Create the set of classes typically needed to solve a geometric problem. More...

#include <ompl/tools/experience/ExperienceSetup.h>

Inheritance diagram for ompl::tools::ExperienceSetup:

[legend]

Classes
struct	ExperienceStats
	Simple logging functionality encapsled in a struct. More...
struct	ExperienceLog
	Single entry for the csv data logging file. More...

Public Member Functions
	ExperienceSetup (const base::SpaceInformationPtr &si)
	Constructor needs the state space used for planning.
	ExperienceSetup (const base::StateSpacePtr &space)
	Constructor needs the state space used for planning.
void	logInitialize ()
	Load the header (first row) of the csv file.
void	convertLogToString (const ExperienceLog &log)
	Move data to string format and put in buffer.
virtual void	printResultsInfo (std::ostream &out=std::cout) const =0
	Display debug data about potential available solutions.
virtual void	printLogs (std::ostream &out=std::cout) const =0
	Display debug data about overall results since being loaded.
virtual void	saveDataLog (std::ostream &out=std::cout)
	Save debug data about overall results since being loaded.
virtual void	setRepairPlanner (const base::PlannerPtr &planner)=0
	Set the planner to use for repairing experience paths inside the RetrieveRepair planner. If the planner is not set, a default planner is set.
virtual bool	save ()=0
	Save the experience database to file.
virtual bool	saveIfChanged ()=0
	Save the experience database to file if there has been a change.
void	enablePlanningFromRecall (bool enable)
	Optionally disable the ability to use previous plans in solutions (but will still save them).
void	enablePlanningFromScratch (bool enable)
	Optionally disable the ability to plan from scratch Note: Lightning can still save modified experiences if they are different enough.
virtual void	getAllPlannerDatas (std::vector< ompl::base::PlannerDataPtr > &plannerDatas) const =0
	Get a vector of all the planning data in the database.
virtual std::size_t	getExperiencesCount () const =0
	Get the total number of paths stored in the database.
virtual const std::string &	getFilePath () const
	After setFile() is called, access the generated file path for loading and saving the experience database.
virtual bool	setFilePath (const std::string &filePath)
	Set the database file to load. Actual loading occurs when setup() is called.
const ExperienceStats &	getStats () const
	Getter for logging data.
virtual bool	doPostProcessing ()
	Allow accumlated experiences to be processed.
Public Member Functions inherited from ompl::geometric::SimpleSetup
	SimpleSetup (const base::SpaceInformationPtr &si)
	Constructor needs the state space used for planning.
	SimpleSetup (const base::StateSpacePtr &space)
	Constructor needs the state space used for planning.
const base::SpaceInformationPtr &	getSpaceInformation () const
	Get the current instance of the space information.
const base::ProblemDefinitionPtr &	getProblemDefinition () const
	Get the current instance of the problem definition.
base::ProblemDefinitionPtr &	getProblemDefinition ()
	Get the current instance of the problem definition.
const base::StateSpacePtr &	getStateSpace () const
	Get the current instance of the state space.
const base::StateValidityCheckerPtr &	getStateValidityChecker () const
	Get the current instance of the state validity checker.
const base::GoalPtr &	getGoal () const
	Get the current goal definition.
const base::PlannerPtr &	getPlanner () const
	Get the current planner.
const base::PlannerAllocator &	getPlannerAllocator () const
	Get the planner allocator.
const PathSimplifierPtr &	getPathSimplifier () const
	Get the path simplifier.
PathSimplifierPtr &	getPathSimplifier ()
	Get the path simplifier.
const base::OptimizationObjectivePtr &	getOptimizationObjective () const
	Get the optimization objective to use.
bool	haveExactSolutionPath () const
	Return true if a solution path is available (previous call to solve() was successful) and the solution is exact (not approximate).
bool	haveSolutionPath () const
	Return true if a solution path is available (previous call to solve() was successful). The solution may be approximate.
const std::string	getSolutionPlannerName () const
	Get the best solution's planer name. Throw an exception if no solution is available.
PathGeometric &	getSolutionPath () const
	Get the solution path. Throw an exception if no solution is available.
void	getPlannerData (base::PlannerData &pd) const
	Get information about the exploration data structure the motion planner used.
void	setStateValidityChecker (const base::StateValidityCheckerPtr &svc)
	Set the state validity checker to use.
void	setStateValidityChecker (const base::StateValidityCheckerFn &svc)
	Set the state validity checker to use.
void	setOptimizationObjective (const base::OptimizationObjectivePtr &optimizationObjective)
	Set the optimization objective to use.
void	setStartAndGoalStates (const base::ScopedState<> &start, const base::ScopedState<> &goal, double threshold=std::numeric_limits< double >::epsilon())
	Set the start and goal states to use.
void	addStartState (const base::ScopedState<> &state)
	Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called.
void	clearStartStates ()
	Clear the currently set starting states.
void	setStartState (const base::ScopedState<> &state)
	Clear the currently set starting states and add state as the starting state.
void	setGoalState (const base::ScopedState<> &goal, double threshold=std::numeric_limits< double >::epsilon())
	A simple form of setGoal(). The goal will be an instance of ompl::base::GoalState.
void	setGoal (const base::GoalPtr &goal)
	Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called.
void	setPlanner (const base::PlannerPtr &planner)
	Set the planner to use. If the planner is not set, an attempt is made to use the planner allocator. If no planner allocator is available either, a default planner is set.
void	setPlannerAllocator (const base::PlannerAllocator &pa)
	Set the planner allocator to use. This is only used if no planner has been set. This is optional – a default planner will be used if no planner is otherwise specified.
virtual base::PlannerStatus	solve (double time=1.0)
	Run the planner for up to a specified amount of time (default is 1 second).
virtual base::PlannerStatus	solve (const base::PlannerTerminationCondition &ptc)
	Run the planner until ptc becomes true (at most).
base::PlannerStatus	getLastPlannerStatus () const
	Return the status of the last planning attempt.
double	getLastPlanComputationTime () const
	Get the amount of time (in seconds) spent during the last planning step.
double	getLastSimplificationTime () const
	Get the amount of time (in seconds) spend during the last path simplification step.
void	simplifySolution (double duration=0.0)
	Attempt to simplify the current solution path. Spent at most duration seconds in the simplification process. If duration is 0 (the default), a default simplification procedure is executed.
void	simplifySolution (const base::PlannerTerminationCondition &ptc)
	Attempt to simplify the current solution path. Stop computation when ptc becomes true at the latest.
virtual void	clear ()
	Clear all planning data. This only includes data generated by motion plan computation. Planner settings, start & goal states are not affected.
virtual void	print (std::ostream &out=std::cout) const
	Print information about the current setup.
virtual void	setup ()
	This method will create the necessary classes for planning. The solve() method will call this function automatically.

Protected Attributes
bool	recallEnabled_ {true}
	Flag indicating whether recalled plans should be used to find solutions. Enabled by default.
bool	scratchEnabled_ {true}
	Flag indicating whether planning from scratch should be used to find solutions. Enabled by default.
std::string	filePath_
	File location of database.
std::stringstream	csvDataLogStream_
ExperienceStats	stats_
	States data for display to console.
Protected Attributes inherited from ompl::geometric::SimpleSetup
base::SpaceInformationPtr	si_
	The created space information.
base::ProblemDefinitionPtr	pdef_
	The created problem definition.
base::PlannerPtr	planner_
	The maintained planner instance.
base::PlannerAllocator	pa_
	The optional planner allocator.
PathSimplifierPtr	psk_
	The instance of the path simplifier.
bool	configured_
	Flag indicating whether the classes needed for planning are set up.
double	planTime_
	The amount of time the last planning step took.
double	simplifyTime_
	The amount of time the last path simplification step took.
base::PlannerStatus	lastStatus_
	The status of the last planning request.

Detailed Description

Create the set of classes typically needed to solve a geometric problem.

Definition at line 56 of file ExperienceSetup.h.

Constructor & Destructor Documentation

◆ ExperienceSetup() [1/2]

ompl::tools::ExperienceSetup::ExperienceSetup ( const base::SpaceInformationPtr & si )

explicit

Constructor needs the state space used for planning.

Definition at line 42 of file ExperienceSetup.cpp.

◆ ExperienceSetup() [2/2]

ompl::tools::ExperienceSetup::ExperienceSetup ( const base::StateSpacePtr & space )

explicit

Constructor needs the state space used for planning.

Definition at line 47 of file ExperienceSetup.cpp.

Member Function Documentation

◆ convertLogToString()

void ompl::tools::ExperienceSetup::convertLogToString ( const ExperienceLog & log )

Move data to string format and put in buffer.

Definition at line 72 of file ExperienceSetup.cpp.

◆ doPostProcessing()

virtual bool ompl::tools::ExperienceSetup::doPostProcessing ( )

inlinevirtual

Allow accumlated experiences to be processed.

Reimplemented in ompl::tools::Thunder.

Definition at line 189 of file ExperienceSetup.h.

◆ enablePlanningFromRecall()

void ompl::tools::ExperienceSetup::enablePlanningFromRecall ( bool enable )

Optionally disable the ability to use previous plans in solutions (but will still save them).

Definition at line 98 of file ExperienceSetup.cpp.

◆ enablePlanningFromScratch()

void ompl::tools::ExperienceSetup::enablePlanningFromScratch ( bool enable )

Optionally disable the ability to plan from scratch Note: Lightning can still save modified experiences if they are different enough.

Definition at line 107 of file ExperienceSetup.cpp.

◆ getAllPlannerDatas()

virtual void ompl::tools::ExperienceSetup::getAllPlannerDatas ( std::vector< ompl::base::PlannerDataPtr > & plannerDatas ) const

pure virtual

Get a vector of all the planning data in the database.

Implemented in ompl::tools::Lightning, and ompl::tools::Thunder.

◆ getExperiencesCount()

virtual std::size_t ompl::tools::ExperienceSetup::getExperiencesCount ( ) const

pure virtual

Get the total number of paths stored in the database.

Implemented in ompl::tools::Lightning, and ompl::tools::Thunder.

◆ getFilePath()

const std::string & ompl::tools::ExperienceSetup::getFilePath ( ) const

virtual

After setFile() is called, access the generated file path for loading and saving the experience database.

Definition at line 87 of file ExperienceSetup.cpp.

◆ getStats()

const ExperienceStats & ompl::tools::ExperienceSetup::getStats ( ) const

inline

Getter for logging data.

Definition at line 181 of file ExperienceSetup.h.

◆ logInitialize()

void ompl::tools::ExperienceSetup::logInitialize ( )

Load the header (first row) of the csv file.

Definition at line 52 of file ExperienceSetup.cpp.

◆ printLogs()

virtual void ompl::tools::ExperienceSetup::printLogs ( std::ostream & out = std::cout ) const

pure virtual

Display debug data about overall results since being loaded.

Implemented in ompl::tools::Lightning, and ompl::tools::Thunder.

◆ printResultsInfo()

virtual void ompl::tools::ExperienceSetup::printResultsInfo ( std::ostream & out = std::cout ) const

pure virtual

Display debug data about potential available solutions.

Implemented in ompl::tools::Lightning, and ompl::tools::Thunder.

◆ save()

virtual bool ompl::tools::ExperienceSetup::save ( )

pure virtual

Save the experience database to file.

Implemented in ompl::tools::Lightning, and ompl::tools::Thunder.

◆ saveDataLog()

void ompl::tools::ExperienceSetup::saveDataLog ( std::ostream & out = std::cout )

virtual

Save debug data about overall results since being loaded.

Definition at line 80 of file ExperienceSetup.cpp.

◆ saveIfChanged()

virtual bool ompl::tools::ExperienceSetup::saveIfChanged ( )

pure virtual

Save the experience database to file if there has been a change.

Implemented in ompl::tools::Lightning, and ompl::tools::Thunder.

◆ setFilePath()

bool ompl::tools::ExperienceSetup::setFilePath ( const std::string & filePath )

virtual

Set the database file to load. Actual loading occurs when setup() is called.

Parameters

filePath - full absolute path to a experience database to load

Definition at line 92 of file ExperienceSetup.cpp.

◆ setRepairPlanner()

virtual void ompl::tools::ExperienceSetup::setRepairPlanner ( const base::PlannerPtr & planner )

pure virtual

Set the planner to use for repairing experience paths inside the RetrieveRepair planner. If the planner is not set, a default planner is set.

Implemented in ompl::tools::Lightning, and ompl::tools::Thunder.

Member Data Documentation

◆ csvDataLogStream_

std::stringstream ompl::tools::ExperienceSetup::csvDataLogStream_

protected

Definition at line 205 of file ExperienceSetup.h.

◆ filePath_

std::string ompl::tools::ExperienceSetup::filePath_

protected

File location of database.

Definition at line 202 of file ExperienceSetup.h.

◆ recallEnabled_

bool ompl::tools::ExperienceSetup::recallEnabled_ {true}

protected

Flag indicating whether recalled plans should be used to find solutions. Enabled by default.

Definition at line 196 of file ExperienceSetup.h.

◆ scratchEnabled_

bool ompl::tools::ExperienceSetup::scratchEnabled_ {true}

protected

Flag indicating whether planning from scratch should be used to find solutions. Enabled by default.

Definition at line 199 of file ExperienceSetup.h.

◆ stats_

ExperienceStats ompl::tools::ExperienceSetup::stats_

protected

States data for display to console.

Definition at line 208 of file ExperienceSetup.h.

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

ompl/tools/experience/ExperienceSetup.h
ompl/tools/experience/src/ExperienceSetup.cpp

Classes

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ExperienceSetup() [1/2]

◆ ExperienceSetup() [2/2]

Member Function Documentation

◆ convertLogToString()

◆ doPostProcessing()

◆ enablePlanningFromRecall()

◆ enablePlanningFromScratch()

◆ getAllPlannerDatas()

◆ getExperiencesCount()

◆ getFilePath()

◆ getStats()

◆ logInitialize()

◆ printLogs()

◆ printResultsInfo()

◆ save()

◆ saveDataLog()

◆ saveIfChanged()

◆ setFilePath()

◆ setRepairPlanner()

Member Data Documentation

◆ csvDataLogStream_

◆ filePath_

◆ recallEnabled_

◆ scratchEnabled_

◆ stats_