A conceptual representation of samples as an edge-implicit random geometric graph. More...

#include <ompl/geometric/planners/informedtrees/bitstar/ImplicitGraph.h>

Public Member Functions
	ImplicitGraph (NameFunc nameFunc)
	Construct an implicit graph.

virtual	~ImplicitGraph ()=default
	Destruct the graph using default destruction.

void	setup (const ompl::base::SpaceInformationPtr &spaceInformation, const ompl::base::ProblemDefinitionPtr &problemDefinition, CostHelper costHelper, SearchQueue searchQueue, const ompl::base::Planner *plannerPtr, ompl::base::PlannerInputStates &inputStates)
	Setup the ImplicitGraph, must be called before use. Does not take a copy of the PlannerInputStates, but checks it for starts/goals.

void	reset ()
	Reset the graph to the state of construction.

bool	hasAStart () const
	Gets whether the graph contains a start or not.

bool	hasAGoal () const
	Gets whether the graph contains a goal or not.

VertexPtrVector::const_iterator	startVerticesBeginConst () const
	Returns a const-iterator to the front of the start-vertex vector.

VertexPtrVector::const_iterator	startVerticesEndConst () const
	Returns a const-iterator to the end of the start-vertex vector.

VertexPtrVector::const_iterator	goalVerticesBeginConst () const
	Returns a const-iterator to the front of the goal-vertex vector.

VertexPtrVector::const_iterator	goalVerticesEndConst () const
	Returns a const-iterator to the end of the goal-vertex vector.

ompl::base::Cost	minCost () const
	Get the minimum cost solution possible for this problem.

bool	hasInformedMeasure () const
	Query whether the underlying state sampler can provide an informed measure.

double	getInformedMeasure (const ompl::base::Cost &cost) const
	Query the underlying state sampler for the informed measure of the problem.

double	distance (const VertexConstPtr &a, const VertexConstPtr &b) const
	Computes the distance between two states.

double	distance (const VertexConstPtrPair &vertices) const
	Computes the distance between two states.

void	nearestSamples (const VertexPtr &vertex, VertexPtrVector *neighbourSamples)
	Get the nearest unconnected samples using the appropriate "near" definition (i.e., k or r).

void	getGraphAsPlannerData (ompl::base::PlannerData &data) const
	Adds the graph to the given PlannerData struct.

VertexConstPtr	closestVertexToGoal () const
	IF BEING TRACKED, returns the closest vertex in the tree to the goal.

double	smallestDistanceToGoal () const
	IF BEING TRACKED, returns the how close vertices in the tree are to the goal.

unsigned int	getConnectivityK () const
	Get the k of this k-nearest RGG.

double	getConnectivityR () const
	Get the radius of this r-disc RGG.

VertexPtrVector	getCopyOfSamples () const
	Get a copy of all samples.

void	registerSolutionCost (const ompl::base::Cost &solutionCost)
	Mark that a solution has been found and that the graph should be limited to the given heuristic value.

void	updateStartAndGoalStates (ompl::base::PlannerInputStates &inputStates, const base::PlannerTerminationCondition &terminationCondition)
	Adds any new goals or starts that have appeared in the problem definition to the vector of vertices and the queue. Creates a new informed sampler if necessary.

void	addNewSamples (const unsigned int &numSamples)
	Increase the resolution of the graph-based approximation of the continuous search domain by adding a batch of new samples.

std::pair< unsigned int, unsigned int >	prune (double prunedMeasure)
	Prune the samples to the subproblem of the given measure. Returns the number of vertices disconnected and the number of samples removed.

void	addToSamples (const VertexPtr &sample)
	Add an unconnected sample.

void	addToSamples (const VertexPtrVector &samples)
	Add a vector of unconnected samples.

void	removeFromSamples (const VertexPtr &sample)
	Remove a sample from the sample set.

void	pruneSample (const VertexPtr &sample)
	Remove an unconnected sample.

void	recycleSample (const VertexPtr &sample)
	Insert a sample into the set for recycled samples.

void	registerAsVertex (const VertexPtr &vertex)
	Add a vertex to the tree, optionally moving it from the set of unconnected samples.

unsigned int	removeFromVertices (const VertexPtr &sample, bool moveToFree)
	Remove a vertex from the tree, can optionally be allowed to move it to the set of unconnected samples if may still be useful.

std::pair< unsigned int, unsigned int >	pruneVertex (const VertexPtr &vertex)
	Remove a vertex and mark as pruned.

void	removeEdgeBetweenVertexAndParent (const VertexPtr &child, bool cascadeCostUpdates)
	Disconnect a vertex from its parent by removing the edges stored in itself, and its parents. Cascades cost updates if requested.

void	setRewireFactor (double rewireFactor)
	Set the rewiring scale factor, s, such that r_rrg = s \times r_rrg*.

double	getRewireFactor () const
	Get the rewiring scale factor.

void	setUseKNearest (bool useKNearest)
	Enable a k-nearest search for instead of an r-disc search.

bool	getUseKNearest () const
	Get whether a k-nearest search is being used.

void	setJustInTimeSampling (bool useJit)

bool	getJustInTimeSampling () const
	Get whether we're using just-in-time sampling.

void	setDropSamplesOnPrune (bool dropSamples)
	Set whether unconnected samples are dropped on pruning.

void	setPruning (bool usePruning)
	Set whether samples that are provably not beneficial should be kept around.

bool	getDropSamplesOnPrune () const
	Get whether unconnected samples are dropped on pruning.

void	setTrackApproximateSolutions (bool findApproximate)
	Set whether to track approximate solutions during the search.

bool	getTrackApproximateSolutions () const
	Get whether approximate solutions are tracked during the search.

void	setAverageNumOfAllowedFailedAttemptsWhenSampling (std::size_t number)
	Set the average number of allowed failed attempts when sampling.

std::size_t	getAverageNumOfAllowedFailedAttemptsWhenSampling () const
	Get the average number of allowed failed attempts when sampling.

template<template< typename T > class NN>
void	setNearestNeighbors ()
	Set a different nearest neighbours datastructure.

unsigned int	numSamples () const
	The number of samples.

unsigned int	numVertices () const
	The number of vertices in the search tree.

unsigned int	numStatesGenerated () const
	The total number of states generated.

unsigned int	numVerticesConnected () const
	The total number of vertices added to the graph.

unsigned int	numFreeStatesPruned () const
	The number of states pruned.

unsigned int	numVerticesDisconnected () const
	The number of tree vertices disconnected.

unsigned int	numNearestLookups () const
	The number of nearest neighbour calls.

unsigned int	numStateCollisionChecks () const
	The number of state collision checks.

bool	canVertexBeDisconnected (const VertexPtr &vertex) const
	Returns whether the vertex can be pruned, i.e., whether it could provide a better solution given. the current graph. The check should always be g_t(v) + h^(v) >= g_t(x_g).

bool	canSampleBePruned (const VertexPtr &sample) const
	Returns whether the sample can be pruned, i.e., whether it could ever provide a better solution. The check should always be g^(v) + h^(v) >= g_t(x_g).

Detailed Description

A conceptual representation of samples as an edge-implicit random geometric graph.

Short Description: An edge-implicit representation of a random geometric graph. TODO(Marlin): Separating the search tree from the RGG seems conceptually cleaner. Think about its implications.

Definition at line 120 of file ImplicitGraph.h.

Member Function Documentation

◆ setJustInTimeSampling()

void ompl::geometric::BITstar::ImplicitGraph::setJustInTimeSampling ( bool useJit )

Enable sampling "just-in-time", i.e., only when necessary for a nearest-neighbour search.

Definition at line 1571 of file ImplicitGraph.cpp.

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

ompl/geometric/planners/informedtrees/bitstar/ImplicitGraph.h
ompl/geometric/planners/informedtrees/bitstar/src/ImplicitGraph.cpp

Public Member Functions

Detailed Description

Member Function Documentation

◆ setJustInTimeSampling()