Public Member Functions |
Protected Types |
Protected Member Functions |
Protected Attributes |
List of all members

ompl::control::LTLSpaceInformation Class Reference

Inheritance diagram for ompl::control::LTLSpaceInformation:

## Public Member Functions | |

LTLSpaceInformation (const SpaceInformationPtr &si, const ProductGraphPtr &prod) | |

void | setup () override |

Perform additional setup tasks (run once, before use). If state validity checking resolution has not been set, estimateMaxResolution() is called to estimate it. | |

const ProductGraphPtr & | getProductGraph () const |

const SpaceInformationPtr & | getLowSpace () |

void | getFullState (const base::State *low, base::State *full) |

base::State * | getLowLevelState (base::State *s) |

const base::State * | getLowLevelState (const base::State *s) |

ProductGraph::State * | getProdGraphState (const base::State *s) const |

Public Member Functions inherited from ompl::control::SpaceInformation | |

SpaceInformation (const base::StateSpacePtr &stateSpace, ControlSpacePtr controlSpace) | |

Constructor. Sets the instance of the state and control spaces to plan with. | |

const ControlSpacePtr & | getControlSpace () const |

Get the control space. | |

void | printSettings (std::ostream &out=std::cout) const override |

Print information about the current instance of the state space. | |

void | setup () override |

Perform additional setup tasks (run once, before use) | |

Control * | allocControl () const |

Allocate memory for a control. | |

void | freeControl (Control *control) const |

Free the memory of a control. | |

void | copyControl (Control *destination, const Control *source) const |

Copy a control to another. | |

Control * | cloneControl (const Control *source) const |

Clone a control. | |

void | printControl (const Control *control, std::ostream &out=std::cout) const |

Print a control to a stream. | |

bool | equalControls (const Control *control1, const Control *control2) const |

Check if two controls are the same. | |

void | nullControl (Control *control) const |

Make the control have no effect if it were to be applied to a state for any amount of time. | |

ControlSamplerPtr | allocControlSampler () const |

Allocate a control sampler. | |

void | setMinMaxControlDuration (unsigned int minSteps, unsigned int maxSteps) |

Set the minimum and maximum number of steps a control is propagated for. | |

void | setMinControlDuration (unsigned int minSteps) |

Set the minimum number of steps a control is propagated for. | |

void | setMaxControlDuration (unsigned int maxSteps) |

Set the minimum and maximum number of steps a control is propagated for. | |

unsigned int | getMinControlDuration () const |

Get the minimum number of steps a control is propagated for. | |

unsigned int | getMaxControlDuration () const |

Get the maximum number of steps a control is propagated for. | |

DirectedControlSamplerPtr | allocDirectedControlSampler () const |

Allocate an instance of the DirectedControlSampler to use. This will be the default (SimpleDirectedControlSampler) unless setDirectedControlSamplerAllocator() was previously called. | |

void | setDirectedControlSamplerAllocator (const DirectedControlSamplerAllocator &dcsa) |

Set the allocator to use for the DirectedControlSampler. | |

void | clearDirectedSamplerAllocator () |

Reset the DirectedControlSampler to be the default one. | |

const StatePropagatorPtr & | getStatePropagator () const |

Get the instance of StatePropagator that performs state propagation. | |

void | setStatePropagator (const StatePropagatorFn &fn) |

Set the function that performs state propagation. | |

void | setStatePropagator (const StatePropagatorPtr &sp) |

Set the instance of StatePropagator to perform state propagation. | |

void | setPropagationStepSize (double stepSize) |

When controls are applied to states, they are applied for a time duration that is an integer multiple of the stepSize, within the bounds specified by setMinMaxControlDuration() | |

double | getPropagationStepSize () const |

Propagation is performed at integer multiples of a specified step size. This function returns the value of this step size. | |

void | propagate (const base::State *state, const Control *control, int steps, base::State *result) const |

Propagate the model of the system forward, starting a a given state, with a given control, for a given number of steps. More... | |

bool | canPropagateBackward () const |

Some systems can only propagate forward in time (i.e., the steps argument for the propagate() function is always positive). If this is the case, this function will return false. Planners that need backward propagation (negative steps) will call this function to check. If backward propagation is possible, this function will return true (this is the default). | |

unsigned int | propagateWhileValid (const base::State *state, const Control *control, int steps, base::State *result) const |

Propagate the model of the system forward, starting at a given state, with a given control, for a given number of steps. Stop if a collision is found and return the number of steps actually performed without collision. If no collision is found, the returned value is equal to the steps argument. If a collision is found after the first step, the return value is 0 and result = state. More... | |

void | propagate (const base::State *state, const Control *control, int steps, std::vector< base::State * > &result, bool alloc) const |

Propagate the model of the system forward, starting a a given state, with a given control, for a given number of steps. More... | |

unsigned int | propagateWhileValid (const base::State *state, const Control *control, int steps, std::vector< base::State * > &result, bool alloc) const |

Propagate the model of the system forward, starting at a given state, with a given control, for a given number of steps. Stop if a collision is found and return the number of steps actually performed without collision. If no collision is found, the returned value is equal to the steps argument. If a collision is found after the first step, the return value is 0 and no states are added to result. If alloc is false and result cannot store all the generated states, propagation is stopped prematurely (when result is full). The starting state (state) is not included in result. The return value of the function indicates how many states have been written to result. More... | |

Public Member Functions inherited from ompl::base::SpaceInformation | |

SpaceInformation (const SpaceInformation &)=delete | |

SpaceInformation & | operator= (const SpaceInformation &)=delete |

SpaceInformation (StateSpacePtr space) | |

Constructor. Sets the instance of the state space to plan with. | |

bool | isValid (const State *state) const |

Check if a given state is valid or not. | |

const StateSpacePtr & | getStateSpace () const |

Return the instance of the used state space. | |

unsigned int | getStateDimension () const |

Return the dimension of the state space. | |

double | getSpaceMeasure () const |

Get a measure of the space (this can be thought of as a generalization of volume) | |

bool | equalStates (const State *state1, const State *state2) const |

Check if two states are the same. | |

bool | satisfiesBounds (const State *state) const |

Check if a state is inside the bounding box. | |

double | distance (const State *state1, const State *state2) const |

Compute the distance between two states. | |

void | enforceBounds (State *state) const |

Bring the state within the bounds of the state space. | |

void | printState (const State *state, std::ostream &out=std::cout) const |

Print a state to a stream. | |

void | setStateValidityChecker (const StateValidityCheckerPtr &svc) |

Set the instance of the state validity checker to use. Parallel implementations of planners assume this validity checker is thread safe. | |

void | setStateValidityChecker (const StateValidityCheckerFn &svc) |

If no state validity checking class is specified (StateValidityChecker), a function can be specified instead. This version however incurs a small additional overhead when calling the function, since there is one more level of indirection. | |

const StateValidityCheckerPtr & | getStateValidityChecker () const |

Return the instance of the used state validity checker. | |

void | setMotionValidator (const MotionValidatorPtr &mv) |

Set the instance of the motion validity checker to use. Parallel implementations of planners assume this validity checker is thread safe. | |

const MotionValidatorPtr & | getMotionValidator () const |

Return the instance of the used state validity checker. | |

MotionValidatorPtr & | getMotionValidator () |

Return the non-const instance of the used state validity checker. | |

void | setStateValidityCheckingResolution (double resolution) |

Set the resolution at which state validity needs to be verified in order for a motion between two states to be considered valid. This value is specified as a fraction of the space's extent. This call is only applicable if a ompl::base::DiscreteMotionValidator is used. See State Validity Checking. | |

double | getStateValidityCheckingResolution () const |

Get the resolution at which state validity is verified. This call is only applicable if a ompl::base::DiscreteMotionValidator is used. See State Validity Checking. | |

State * | allocState () const |

Allocate memory for a state. | |

void | allocStates (std::vector< State * > &states) const |

Allocate memory for each element of the array states. | |

void | freeState (State *state) const |

Free the memory of a state. | |

void | freeStates (std::vector< State * > &states) const |

Free the memory of an array of states. | |

void | copyState (State *destination, const State *source) const |

Copy a state to another. | |

State * | cloneState (const State *source) const |

Clone a state. | |

StateSamplerPtr | allocStateSampler () const |

Allocate a uniform state sampler for the state space. | |

ValidStateSamplerPtr | allocValidStateSampler () const |

Allocate an instance of a valid state sampler for this space. If setValidStateSamplerAllocator() was previously called, the specified allocator is used to produce the state sampler. Otherwise, a ompl::base::UniformValidStateSampler() is allocated. | |

void | setValidStateSamplerAllocator (const ValidStateSamplerAllocator &vssa) |

Set the allocator to use for a valid state sampler. This replaces the default uniform valid state sampler. This call can be made at any time, but it should not be changed while ompl::base::Planner::solve() is executing. | |

void | clearValidStateSamplerAllocator () |

Clear the allocator used for the valid state sampler. This will revert to using the uniform valid state sampler (the default). | |

double | getMaximumExtent () const |

Get the maximum extent of the space we are planning in. This is the maximum distance that could be reported between any two given states. | |

bool | searchValidNearby (State *state, const State *near, double distance, unsigned int attempts) const |

Find a valid state near a given one. If the given state is valid, it will be returned itself. The two passed state pointers need not point to different memory. Returns true on success. More... | |

bool | searchValidNearby (const ValidStateSamplerPtr &sampler, State *state, const State *near, double distance) const |

Find a valid state near a given one. If the given state is valid, it will be returned itself. The two passed state pointers need not point to different memory. Returns true on success. More... | |

unsigned int | randomBounceMotion (const StateSamplerPtr &sss, const State *start, unsigned int steps, std::vector< State * > &states, bool alloc) const |

Produce a valid motion starting at start by randomly bouncing off of invalid states. The start state start is not included in the computed motion (states). Returns the number of elements written to states (less or equal to steps). More... | |

virtual bool | checkMotion (const State *s1, const State *s2, std::pair< State *, double > &lastValid) const |

Incrementally check if the path between two motions is valid. Also compute the last state that was valid and the time of that state. The time is used to parametrize the motion from s1 to s2, s1 being at t = 0 and s2 being at t = 1. This function assumes s1 is valid. More... | |

virtual bool | checkMotion (const State *s1, const State *s2) const |

Check if the path between two states (from s1 to s2) is valid, using the MotionValidator. This function assumes s1 is valid. | |

bool | checkMotion (const std::vector< State * > &states, unsigned int count, unsigned int &firstInvalidStateIndex) const |

Incrementally check if a sequence of states is valid. Given a vector of states, this routine only checks the first count elements and marks the index of the first invalid state. More... | |

bool | checkMotion (const std::vector< State * > &states, unsigned int count) const |

Check if a sequence of states is valid using subdivision. | |

virtual unsigned int | getMotionStates (const State *s1, const State *s2, std::vector< State * > &states, unsigned int count, bool endpoints, bool alloc) const |

Get count states that make up a motion between s1 and s2. Returns the number of states that were added to states. These states are not checked for validity. If states.size() >= count or alloc is true, the returned value is equal to count (or count + 2, if endpoints is true). Otherwise, fewer states can be returned. More... | |

unsigned int | getCheckedMotionCount () const |

Get the total number of motion segments checked by the MotionValidator so far. | |

double | probabilityOfValidState (unsigned int attempts) const |

Estimate probability of sampling a valid state. setup() is assumed to have been called. | |

double | averageValidMotionLength (unsigned int attempts) const |

Estimate the length of a valid motion. setup() is assumed to have been called. | |

void | samplesPerSecond (double &uniform, double &near, double &gaussian, unsigned int attempts) const |

Estimate the number of samples that can be drawn per second, using the sampler returned by allocStateSampler() | |

virtual void | printProperties (std::ostream &out=std::cout) const |

Print properties of the current instance of the state space. | |

ParamSet & | params () |

Get the combined parameters for the classes that the space information manages. | |

const ParamSet & | params () const |

Get the combined parameters for the classes that the space information manages. | |

bool | isSetup () const |

Return true if setup was called. | |

## Protected Types | |

enum | SpaceIndex { LOW_LEVEL = 0,
REGION = 1,
COSAFE = 2,
SAFE = 3
} |

## Protected Member Functions | |

void | extendPropagator (const SpaceInformationPtr &oldsi) |

void | extendValidityChecker (const SpaceInformationPtr &oldsi) |

Protected Member Functions inherited from ompl::control::SpaceInformation | |

void | declareParams () |

Protected Member Functions inherited from ompl::base::SpaceInformation | |

void | setDefaultMotionValidator () |

Set default motion validator for the state space. | |

## Protected Attributes | |

ProductGraphPtr | prod_ |

SpaceInformationPtr | lowSpace_ |

Protected Attributes inherited from ompl::control::SpaceInformation | |

ControlSpacePtr | controlSpace_ |

The control space describing the space of controls applicable to states in the state space. | |

StatePropagatorPtr | statePropagator_ |

The state propagator used to model the motion of the system being planned for. | |

unsigned int | minSteps_ {0} |

The minimum number of steps to apply a control for. | |

unsigned int | maxSteps_ {0} |

The maximum number of steps to apply a control for. | |

DirectedControlSamplerAllocator | dcsa_ |

Optional allocator for the DirectedControlSampler. If not specified, the default implementation is used. | |

double | stepSize_ {0.} |

The actual duration of each step. | |

Protected Attributes inherited from ompl::base::SpaceInformation | |

StateSpacePtr | stateSpace_ |

The state space planning is to be performed in. | |

StateValidityCheckerPtr | stateValidityChecker_ |

The instance of the state validity checker used for determining the validity of states in the planning process. | |

MotionValidatorPtr | motionValidator_ |

The instance of the motion validator to use when determining the validity of motions in the planning process. | |

bool | setup_ |

Flag indicating whether setup() has been called on this instance. | |

ValidStateSamplerAllocator | vssa_ |

The optional valid state sampler allocator. | |

ParamSet | params_ |

Combined parameters for the contained classes. | |

## Detailed Description

Definition at line 119 of file LTLSpaceInformation.h.

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

- ompl/control/planners/ltl/LTLSpaceInformation.h
- ompl/control/planners/ltl/src/LTLSpaceInformation.cpp