Syclop.h
117 Planner::declareParam<double>("prob_abandon_lead_early", this, &Syclop::setProbAbandonLeadEarly,
122 Planner::declareParam<double>("prob_shortest_path_lead", this, &Syclop::setProbShortestPathLead,
249 };
291 {
396 {
400 hash_combine(hash, p.second);
402 }
423 }
426 void sampleFullState(const base::StateSamplerPtr & /*sampler*/, const std::vector<double> & /*coord*/,
429 }
433 };
435 using RegionGraph = boost::adjacency_list<boost::vecS, boost::vecS, boost::directedS, Region, Adjacency>;
460 };
463 {
473 {
480 };
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:89
void setNumFreeVolumeSamples(int numSamples)
Set the number of states to sample when estimating free volume in the Decomposition.
Definition: Syclop.h:256
double weight
The probabilistic weight of this region, used when sampling from PDF.
Definition: Syclop.h:404
double probAbandonLeadEarly_
The probability that a lead will be abandoned early, before a new region is chosen for expansion.
Definition: Syclop.h:477
int getNumRegionExpansions() const
Get the number of times a new region will be chosen and promoted for expansion from a given lead.
Definition: Syclop.h:291
int numTreeSelections_
The number of calls to selectAndExtend() in the low-level tree planner for a given lead and region.
Definition: Syclop.h:473
A shared pointer wrapper for ompl::base::SpaceInformation.
PDF< int >::Element * pdfElem
The Element corresponding to this region in the PDF of available regions.
Definition: Syclop.h:412
void setLeadComputeFn(const LeadComputeFn &compute)
Allows the user to override the lead computation function.
Definition: Syclop.cpp:218
double getProbShortestPathLead() const
Get the probability [0,1] that a lead will be computed as a shortest-path instead of a random-DFS.
Definition: Syclop.h:263
unsigned int numSelections
The number of times this region has been selected for expansion.
Definition: Syclop.h:410
std::set< int > covGridCells
The cells of the underlying coverage grid that contain tree motions originating from direct connectio...
Definition: Syclop.h:429
A GridDecomposition is a Decomposition implemented using a grid.
Definition: GridDecomposition.h:117
bool empty
This value is true if and only if this adjacency's source and target regions both contain zero tree m...
Definition: Syclop.h:443
void setProbShortestPathLead(double probability)
Set the probability [0,1] that a lead will be computed as a shortest-path instead of a random-DFS.
Definition: Syclop.h:270
double probShortestPath_
The probability that a lead will be computed as a shortest-path instead of a random-DFS.
Definition: Syclop.h:463
double alpha
The coefficient contributed by this region to edge weights in lead computations.
Definition: Syclop.h:406
virtual void selectAndExtend(Region ®ion, std::vector< Motion * > &newMotions)=0
Select a Motion from the given Region, and extend the tree from the Motion. Add any new motions creat...
int numFreeVolSamples_
The number of states to sample to estimate free volume in the Decomposition.
Definition: Syclop.h:460
int numSelections
The number of times the low-level tree planner has selected motions from the source region when attem...
Definition: Syclop.h:440
int getNumFreeVolumeSamples() const
Get the number of states to sample when estimating free volume in the Decomposition.
Definition: Syclop.h:249
Syclop(const SpaceInformationPtr &si, DecompositionPtr d, const std::string &plannerName)
Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.
Definition: Syclop.h:199
void setProbAddingToAvailableRegions(double probability)
Set the probability [0,1] that the set of available regions will be augmented.
Definition: Syclop.h:284
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:127
void addEdgeCostFactor(const EdgeCostFactorFn &factor)
Adds an edge cost factor to be used for edge weights between adjacent regions.
Definition: Syclop.cpp:223
int getNumTreeExpansions() const
Get the number of calls to selectAndExtend() in the low-level tree planner for a given lead and regio...
Definition: Syclop.h:305
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: Syclop.cpp:64
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: Syclop.cpp:49
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:112
double probKeepAddingToAvail_
The probability that the set of available regions will be augmented.
Definition: Syclop.h:466
const Region & getRegionFromIndex(const int rid) const
Returns a reference to the Region object with the given index. Assumes the index is valid.
Definition: Syclop.h:454
std::function< double(int, int)> EdgeCostFactorFn
Each edge weight between two adjacent regions in the Decomposition is defined as a product of edge co...
Definition: Syclop.h:192
const SpaceInformation * siC_
Handle to the control::SpaceInformation object.
Definition: Syclop.h:480
std::function< void(int, int, std::vector< int > &)> LeadComputeFn
Leads should consist of a path of adjacent regions in the decomposition that start with the start reg...
Definition: Syclop.h:196
double getProbAbandonLeadEarly() const
Get the probability [0,1] that a lead will be abandoned early, before a new region is chosen for expa...
Definition: Syclop.h:319
void setNumTreeExpansions(int treeExpansions)
Set the number of calls to selectAndExtend() in the low-level tree planner for a given lead and regio...
Definition: Syclop.h:312
void update(Element *elem, const double w)
Updates the data in the given Element with a new weight value.
Definition: PDF.h:219
Representation of a region in the Decomposition assigned to Syclop.
Definition: Syclop.h:374
double getProbAddingToAvailableRegions() const
Get the probability [0,1] that the set of available regions will be augmented.
Definition: Syclop.h:277
virtual void project(const base::State *s, std::vector< double > &coord) const =0
Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition.
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:134
DecompositionPtr decomp_
The high level decomposition used to focus tree expansion.
Definition: Syclop.h:483
void setNumRegionExpansions(int regionExpansions)
Set the number of times a new region will be chosen and promoted for expansion from a given lead.
Definition: Syclop.h:298
void clearEdgeCostFactors()
Clears all edge cost factors, making all edge weights equivalent to 1.
Definition: Syclop.cpp:228
A shared pointer wrapper for ompl::control::Decomposition.
int numLeadInclusions
The number of times this adjacency has been included in a lead.
Definition: Syclop.h:437
void setProbAbandonLeadEarly(double probability)
The probability that a lead will be abandoned early, before a new region is chosen for expansion.
Definition: Syclop.h:326
virtual Motion * addRoot(const base::State *s)=0
Add State s as a new root in the low-level tree, and return the Motion corresponding to s.
bool approximateSolutions
Flag indicating whether the planner is able to compute approximate solutions.
Definition: Planner.h:259
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Continues solving until a solution is found or a given planner termination condition is met....
Definition: Syclop.cpp:75
int numRegionExpansions_
The number of times a new region will be chosen and promoted for expansion from a given lead.
Definition: Syclop.h:469
std::set< int > covGridCells
The cells of the underlying coverage grid that contain tree motions from this region.
Definition: Syclop.h:394