ompl::multilevel::QRRTStarImpl Class Reference
Implementation of BundleSpace Rapidly-Exploring Random Tree Star Algorithm. More...
#include <ompl/multilevel/planners/qrrt/QRRTStarImpl.h>
Inheritance diagram for ompl::multilevel::QRRTStarImpl:
Public Member Functions | |
| QRRTStarImpl (const ompl::base::SpaceInformationPtr &si, BundleSpace *parent_) | |
| virtual void | grow () override |
| One iteration of RRT with adjusted sampling function. | |
| void | updateChildCosts (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) |
| virtual ompl::base::PathPtr & | getSolutionPathByReference () |
| 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) | |
| virtual void | clearVertices () |
| virtual void | deleteConfiguration (Configuration *q) |
| template<template< typename T > class NN> | |
| void | setNearestNeighbors () |
| void | uniteComponents (Vertex m1, Vertex m2) |
| bool | sameComponent (Vertex m1, Vertex m2) |
| virtual const Configuration * | nearest (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 Graph & | getGraphNonConst () |
| Get underlying boost graph representation (non const) | |
| virtual const Graph & | getGraph () 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. | |
| Configuration * | steerTowards (const Configuration *from, const Configuration *to) |
| Steer system at Configuration *from to Configuration *to. | |
| Configuration * | steerTowards_Range (const Configuration *from, Configuration *to) |
| Steer system at Configuration *from to Configuration *to, stopping if maxdistance is reached. | |
| Configuration * | extendGraphTowards_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 Configuration * | addBundleConfiguration (base::State *) |
| Add ompl::base::State to graph. Return its configuration. | |
| virtual Vertex | addConfiguration (Configuration *q) |
| Add configuration to graph. Return its vertex in boost graph. | |
| 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::SpaceInformationPtr & | getBundle () const |
| Get SpaceInformationPtr for Bundle. | |
| const ompl::base::SpaceInformationPtr & | getBase () 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::State * | allocIdentityStateBundle () const |
| Allocate State, set entries to Identity/Zero. | |
| ompl::base::State * | allocIdentityStateBase () const |
| ompl::base::State * | allocIdentityState (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::StateSamplerPtr & | getBundleSamplerPtr () const |
| const ompl::base::StateSamplerPtr & | getBaseSamplerPtr () const |
| BundleSpace * | getChild () 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) | |
| BundleSpace * | getParent () 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::GoalSampleableRegion * | getGoalPtr () const |
| 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. | |
| 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. | |
Public Attributes | |
| double | k_rrt_Constant_ {0} |
| a constant value to calculate k | |
| double | r_rrt_Constant_ {0} |
| a constant value to calculate radius | |
| double | rewireFactor_ {1.1} |
| bool | symmetric_ |
| true if cost from a to b is same as b to a | |
| bool | useKNearest_ {true} |
| option to use k nn or radius | |
| double | d_ {0} |
| store dimension of bundle space to calc radius | |
| 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_ |
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 | |
| 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. | |
| 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. | |
| Configuration * | xRandom_ {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. | |
| Configuration * | qStart_ {nullptr} |
| Start configuration. | |
| Configuration * | qGoal_ {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::State * | xBaseTmp_ {nullptr} |
| A temporary state on Base. | |
| ompl::base::State * | xBundleTmp_ {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. | |
| Static Protected Attributes inherited from ompl::multilevel::BundleSpace | |
| static unsigned int | counter_ = 0 |
| Internal counter to track multiple bundle spaces. | |
Detailed Description
Implementation of BundleSpace Rapidly-Exploring Random Tree Star Algorithm.
Definition at line 87 of file QRRTStarImpl.h.
The documentation for this class was generated from the following files:
- ompl/multilevel/planners/qrrt/QRRTStarImpl.h
- ompl/multilevel/planners/qrrt/src/QRRTStarImpl.cpp