Base class for a planner. More...

#include <ompl/base/Planner.h>

Public Types
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
	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.
template<class T>
const T *	as () const
	Cast this instance to a desired type.
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.
virtual void	setProblemDefinition (const ProblemDefinitionPtr &pdef)
	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 PlannerStatus	solve (const PlannerTerminationCondition &ptc)=0
	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.
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	clear ()
	Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.
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().
virtual void	getPlannerData (PlannerData &data) const
	Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between).
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	setup ()
	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	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.

Protected Member Functions
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
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.

Detailed Description

Base class for a planner.

Definition at line 215 of file Planner.h.

Member Typedef Documentation

◆ PlannerProgressProperties

using ompl::base::Planner::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.

Definition at line 353 of file Planner.h.

◆ PlannerProgressProperty

using ompl::base::Planner::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.

Definition at line 349 of file Planner.h.

Constructor & Destructor Documentation

◆ Planner()

ompl::base::Planner::Planner	(	SpaceInformationPtr	si,
		std::string	name )

Constructor.

Definition at line 44 of file Planner.cpp.

Member Function Documentation

◆ addPlannerProgressProperty()

void ompl::base::Planner::addPlannerProgressProperty	(	const std::string &	progressPropertyName,
		const PlannerProgressProperty &	prop )

inlineprotected

Add a planner progress property called progressPropertyName with a property querying function prop to this planner's progress property map.

Definition at line 394 of file Planner.h.

◆ as() [1/2]

template<class T>

T * ompl::base::Planner::as ( )

inline

Cast this instance to a desired type.

Make sure the type we are casting to is indeed a planner

Definition at line 230 of file Planner.h.

◆ as() [2/2]

template<class T>

const T * ompl::base::Planner::as ( ) const

inline

Cast this instance to a desired type.

Make sure the type we are casting to is indeed a Planner

Definition at line 240 of file Planner.h.

◆ checkValidity()

void ompl::base::Planner::checkValidity ( )

virtual

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.

Reimplemented in ompl::geometric::AnytimePathShortening.

Definition at line 106 of file Planner.cpp.

◆ clear()

void ompl::base::Planner::clear ( )

virtual

Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.

Reimplemented in ompl::control::EST, ompl::control::HyRRT, ompl::control::HySST, ompl::control::KPIECE1, ompl::control::LTLPlanner, ompl::control::PDST, ompl::control::RRT, ompl::control::SST, ompl::control::Syclop, ompl::control::SyclopEST, ompl::control::SyclopRRT, ompl::geometric::AITstar, ompl::geometric::AnytimePathShortening, ompl::geometric::AORRTC, ompl::geometric::ATRRT, ompl::geometric::BFMT, ompl::geometric::BiEST, ompl::geometric::BiRLRT, ompl::geometric::BiTRRT, ompl::geometric::BITstar, ompl::geometric::BKPIECE1, ompl::geometric::BLITstar, ompl::geometric::CForest, ompl::geometric::EITstar, ompl::geometric::EST, ompl::geometric::FMT, ompl::geometric::KPIECE1, ompl::geometric::LazyLBTRRT, ompl::geometric::LazyPRM, ompl::geometric::LazyRRT, ompl::geometric::LBKPIECE1, ompl::geometric::LBTRRT, ompl::geometric::LightningRetrieveRepair, ompl::geometric::PDST, ompl::geometric::PRM, ompl::geometric::ProjEST, ompl::geometric::pRRT, ompl::geometric::pSBL, ompl::geometric::RLRT, ompl::geometric::RRT, ompl::geometric::RRTConnect, ompl::geometric::RRTstar, ompl::geometric::RRTXstatic, ompl::geometric::SBL, ompl::geometric::SPARS, ompl::geometric::SPARSdb, ompl::geometric::SPARStwo, ompl::geometric::SST, ompl::geometric::STRIDE, ompl::geometric::STRRTstar, ompl::geometric::ThunderRetrieveRepair, ompl::geometric::TRRT, ompl::geometric::TRRTstar, ompl::geometric::TSRRT, ompl::geometric::VFRRT, ompl::geometric::XXL, ompl::multilevel::BundleSpace, ompl::multilevel::BundleSpaceGraph, ompl::multilevel::BundleSpaceSequence< T >, ompl::multilevel::BundleSpaceSequence< QMPImpl >, ompl::multilevel::BundleSpaceSequence< QMPStarImpl >, ompl::multilevel::BundleSpaceSequence< QRRTImpl >, ompl::multilevel::BundleSpaceSequence< QRRTStarImpl >, ompl::multilevel::PlannerMultiLevel, and ompl::multilevel::QMPImpl.

Definition at line 118 of file Planner.cpp.

◆ clearQuery()

void ompl::base::Planner::clearQuery ( )

virtual

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().

Reimplemented in ompl::geometric::EITstar, ompl::geometric::LazyPRM, ompl::geometric::PRM, ompl::geometric::SPARS, ompl::geometric::SPARSdb, and ompl::geometric::SPARStwo.

Definition at line 124 of file Planner.cpp.

◆ declareParam() [1/2]

template<typename T, typename PlannerType, typename SetterType, typename GetterType>

void ompl::base::Planner::declareParam	(	const std::string &	name,
		const PlannerType &	planner,
		const SetterType &	setter,
		const GetterType &	getter,
		const std::string &	rangeSuggestion = "" )

inlineprotected

This function declares a parameter for this planner instance, and specifies the setter and getter functions.

Definition at line 371 of file Planner.h.

◆ declareParam() [2/2]

template<typename T, typename PlannerType, typename SetterType>

void ompl::base::Planner::declareParam	(	const std::string &	name,
		const PlannerType &	planner,
		const SetterType &	setter,
		const std::string &	rangeSuggestion = "" )

inlineprotected

This function declares a parameter for this planner instance, and specifies the setter function.

Definition at line 384 of file Planner.h.

◆ getName()

const std::string & ompl::base::Planner::getName ( ) const

Get the name of the planner.

Definition at line 56 of file Planner.cpp.

◆ getPlannerData()

void ompl::base::Planner::getPlannerData ( PlannerData & data ) const

virtual

Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between).

Definition at line 129 of file Planner.cpp.

◆ getPlannerInputStates()

const ompl::base::PlannerInputStates & ompl::base::Planner::getPlannerInputStates ( ) const

Get the planner input states.

Definition at line 87 of file Planner.cpp.

◆ getPlannerProgressProperties()

const PlannerProgressProperties & ompl::base::Planner::getPlannerProgressProperties ( ) const

inline

Retrieve a planner's planner progress property map.

Definition at line 356 of file Planner.h.

◆ getProblemDefinition() [1/2]

ompl::base::ProblemDefinitionPtr & ompl::base::Planner::getProblemDefinition ( )

Get the problem definition the planner is trying to solve.

Definition at line 76 of file Planner.cpp.

◆ getProblemDefinition() [2/2]

const ompl::base::ProblemDefinitionPtr & ompl::base::Planner::getProblemDefinition ( ) const

Get the problem definition the planner is trying to solve.

Definition at line 71 of file Planner.cpp.

◆ getSpaceInformation()

const ompl::base::SpaceInformationPtr & ompl::base::Planner::getSpaceInformation ( ) const

Get the space information this planner is using.

Definition at line 66 of file Planner.cpp.

◆ getSpecs()

const ompl::base::PlannerSpecs & ompl::base::Planner::getSpecs ( ) const

Return the specifications (capabilities of this planner).

Definition at line 51 of file Planner.cpp.

◆ isSetup()

bool ompl::base::Planner::isSetup ( ) const

Check if setup() was called for this planner.

Definition at line 113 of file Planner.cpp.

◆ params() [1/2]

ParamSet & ompl::base::Planner::params ( )

inline

Get the parameters for this planner.

Definition at line 336 of file Planner.h.

◆ params() [2/2]

const ParamSet & ompl::base::Planner::params ( ) const

inline

Get the parameters for this planner.

Definition at line 342 of file Planner.h.

◆ printProperties()

void ompl::base::Planner::printProperties ( std::ostream & out ) const

virtual

Print properties of the motion planner.

Definition at line 147 of file Planner.cpp.

◆ printSettings()

void ompl::base::Planner::printSettings ( std::ostream & out ) const

virtual

Print information about the motion planner's settings.

Reimplemented in ompl::geometric::AnytimePathShortening.

Definition at line 161 of file Planner.cpp.

◆ setName()

void ompl::base::Planner::setName ( const std::string & name )

Set the name of the planner.

Definition at line 61 of file Planner.cpp.

◆ setProblemDefinition()

void ompl::base::Planner::setProblemDefinition ( const ProblemDefinitionPtr & pdef )

virtual

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().

Reimplemented in ompl::multilevel::BundleSpace, ompl::multilevel::BundleSpaceSequence< T >, ompl::multilevel::BundleSpaceSequence< QMPImpl >, ompl::multilevel::BundleSpaceSequence< QMPStarImpl >, ompl::multilevel::BundleSpaceSequence< QRRTImpl >, and ompl::multilevel::BundleSpaceSequence< QRRTStarImpl >.

Definition at line 81 of file Planner.cpp.

◆ setup()

void ompl::base::Planner::setup ( )

virtual

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.

Definition at line 92 of file Planner.cpp.

◆ solve() [1/3]

virtual PlannerStatus ompl::base::Planner::solve ( const PlannerTerminationCondition & ptc )

pure virtual

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.

◆ solve() [2/3]

ompl::base::PlannerStatus ompl::base::Planner::solve	(	const PlannerTerminationConditionFn &	ptc,
		double	checkInterval )

Same as above except the termination condition is only evaluated at a specified interval.

Definition at line 135 of file Planner.cpp.

◆ solve() [3/3]

ompl::base::PlannerStatus ompl::base::Planner::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.

Definition at line 140 of file Planner.cpp.

Member Data Documentation

◆ name_

std::string ompl::base::Planner::name_

protected

The name of this planner.

Definition at line 410 of file Planner.h.

◆ params_

ParamSet ompl::base::Planner::params_

protected

A map from parameter names to parameter instances for this planner. This field is populated by the declareParam() function.

Definition at line 417 of file Planner.h.

◆ pdef_

ProblemDefinitionPtr ompl::base::Planner::pdef_

protected

The user set problem definition.

Definition at line 404 of file Planner.h.

◆ pis_

PlannerInputStates ompl::base::Planner::pis_

protected

Utility class to extract valid input states.

Definition at line 407 of file Planner.h.

◆ plannerProgressProperties_

PlannerProgressProperties ompl::base::Planner::plannerProgressProperties_

protected

A mapping between this planner's progress property names and the functions used for querying those progress properties.

Definition at line 421 of file Planner.h.

◆ setup_

bool ompl::base::Planner::setup_

protected

Flag indicating whether setup() has been called.

Definition at line 424 of file Planner.h.

◆ si_

SpaceInformationPtr ompl::base::Planner::si_

protected

The space information for which planning is done.

Definition at line 401 of file Planner.h.

◆ specs_

PlannerSpecs ompl::base::Planner::specs_

protected

The specifications of the planner (its capabilities).

Definition at line 413 of file Planner.h.

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

ompl/base/Planner.h
ompl/base/src/Planner.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ PlannerProgressProperties

◆ PlannerProgressProperty

Constructor & Destructor Documentation

◆ Planner()

Member Function Documentation

◆ addPlannerProgressProperty()

◆ as() [1/2]

◆ as() [2/2]

◆ checkValidity()

◆ clear()

◆ clearQuery()

◆ declareParam() [1/2]

◆ declareParam() [2/2]

◆ getName()

◆ getPlannerData()

◆ getPlannerInputStates()

◆ getPlannerProgressProperties()

◆ getProblemDefinition() [1/2]

◆ getProblemDefinition() [2/2]

◆ getSpaceInformation()

◆ getSpecs()

◆ isSetup()

◆ params() [1/2]

◆ params() [2/2]

◆ printProperties()

◆ printSettings()

◆ setName()

◆ setProblemDefinition()

◆ setup()

◆ solve() [1/3]

◆ solve() [2/3]

◆ solve() [3/3]

Member Data Documentation

◆ name_

◆ params_

◆ pdef_

◆ pis_

◆ plannerProgressProperties_

◆ setup_

◆ si_

◆ specs_