#include <ompl/geometric/planners/lazyinformedtrees/BLITstar.h>

Inheritance diagram for ompl::geometric::BLITstar:

Public Member Functions
	BLITstar (const ompl::base::SpaceInformationPtr &spaceInformation)
	Constructs a BLIT*.
	~BLITstar ()
	Destructs a BLIT*.
void	setup () override
	Additional setup that can only be done once a problem definition is set.
ompl::base::PlannerStatus::StatusType	ensureSetup ()
	Checks whether the planner is successfully setup.
ompl::base::PlannerStatus::StatusType	ensureStartAndGoalStates (const ompl::base::PlannerTerminationCondition &terminationCondition)
	Checks whether the problem is successfully setup.
void	clear () override
	Clears the algorithm's internal state.
ompl::base::PlannerStatus	solve (const ompl::base::PlannerTerminationCondition &terminationCondition) override
	Solves a motion planning problem.
void	getPlannerData (base::PlannerData &data) const override
	Get the planner data.
void	setBatchSize (std::size_t batchSize)
	Set the batch size.
std::size_t	getBatchSize () const
	Get the batch size.
void	setRewireFactor (double rewireFactor)
	Set the rewire factor of the RGG graph.
double	getRewireFactor () const
	Get the rewire factor of the RGG graph.
void	enablePruning (bool prune)
	Set whether pruning is enabled or not.
bool	isPruningEnabled () const
	Get whether pruning is enabled or not.
void	setUseKNearest (bool useKNearest)
	Set whether to use a k-nearest RGG connection model. If false, BLIT* uses an r-disc model.
bool	getUseKNearest () const
	Get whether to use a k-nearest RGG connection model. If false, BLIT* uses an r-disc model.
void	setMaxNumberOfGoals (unsigned int numberOfGoals)
	Set the maximum number of goals BLIT* will sample from sampleable goal regions.
unsigned int	getMaxNumberOfGoals () const
	Get the maximum number of goals BLIT* will sample from sampleable goal regions.
bool	SCD (const blitstar::keyEdgePair &edge)
	Above references inherit from BLIT*.
bool	CCD (const blitstar::keyEdgePair &edge)
void	clearReverseVertexQueue ()
	Empty the queues.
void	clearForwardVertexQueue ()
void	resetReverseValue (const std::shared_ptr< blitstar::Vertex > &vertex)
	Reset a vertex's value.
void	resetForwardValue (const std::shared_ptr< blitstar::Vertex > &vertex)
bool	terminateSearch ()
	Ensuring meet-in-the-middle and optimality to terminate the current search.
void	insertGoalVerticesInReverseVertexQueue ()
	Insert start and goal vertices into the queues.
void	insertStartVerticesInForWardVertexQueue ()
bool	SelectExpandState (bool &forward)
	Select the vertex with minimal priority on both trees.
void	resetForwardParentInformation (const std::shared_ptr< blitstar::Vertex > &vertex)
	Reset parent vertex's information.
void	resetReverseParentInformation (const std::shared_ptr< blitstar::Vertex > &vertex)
void	resetForwardParentAndRemeberTheVertex (const std::shared_ptr< blitstar::Vertex > &child, const std::shared_ptr< blitstar::Vertex > &parent)
void	resetReverseParentAndRemeberTheVertex (const std::shared_ptr< blitstar::Vertex > &child, const std::shared_ptr< blitstar::Vertex > &parent)
void	lookingForBestNeighbor (ompl::base::Cost curMin_, size_t neighbor)
	Look for a neighbor with the minimal priority.
void	bestNeighbor (ompl::base::Cost costToCome, ompl::base::Cost costToGoal, size_t neighbor)
void	ForwardLazySearch (const std::shared_ptr< blitstar::Vertex > &vertex)
	Forward and Reverse Search.
void	ReverseLazySearch (const std::shared_ptr< blitstar::Vertex > &vertex)
bool	PathValidity (std::shared_ptr< blitstar::Vertex > &vertex)
	Checking the validity of a path from each direction.
void	ForwardPathValidityChecking (std::shared_ptr< blitstar::Vertex > &vertex, bool &validity)
void	ReversePathValidityChecking (std::shared_ptr< blitstar::Vertex > &vertex, bool &validity)
bool	isValidAtResolution (const blitstar::keyEdgePair &edge, std::size_t numChecks, bool sparseCheck)
	Checking the collision detection.
void	EvaluateValidityStartAndToGoal (const std::shared_ptr< blitstar::Vertex > &start, const std::shared_ptr< blitstar::Vertex > &goal)
	Checking the collision detection between start and goal vertices.
void	insertOrUpdateInForwardVertexQueue (const std::shared_ptr< blitstar::Vertex > &vertex, ompl::base::Cost CostToCome, ompl::base::Cost CostToGoal, bool couldMeet)
	Inserts or updates a vertex in the reverse queue.
void	insertOrUpdateInReverseVertexQueue (const std::shared_ptr< blitstar::Vertex > &vertex, ompl::base::Cost CostToCome, ompl::base::Cost CostToGoal, bool couldMeet)
void	updateReverseCost (const std::shared_ptr< blitstar::Vertex > &vertex, ompl::base::Cost costToCome, ompl::base::Cost &costToGo)
	Refine heuristics on-the-fly.
void	updateForwardCost (const std::shared_ptr< blitstar::Vertex > &vertex, ompl::base::Cost costToCome, ompl::base::Cost &costToGo)
void	updateCostToGo (ompl::base::Cost &costToCome, ompl::base::Cost &costToGo, ompl::base::Cost costFromOriginal, bool meetOnTree)
void	updateBestSolutionFoundSoFar (const std::shared_ptr< blitstar::Vertex > &vertex, ompl::base::Cost meetCost, ompl::base::Cost costToCome, ompl::base::Cost &costToGo, ompl::base::Cost costFromOri)
	Improve the current solution.
Public Member Functions inherited from ompl::base::Planner
	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().
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	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().
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	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.

Additional Inherited Members
Public Types inherited from ompl::base::Planner
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.
Protected Member Functions inherited from ompl::base::Planner
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 inherited from ompl::base::Planner
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

BLIT* (Bidirectional Lazy Informed Trees) is a novel almost-surely asymptotically optimal motion planner.

 BLIT* is the first algorithm that incorporate anytime incremental lazy bidrectional heuristic search into

batch-wise

 sampling-based motion planning. BLIT* introduces the first anytime incremental bidirectional heuristic

search and develops

 a new lazy edge evaluation strategy.

Definition at line 81 of file BLITstar.h.

Constructor & Destructor Documentation

◆ BLITstar()

ompl::geometric::BLITstar::BLITstar ( const ompl::base::SpaceInformationPtr & spaceInformation )

explicit

Constructs a BLIT*.

Definition at line 64 of file BLITstar.cpp.

◆ ~BLITstar()

ompl::geometric::BLITstar::~BLITstar ( )

Destructs a BLIT*.

Definition at line 103 of file BLITstar.cpp.

Member Function Documentation

◆ bestNeighbor()

void ompl::geometric::BLITstar::bestNeighbor	(	ompl::base::Cost	costToCome,
		ompl::base::Cost	costToGoal,
		size_t	neighbor )

Definition at line 540 of file BLITstar.cpp.

◆ CCD()

bool ompl::geometric::BLITstar::CCD ( const blitstar::keyEdgePair & edge )

Definition at line 1474 of file BLITstar.cpp.

◆ clear()

void ompl::geometric::BLITstar::clear ( )

overridevirtual

Clears the algorithm's internal state.

Reimplemented from ompl::base::Planner.

Definition at line 218 of file BLITstar.cpp.

◆ clearForwardVertexQueue()

void ompl::geometric::BLITstar::clearForwardVertexQueue ( )

Definition at line 369 of file BLITstar.cpp.

◆ clearReverseVertexQueue()

void ompl::geometric::BLITstar::clearReverseVertexQueue ( )

Empty the queues.

Definition at line 358 of file BLITstar.cpp.

◆ enablePruning()

void ompl::geometric::BLITstar::enablePruning ( bool prune )

Set whether pruning is enabled or not.

Definition at line 328 of file BLITstar.cpp.

◆ ensureSetup()

ompl::base::PlannerStatus::StatusType ompl::geometric::BLITstar::ensureSetup ( )

Checks whether the planner is successfully setup.

Definition at line 162 of file BLITstar.cpp.

◆ ensureStartAndGoalStates()

ompl::base::PlannerStatus::StatusType ompl::geometric::BLITstar::ensureStartAndGoalStates ( const ompl::base::PlannerTerminationCondition & terminationCondition )

Checks whether the problem is successfully setup.

Definition at line 186 of file BLITstar.cpp.

◆ EvaluateValidityStartAndToGoal()

void ompl::geometric::BLITstar::EvaluateValidityStartAndToGoal	(	const std::shared_ptr< blitstar::Vertex > &	start,
		const std::shared_ptr< blitstar::Vertex > &	goal )

Checking the collision detection between start and goal vertices.

Definition at line 1088 of file BLITstar.cpp.

◆ ForwardLazySearch()

void ompl::geometric::BLITstar::ForwardLazySearch ( const std::shared_ptr< blitstar::Vertex > & vertex )

Forward and Reverse Search.

Definition at line 794 of file BLITstar.cpp.

◆ ForwardPathValidityChecking()

void ompl::geometric::BLITstar::ForwardPathValidityChecking	(	std::shared_ptr< blitstar::Vertex > &	vertex,
		bool &	validity )

Definition at line 595 of file BLITstar.cpp.

◆ getBatchSize()

std::size_t ompl::geometric::BLITstar::getBatchSize ( ) const

Get the batch size.

Definition at line 313 of file BLITstar.cpp.

◆ getMaxNumberOfGoals()

unsigned int ompl::geometric::BLITstar::getMaxNumberOfGoals ( ) const

Get the maximum number of goals BLIT* will sample from sampleable goal regions.

Definition at line 353 of file BLITstar.cpp.

◆ getPlannerData()

void ompl::geometric::BLITstar::getPlannerData ( base::PlannerData & data ) const

overridevirtual

Get the planner data.

Reimplemented from ompl::base::Planner.

Definition at line 264 of file BLITstar.cpp.

◆ getRewireFactor()

double ompl::geometric::BLITstar::getRewireFactor ( ) const

Get the rewire factor of the RGG graph.

Definition at line 323 of file BLITstar.cpp.

◆ getUseKNearest()

bool ompl::geometric::BLITstar::getUseKNearest ( ) const

Get whether to use a k-nearest RGG connection model. If false, BLIT* uses an r-disc model.

Definition at line 343 of file BLITstar.cpp.

◆ insertGoalVerticesInReverseVertexQueue()

void ompl::geometric::BLITstar::insertGoalVerticesInReverseVertexQueue ( )

Insert start and goal vertices into the queues.

Definition at line 512 of file BLITstar.cpp.

◆ insertOrUpdateInForwardVertexQueue()

void ompl::geometric::BLITstar::insertOrUpdateInForwardVertexQueue	(	const std::shared_ptr< blitstar::Vertex > &	vertex,
		ompl::base::Cost	CostToCome,
		ompl::base::Cost	CostToGoal,
		bool	couldMeet )

Inserts or updates a vertex in the reverse queue.

Definition at line 1284 of file BLITstar.cpp.

◆ insertOrUpdateInReverseVertexQueue()

void ompl::geometric::BLITstar::insertOrUpdateInReverseVertexQueue	(	const std::shared_ptr< blitstar::Vertex > &	vertex,
		ompl::base::Cost	CostToCome,
		ompl::base::Cost	CostToGoal,
		bool	couldMeet )

Definition at line 546 of file BLITstar.cpp.

◆ insertStartVerticesInForWardVertexQueue()

void ompl::geometric::BLITstar::insertStartVerticesInForWardVertexQueue ( )

Definition at line 490 of file BLITstar.cpp.

◆ isPruningEnabled()

bool ompl::geometric::BLITstar::isPruningEnabled ( ) const

Get whether pruning is enabled or not.

Definition at line 333 of file BLITstar.cpp.

◆ isValidAtResolution()

bool ompl::geometric::BLITstar::isValidAtResolution	(	const blitstar::keyEdgePair &	edge,
		std::size_t	numChecks,
		bool	sparseCheck )

Checking the collision detection.

Definition at line 1480 of file BLITstar.cpp.

◆ lookingForBestNeighbor()

void ompl::geometric::BLITstar::lookingForBestNeighbor	(	ompl::base::Cost	curMin_,
		size_t	neighbor )

Look for a neighbor with the minimal priority.

Definition at line 532 of file BLITstar.cpp.

◆ PathValidity()

bool ompl::geometric::BLITstar::PathValidity ( std::shared_ptr< blitstar::Vertex > & vertex )

Checking the validity of a path from each direction.

Definition at line 574 of file BLITstar.cpp.

◆ resetForwardParentAndRemeberTheVertex()

void ompl::geometric::BLITstar::resetForwardParentAndRemeberTheVertex	(	const std::shared_ptr< blitstar::Vertex > &	child,
		const std::shared_ptr< blitstar::Vertex > &	parent )

Definition at line 665 of file BLITstar.cpp.

◆ resetForwardParentInformation()

void ompl::geometric::BLITstar::resetForwardParentInformation ( const std::shared_ptr< blitstar::Vertex > & vertex )

Reset parent vertex's information.

Definition at line 652 of file BLITstar.cpp.

◆ resetForwardValue()

void ompl::geometric::BLITstar::resetForwardValue ( const std::shared_ptr< blitstar::Vertex > & vertex )

Definition at line 658 of file BLITstar.cpp.

◆ resetReverseParentAndRemeberTheVertex()

void ompl::geometric::BLITstar::resetReverseParentAndRemeberTheVertex	(	const std::shared_ptr< blitstar::Vertex > &	child,
		const std::shared_ptr< blitstar::Vertex > &	parent )

Definition at line 688 of file BLITstar.cpp.

◆ resetReverseParentInformation()

void ompl::geometric::BLITstar::resetReverseParentInformation ( const std::shared_ptr< blitstar::Vertex > & vertex )

Definition at line 675 of file BLITstar.cpp.

◆ resetReverseValue()

void ompl::geometric::BLITstar::resetReverseValue ( const std::shared_ptr< blitstar::Vertex > & vertex )

Reset a vertex's value.

Definition at line 681 of file BLITstar.cpp.

◆ ReverseLazySearch()

void ompl::geometric::BLITstar::ReverseLazySearch ( const std::shared_ptr< blitstar::Vertex > & vertex )

Definition at line 1100 of file BLITstar.cpp.

◆ ReversePathValidityChecking()

void ompl::geometric::BLITstar::ReversePathValidityChecking	(	std::shared_ptr< blitstar::Vertex > &	vertex,
		bool &	validity )

Definition at line 624 of file BLITstar.cpp.

◆ SCD()

bool ompl::geometric::BLITstar::SCD ( const blitstar::keyEdgePair & edge )

Above references inherit from BLIT*.

Perform sparse/compelete collision detection.

Definition at line 1469 of file BLITstar.cpp.

◆ SelectExpandState()

bool ompl::geometric::BLITstar::SelectExpandState ( bool & forward )

Select the vertex with minimal priority on both trees.

Definition at line 1407 of file BLITstar.cpp.

◆ setBatchSize()

void ompl::geometric::BLITstar::setBatchSize ( std::size_t batchSize )

Set the batch size.

Definition at line 308 of file BLITstar.cpp.

◆ setMaxNumberOfGoals()

void ompl::geometric::BLITstar::setMaxNumberOfGoals ( unsigned int numberOfGoals )

Set the maximum number of goals BLIT* will sample from sampleable goal regions.

Definition at line 348 of file BLITstar.cpp.

◆ setRewireFactor()

void ompl::geometric::BLITstar::setRewireFactor ( double rewireFactor )

Set the rewire factor of the RGG graph.

Definition at line 318 of file BLITstar.cpp.

◆ setup()

void ompl::geometric::BLITstar::setup ( )

overridevirtual

Additional setup that can only be done once a problem definition is set.

Reimplemented from ompl::base::Planner.

Definition at line 108 of file BLITstar.cpp.

◆ setUseKNearest()

void ompl::geometric::BLITstar::setUseKNearest ( bool useKNearest )

Set whether to use a k-nearest RGG connection model. If false, BLIT* uses an r-disc model.

Definition at line 338 of file BLITstar.cpp.

◆ solve()

ompl::base::PlannerStatus ompl::geometric::BLITstar::solve ( const ompl::base::PlannerTerminationCondition & terminationCondition )

overridevirtual

Solves a motion planning problem.

Implements ompl::base::Planner.

Definition at line 227 of file BLITstar.cpp.

◆ terminateSearch()

bool ompl::geometric::BLITstar::terminateSearch ( )

Ensuring meet-in-the-middle and optimality to terminate the current search.

Definition at line 697 of file BLITstar.cpp.

◆ updateBestSolutionFoundSoFar()

void ompl::geometric::BLITstar::updateBestSolutionFoundSoFar	(	const std::shared_ptr< blitstar::Vertex > &	vertex,
		ompl::base::Cost	meetCost,
		ompl::base::Cost	costToCome,
		ompl::base::Cost &	costToGo,
		ompl::base::Cost	costFromOri )

Improve the current solution.

Definition at line 1013 of file BLITstar.cpp.

◆ updateCostToGo()

void ompl::geometric::BLITstar::updateCostToGo	(	ompl::base::Cost &	costToCome,
		ompl::base::Cost &	costToGo,
		ompl::base::Cost	costFromOriginal,
		bool	meetOnTree )

Definition at line 1025 of file BLITstar.cpp.

◆ updateForwardCost()

void ompl::geometric::BLITstar::updateForwardCost	(	const std::shared_ptr< blitstar::Vertex > &	vertex,
		ompl::base::Cost	costToCome,
		ompl::base::Cost &	costToGo )

Definition at line 1038 of file BLITstar.cpp.

◆ updateReverseCost()

void ompl::geometric::BLITstar::updateReverseCost	(	const std::shared_ptr< blitstar::Vertex > &	vertex,
		ompl::base::Cost	costToCome,
		ompl::base::Cost &	costToGo )

Refine heuristics on-the-fly.

Definition at line 1063 of file BLITstar.cpp.

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

ompl/geometric/planners/lazyinformedtrees/BLITstar.h
ompl/geometric/planners/lazyinformedtrees/src/BLITstar.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BLITstar()

◆ ~BLITstar()

Member Function Documentation

◆ bestNeighbor()

◆ CCD()

◆ clear()

◆ clearForwardVertexQueue()

◆ clearReverseVertexQueue()

◆ enablePruning()

◆ ensureSetup()

◆ ensureStartAndGoalStates()

◆ EvaluateValidityStartAndToGoal()

◆ ForwardLazySearch()

◆ ForwardPathValidityChecking()

◆ getBatchSize()

◆ getMaxNumberOfGoals()

◆ getPlannerData()

◆ getRewireFactor()

◆ getUseKNearest()

◆ insertGoalVerticesInReverseVertexQueue()

◆ insertOrUpdateInForwardVertexQueue()

◆ insertOrUpdateInReverseVertexQueue()

◆ insertStartVerticesInForWardVertexQueue()

◆ isPruningEnabled()

◆ isValidAtResolution()

◆ lookingForBestNeighbor()

◆ PathValidity()

◆ resetForwardParentAndRemeberTheVertex()

◆ resetForwardParentInformation()

◆ resetForwardValue()

◆ resetReverseParentAndRemeberTheVertex()

◆ resetReverseParentInformation()

◆ resetReverseValue()

◆ ReverseLazySearch()

◆ ReversePathValidityChecking()

◆ SCD()

◆ SelectExpandState()

◆ setBatchSize()

◆ setMaxNumberOfGoals()

◆ setRewireFactor()

◆ setup()

◆ setUseKNearest()

◆ solve()

◆ terminateSearch()

◆ updateBestSolutionFoundSoFar()

◆ updateCostToGo()

◆ updateForwardCost()

◆ updateReverseCost()