ompl::multilevel::QMPImpl Class Reference

Implementation of the Quotient space roadMap Planner. More...

#include <ompl/multilevel/planners/qmp/QMPImpl.h>

Inheritance diagram for ompl::multilevel::QMPImpl:

Public Member Functions

 QMPImpl (const ompl::base::SpaceInformationPtr &si, BundleSpace *parent_)
virtual void grow () override
 One iteration of QMP with adjusted sampling function.
virtual void clear () override
 Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.
void expand ()
 sample random node from Probabilty density function
virtual unsigned int computeK ()
void connectNeighbors (Configuration *x)
virtual Vertex addConfiguration (Configuration *q) override
 Add configuration to graph. Return its vertex in boost graph.
void deleteConfiguration (Configuration *q) override
void updatePDF (Configuration *q)
- Public Member Functions inherited from ompl::multilevel::BundleSpaceGraph
 BundleSpaceGraph (const ompl::base::SpaceInformationPtr &si, BundleSpace *parent=nullptr)
virtual unsigned int getNumberOfVertices () const
virtual unsigned int getNumberOfEdges () const
Vertex nullVertex () const
void sampleFromDatastructure (ompl::base::State *) override
virtual void sampleBundleGoalBias (ompl::base::State *xRandom)
bool getSolution (ompl::base::PathPtr &solution) override
 Return best solution.
virtual ompl::base::PathPtrgetSolutionPathByReference ()
void getPlannerData (ompl::base::PlannerData &data) const override
 Return plannerdata structure, whereby each vertex is marked depending to which component it belongs (start/goal/non-connected)
void getPlannerDataGraph (ompl::base::PlannerData &data, const Graph &graph, const Vertex vStart) const
double getImportance () const override
 Importance of Bundle-space depending on number of vertices in Bundle-graph.
virtual void init ()
 Initialization methods for the first iteration (adding start configuration and doing sanity checks)
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.
virtual void clearVertices ()
template<template< typename T > class NN>
void setNearestNeighbors ()
void uniteComponents (Vertex m1, Vertex m2)
bool sameComponent (Vertex m1, Vertex m2)
virtual const Configurationnearest (const Configuration *s) const
void setMetric (const std::string &sMetric) override
void setPropagator (const std::string &sPropagator) override
virtual void setImportance (const std::string &sImportance)
virtual void setGraphSampler (const std::string &sGraphSampler)
virtual void setFindSectionStrategy (FindSectionType type)
BundleSpaceGraphSamplerPtr getGraphSampler ()
virtual GraphgetGraphNonConst ()
 Get underlying boost graph representation (non const)
virtual const GraphgetGraph () const
 Get underlying boost graph representation.
const RoadmapNeighborsPtr & getRoadmapNeighborsPtr () const
void print (std::ostream &out) const override
 Print class to ostream.
void writeToGraphviz (std::string filename) const
 Write class to graphviz.
virtual void printConfiguration (const Configuration *) const
 Print configuration to std::cout.
void setGoalBias (double goalBias)
double getGoalBias () const
void setRange (double distance)
double getRange () const
ompl::base::PathPtr getPath (const Vertex &start, const Vertex &goal)
 Shortest path on Bundle-graph.
ompl::base::PathPtr getPath (const Vertex &start, const Vertex &goal, Graph &graph)
virtual double distance (const Configuration *a, const Configuration *b) const
 Distance between two configurations using the current metric.
virtual bool checkMotion (const Configuration *a, const Configuration *b) const
 Check if we can move from configuration a to configuration b using the current metric.
bool connect (const Configuration *from, const Configuration *to)
 Try to connect configuration a to configuration b using the current metric.
ConfigurationsteerTowards (const Configuration *from, const Configuration *to)
 Steer system at Configuration *from to Configuration *to.
ConfigurationsteerTowards_Range (const Configuration *from, Configuration *to)
 Steer system at Configuration *from to Configuration *to, stopping if maxdistance is reached.
ConfigurationextendGraphTowards_Range (const Configuration *from, Configuration *to)
 Steer system at Configuration *from to Configuration *to while system is valid, stopping if maxDistance is reached.
virtual void interpolate (const Configuration *a, const Configuration *b, Configuration *dest) const
 Interpolate from configuration a to configuration b and store results in dest.
virtual ConfigurationaddBundleConfiguration (base::State *)
 Add ompl::base::State to graph. Return its configuration.
void addGoalConfiguration (Configuration *x)
 Add configuration to graph as goal vertex.
virtual void addBundleEdge (const Configuration *a, const Configuration *b)
 Add edge between configuration a and configuration b to graph.
virtual const std::pair< Edge, bool > addEdge (const Vertex a, const Vertex b)
 Add edge between Vertex a and Vertex b to graph.
virtual Vertex getStartIndex () const
 Get vertex representing the start.
virtual Vertex getGoalIndex () const
 Get vertex representing the goal.
virtual void setStartIndex (Vertex)
 Set vertex representing the start.
bool findSection () override
 Call algorithm to solve the find section problem.
- Public Member Functions inherited from ompl::multilevel::BundleSpace
 BundleSpace (const ompl::base::SpaceInformationPtr &si, BundleSpace *baseSpace_=nullptr)
 Bundle Space contains three primary characters, the bundle space, the base space and the projection. More...
const ompl::base::SpaceInformationPtrgetBundle () const
 Get SpaceInformationPtr for Bundle.
const ompl::base::SpaceInformationPtrgetBase () const
 Get SpaceInformationPtr for Base.
ProjectionPtr getProjection () const
 Get ProjectionPtr from Bundle to Base.
bool makeProjection ()
 Given bundle space and base space, try to guess the right.
void setProjection (ProjectionPtr projection)
 Set explicit projection (so that we do not need to guess.
virtual void setProblemDefinition (const ompl::base::ProblemDefinitionPtr &pdef) override
 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 void sampleBundle (ompl::base::State *xRandom)
bool sampleBundleValid (ompl::base::State *xRandom)
virtual bool hasSolution ()
virtual bool isInfeasible ()
 Check if any infeasibility guarantees are fulfilled.
virtual bool hasConverged ()
 Check if the current space can still be sampled.
ompl::base::StateallocIdentityStateBundle () const
 Allocate State, set entries to Identity/Zero.
ompl::base::StateallocIdentityStateBase () const
ompl::base::StateallocIdentityState (ompl::base::StateSpacePtr) const
void allocIdentityState (ompl::base::State *, ompl::base::StateSpacePtr) const
unsigned int getBaseDimension () const
 Dimension of Base Space.
unsigned int getBundleDimension () const
 Dimension of Bundle Space.
unsigned int getCoDimension () const
 Dimension of Bundle Space - Dimension of Base Space.
const ompl::base::StateSamplerPtrgetBundleSamplerPtr () const
const ompl::base::StateSamplerPtrgetBaseSamplerPtr () const
BundleSpacegetChild () const
 Return k-1 th bundle space (locally the base space)
void setChild (BundleSpace *child)
 Pointer to k-1 th bundle space (locally the base space)
BundleSpacegetParent () const
 Return k+1 th bundle space (locally the total space)
void setParent (BundleSpace *parent)
 Pointer to k+1 th bundle space (locally the total space)
bool hasParent () const
 Return if has parent space pointer.
bool hasBaseSpace () const
 Return if has base space pointer.
unsigned int getLevel () const
 Level in hierarchy of Bundle-spaces.
void setLevel (unsigned int)
 Change level in hierarchy.
void project (const ompl::base::State *xBundle, ompl::base::State *xBase) const
 Bundle Space Projection Operator onto first component ProjectBase: Bundle \rightarrow Base.
void lift (const ompl::base::State *xBase, ompl::base::State *xBundle) const
 Lift a state from Base to Bundle.
ompl::base::OptimizationObjectivePtr getOptimizationObjectivePtr () const
bool isDynamic () const
base::GoalSampleableRegiongetGoalPtr () const
- Public Member Functions inherited from ompl::base::Planner
 Planner (const Planner &)=delete
Planneroperator= (const Planner &)=delete
 Planner (SpaceInformationPtr si, std::string name)
virtual ~Planner ()=default
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 SpaceInformationPtrgetSpaceInformation () const
 Get the space information this planner is using.
const ProblemDefinitionPtrgetProblemDefinition () const
 Get the problem definition the planner is trying to solve.
ProblemDefinitionPtrgetProblemDefinition ()
 Get the problem definition the planner is trying to solve.
const PlannerInputStatesgetPlannerInputStates () const
 Get the planner input states.
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 PlannerSpecsgetSpecs () 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.
ParamSetparams ()
 Get the parameters for this planner.
const ParamSetparams () const
 Get the parameters for this planner.
const PlannerProgressPropertiesgetPlannerProgressProperties () 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 Attributes

std::vector< base::State * > randomWorkStates_
unsigned int k_NearestNeighbors_ {10}
 k nearest variable
PDF pdf
- Protected Attributes inherited from ompl::multilevel::BundleSpaceGraph
ompl::base::PathPtr solutionPath_
Vertex vStart_
RoadmapNeighborsPtr nearestDatastructure_
 Nearest neighbor structure for Bundle space configurations.
Graph graph_
unsigned int numVerticesWhenComputingSolutionPath_ {0}
RNG rng_
RNGType rng_boost
double graphLength_ {0.0}
 Length of graph (useful for determing importance of Bundle-space.
double maxDistance_ {-1.0}
 Maximum expansion step.
double goalBias_ {.1}
 Goal bias.
ConfigurationxRandom_ {nullptr}
 Temporary random configuration.
BundleSpaceImportancePtr importanceCalculator_ {nullptr}
 Pointer to strategy to compute importance of this bundle space (which is used to decide which bundle space to grow next)
BundleSpaceGraphSamplerPtr graphSampler_ {nullptr}
 Pointer to strategy to sample from graph.
PathRestrictionPtr pathRestriction_ {nullptr}
 Pointer to current path restriction (the set of points which project onto the best cost path on the base space if any). This only exists if there exists a base space and there exists a base space path.
ompl::geometric::PathSimplifierPtr optimizer_
 A path optimizer.
ConfigurationqStart_ {nullptr}
 Start configuration.
ConfigurationqGoal_ {nullptr}
 The (best) goal configuration.
std::vector< Configuration * > startConfigurations_
 List of configurations that satisfy the start condition.
std::vector< Configuration * > goalConfigurations_
 List of configurations that satisfy the goal condition.
- Protected Attributes inherited from ompl::multilevel::BundleSpace
ompl::base::StatexBaseTmp_ {nullptr}
 A temporary state on Base.
ompl::base::StatexBundleTmp_ {nullptr}
 A temporary state on Bundle.
unsigned int id_ {0}
 Identity of space (to keep track of number of Bundle-spaces created)
bool hasSolution_ {false}
 If there exists a solution.
bool firstRun_ {true}
 Variable to check if this bundle space planner has been run at.
bool isDynamic_ {false}
 If the problem is dynamic or geometric.
BundleSpaceMetricPtr metric_
 Metric on bundle space.
BundleSpacePropagatorPtr propagator_
 Propagator (steering or interpolation) on bundle space. Note: currently just a stub for base::StatePropagator.
- 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::multilevel::BundleSpaceGraph
using normalized_index_type = int
using Graph = boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, Configuration *, EdgeInternalState, GraphMetaData >
 A Bundle-graph structure using boost::adjacency_list bundles. More...
using BGT = boost::graph_traits< Graph >
using Vertex = BGT::vertex_descriptor
using Edge = BGT::edge_descriptor
using VertexIndex = BGT::vertices_size_type
using IEIterator = BGT::in_edge_iterator
using OEIterator = BGT::out_edge_iterator
using VertexParent = Vertex
using VertexRank = VertexIndex
using RoadmapNeighborsPtr = std::shared_ptr< NearestNeighbors< Configuration * > >
using PDF = ompl::PDF< Configuration * >
using PDF_Element = PDF::Element
- 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.
- Static Public Member Functions inherited from ompl::multilevel::BundleSpace
static void resetCounter ()
 reset counter for number of levels
- Public Attributes inherited from ompl::multilevel::BundleSpaceGraph
std::map< Vertex, VertexRank > vrank
std::map< Vertex, Vertex > vparent
boost::disjoint_sets< boost::associative_property_map< std::map< Vertex, VertexRank > >, boost::associative_property_map< std::map< Vertex, Vertex > > > disjointSets_ {boost::make_assoc_property_map(vrank), boost::make_assoc_property_map(vparent)}
base::Cost bestCost_ {+base::dInf}
 Best cost found so far by algorithm.
std::vector< Vertex > shortestVertexPath_
- Protected Types inherited from ompl::multilevel::BundleSpaceGraph
using RNGType = boost::minstd_rand
- Protected Member Functions inherited from ompl::multilevel::BundleSpaceGraph
ompl::base::Cost costHeuristic (Vertex u, Vertex v) const
- Protected Member Functions inherited from ompl::multilevel::BundleSpace
void checkBundleSpaceMeasure (std::string name, const ompl::base::StateSpacePtr space) const
 Check if Bundle-space is bounded.
void sanityChecks () const
 Check if Bundle-space has correct structure.
- 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.
- Static Protected Attributes inherited from ompl::multilevel::BundleSpace
static unsigned int counter_ = 0
 Internal counter to track multiple bundle spaces.

Detailed Description

Implementation of the Quotient space roadMap Planner.

Definition at line 86 of file QMPImpl.h.

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