a milestone for a given state (state), store it in the nearest neighbors data structure and...
Definition: LazyPRM.cpp:288
bool multithreaded
Flag indicating whether multiple threads are used in the computation of the planner.
Definition: Planner.h:256
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:225
void setMaxNearestNeighbors(unsigned int k)
Convenience function that sets the connection strategy to the default one with k nearest neighbors.
Definition: LazyPRM.cpp:212
unsigned int getEdges(unsigned int v, std::vector< unsigned int > &edgeList) const
Returns a list of the vertex indexes directly connected to vertex with index v (outgoing edges)....
Definition: PlannerData.cpp:104
boost::property_map< Graph, vertex_component_t >::type vertexComponentProperty_
Access the connected component of a vertex.
Definition: LazyPRM.h:382
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: LazyPRM.cpp:156
LazyPRM(const base::SpaceInformationPtr &si, bool starStrategy=false)
Constructor.
Definition: LazyPRM.cpp:67
void addPlannerProgressProperty(const std::string &progressPropertyName, const PlannerProgressProperty &prop)
Add a planner progress property called progressPropertyName with a property querying function prop to...
Definition: Planner.h:467
This class contains methods that automatically configure various parameters for motion planning....
Definition: SelfConfig.h:123
boost::property_map< Graph, vertex_state_t >::type stateProperty_
Access to the internal base::state at each Vertex.
Definition: LazyPRM.h:376
void setRange(double distance)
Set the maximum length of a motion to be added to the roadmap.
Definition: LazyPRM.cpp:203
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: LazyPRM.cpp:314
Representation of a solution to a planning problem.
Definition: ProblemDefinition.h:133
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:111
bool tagState(const State *st, int tag)
Set the integer tag associated with the given state. If the given state does not exist in a vertex,...
Definition: PlannerData.cpp:569
boost::graph_traits< Graph >::edge_descriptor Edge
The type for an edge in the roadmap.
Definition: LazyPRM.h:162
Make the minimal number of connections required to ensure asymptotic optimality.
Definition: ConnectionStrategy.h:188
static const unsigned int MIN_ADDED_SEGMENTS_FOR_LAZY_OPTIMIZATION
When optimizing solutions with lazy planners, this is the minimum number of path segments to add befo...
Definition: LazyPRM.cpp:63
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
boost::property_map< Graph, edge_flags_t >::type edgeValidityProperty_
Access the validity state of an edge.
Definition: LazyPRM.h:388
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:127
unsigned int numVertices() const
Retrieve the number of vertices in this structure.
Definition: PlannerData.cpp:202
bool optimizingPaths
Flag indicating whether the planner attempts to optimize the path and reduce its length until the max...
Definition: Planner.h:263
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:112
static const unsigned int DEFAULT_NEAREST_NEIGHBORS_LAZY
The number of nearest neighbors to consider by default in the construction of the PRM roadmap.
Definition: LazyPRM.cpp:58
const PlannerDataVertex & getVertex(unsigned int index) const
Retrieve a reference to the vertex object with the given index. If this vertex does not exist,...
Definition: PlannerData.cpp:212
Return at most k neighbors, as long as they are also within a specified bound.
Definition: ConnectionStrategy.h:225
long int solutionComponent(std::pair< std::size_t, std::size_t > *startGoalPair) const
Check if any pair of a start state and goal state are part of the same connected component....
Definition: LazyPRM.cpp:470
@ GOAL_SAMPLEABLE_REGION
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible.
Definition: GoalTypes.h:152
boost::property_map< Graph, vertex_flags_t >::type vertexValidityProperty_
Access the validity state of a vertex.
Definition: LazyPRM.h:385
double distanceFunction(const Vertex a, const Vertex b) const
Compute distance between two milestones (this is simply distance between the states of the milestones...
Definition: LazyPRM.h:332
void setOptimized(const OptimizationObjectivePtr &opt, Cost cost, bool meetsObjective)
Set the optimization objective used to optimize this solution, the cost of the solution and whether i...
Definition: ProblemDefinition.h:161
unsigned int addStartVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
Definition: PlannerData.cpp:413
void clearQuery() override
Clear the query previously loaded from the ProblemDefinition. Subsequent calls to solve() will reuse ...
Definition: LazyPRM.cpp:253
bool approximateSolutions
Flag indicating whether the planner is able to compute approximate solutions.
Definition: Planner.h:259
ompl::base::PathPtr constructSolution(const Vertex &start, const Vertex &goal)
Given two milestones from the same connected component, construct a path connecting them and set it a...
Definition: LazyPRM.cpp:488
boost::adjacency_list_traits< boost::vecS, boost::listS, boost::undirectedS >::vertex_descriptor Vertex
The type for a vertex in the roadmap.
Definition: LazyPRM.h:130
void setPlannerName(const std::string &name)
Set the name of the planner used to compute this solution.
Definition: ProblemDefinition.h:169
virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0))
Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...
Definition: PlannerData.cpp:432
unsigned int addGoalVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
Definition: PlannerData.cpp:422
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:111
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: LazyPRM.cpp:620
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:122
base::Cost costHeuristic(Vertex u, Vertex v) const
Given two vertices, returns a heuristic on the cost of the path connecting them. This method wraps Op...
Definition: LazyPRM.cpp:615
void clearValidity()
change the validity flag of each node and edge to VALIDITY_UNKNOWN
Definition: LazyPRM.cpp:260
bool starStrategy_
Flag indicating whether the default connection strategy is the Star strategy.
Definition: LazyPRM.h:342