The Lightning Framework's Retrieve-Repair component. More...

#include <ompl/geometric/planners/experience/LightningRetrieveRepair.h>

Inheritance diagram for ompl::geometric::LightningRetrieveRepair:

Public Member Functions
	LightningRetrieveRepair (const base::SpaceInformationPtr &si, tools::LightningDBPtr experienceDB)
	Constructor.

void	getPlannerData (base::PlannerData &data) const override
	Get information about the exploration data structure the planning from scratch motion planner used.

const std::vector< base::PlannerDataPtr > &	getLastRecalledNearestPaths () const
	Get debug information about the top recalled paths that were chosen for further filtering. More...

std::size_t	getLastRecalledNearestPathChosen () const
	Get debug information about the top recalled paths that were chosen for further filtering. More...

base::PlannerDataPtr	getChosenRecallPath () const
	Get the chosen path used from database for repair. More...

void	getRepairPlannerDatas (std::vector< base::PlannerDataPtr > &data) const
	Get information about the exploration data structure the repair motion planner used each call.

base::PlannerStatus	solve (const base::PlannerTerminationCondition &ptc) override
	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.

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

void	setLightningDB (const tools::LightningDBPtr &experienceDB)
	Pass a pointer of the database from the lightning framework.

void	setRepairPlanner (const base::PlannerPtr &planner)
	Set the planner that will be used for repairing invalid paths recalled from experience.

void	setup () override
	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.

bool	repairPath (const base::PlannerTerminationCondition &ptc, geometric::PathGeometric &primaryPath)
	Repairs a path to be valid in the current planning environment. More...

bool	replan (const base::State start, const base::State goal, geometric::PathGeometric &newPathSegment, const base::PlannerTerminationCondition &ptc)
	Use our secondary planner to find a valid path between start and goal, and return that path. More...

int	getNumNearestSolutions () const
	Getter for number of 'k' close solutions to choose from database for further filtering.

void	setNumNearestSolutions (int nearestK)
	Setter for number of 'k' close solutions to choose from database for further filtering.

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. More...

template<class T >
const T *	as () const
	Cast this instance to a desired type. More...

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.

Protected Member Functions
std::size_t	checkMotionScore (const base::State s1, const base::State s2) const
	Count the number of states along the discretized path that are in collision Note: This is kind of an ill-defined score though. It depends on the resolution of collision checking. I am more inclined to try to compute the percent of the length of the motion that is valid. That could go in SpaceInformation, as a utility function.

bool	findBestPath (const base::State startState, const base::State goalState, base::PlannerDataPtr &chosenPath)
	Filters the top n paths in nearestPaths_ to the top 1, based on state validity with current environment. More...

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
tools::LightningDBPtr	experienceDB_
	The database of motions to search through.

std::vector< base::PlannerDataPtr >	nearestPaths_
	Recall the nearest paths and store this in planner data for introspection later.

std::size_t	nearestPathsChosenID_
	the ID within nearestPaths_ of the path that was chosen for repair

base::PlannerPtr	repairPlanner_
	A secondary planner for replanning.

base::ProblemDefinitionPtr	repairProblemDef_
	A secondary problem definition for the repair planner to use.

std::vector< base::PlannerDataPtr >	repairPlannerDatas_
	Debug the repair planner by saving its planner data each time it is used.

geometric::PathSimplifierPtr	psk_
	The instance of the path simplifier.

int	nearestK_
	Number of 'k' close solutions to choose from database for further filtering.

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.

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.

Detailed Description

The Lightning Framework's Retrieve-Repair component.

- Lightning Retrieve and Repair

Short description: LightningRetrieveRepair is an experienced-based motion planner that recalls from a database of previous actions the most similar one to the current planning problem and attempts to repair it.

External documentation: Berenson, Dmitry, Pieter Abbeel, and Ken Goldberg: A robot path planning framework that learns from experience, in IEEE Intl. Conf. Robotics and Automation (ICRA), 2012. [PDF]

Definition at line 108 of file LightningRetrieveRepair.h.

Member Function Documentation

◆ findBestPath()

bool ompl::geometric::LightningRetrieveRepair::findBestPath	(	const base::State *	startState,
		const base::State *	goalState,
		base::PlannerDataPtr &	chosenPath
	)

protected

Filters the top n paths in nearestPaths_ to the top 1, based on state validity with current environment.

Returns: true if no error

Definition at line 198 of file LightningRetrieveRepair.cpp.

◆ getChosenRecallPath()

ompl::base::PlannerDataPtr ompl::geometric::LightningRetrieveRepair::getChosenRecallPath ( ) const

Get the chosen path used from database for repair.

Returns: PlannerData of chosen path

Definition at line 572 of file LightningRetrieveRepair.cpp.

◆ getLastRecalledNearestPathChosen()

std::size_t ompl::geometric::LightningRetrieveRepair::getLastRecalledNearestPathChosen ( ) const

Get debug information about the top recalled paths that were chosen for further filtering.

Returns: chosenID - the index of the PlannerData object that was chosen for repair

Definition at line 567 of file LightningRetrieveRepair.cpp.

◆ getLastRecalledNearestPaths()

const std::vector< ompl::base::PlannerDataPtr > & ompl::geometric::LightningRetrieveRepair::getLastRecalledNearestPaths ( ) const

Get debug information about the top recalled paths that were chosen for further filtering.

Returns: data - vector of PlannerData objects that each hold a single path

Definition at line 562 of file LightningRetrieveRepair.cpp.

◆ repairPath()

bool ompl::geometric::LightningRetrieveRepair::repairPath	(	const base::PlannerTerminationCondition &	ptc,
		geometric::PathGeometric &	primaryPath
	)

Repairs a path to be valid in the current planning environment.

Parameters

path	- old from experience
ptc	- when to stop attempting repair

Returns: true if no error

Definition at line 352 of file LightningRetrieveRepair.cpp.

◆ replan()

bool ompl::geometric::LightningRetrieveRepair::replan	(	const base::State *	start,
		const base::State *	goal,
		geometric::PathGeometric &	newPathSegment,
		const base::PlannerTerminationCondition &	ptc
	)

Use our secondary planner to find a valid path between start and goal, and return that path.

Parameters

start
goal
newPathSegment	- the solution

Returns: true if path found

Definition at line 472 of file LightningRetrieveRepair.cpp.

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

ompl/geometric/planners/experience/LightningRetrieveRepair.h
ompl/geometric/planners/experience/src/LightningRetrieveRepair.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members