ompl::control::LTLPlanner Class Reference

A planner for generating system trajectories to satisfy a logical specification given by an automaton, the propositions of which are defined over a decomposition of the system's state space. More...

#include <ompl/control/planners/ltl/LTLPlanner.h>

Inheritance diagram for ompl::control::LTLPlanner:

Classes
struct	Motion
	Representation of a motion. More...
struct	ProductGraphStateInfo
	A structure to hold measurement information for a high-level state, as well as the set of tree motions belonging to that high-level state. Exactly one ProductGraphStateInfo will exist for each ProductGraph::State. More...

Public Member Functions
	LTLPlanner (const LTLSpaceInformationPtr &si, ProductGraphPtr a, double exploreTime=0.5)
	Create an LTLPlanner with a given space and product graph. Accepts an optional third parameter to control how much time is spent promoting low-level tree exploration along a given high-level lead.
	~LTLPlanner () override
	Clears all memory belonging to this LTLPlanner .
void	getTree (std::vector< base::State * > &tree) const
	Helper debug method to access this planner's underlying tree of states.
std::vector< ProductGraph::State * >	getHighLevelPath (const std::vector< base::State * > &path, ProductGraph::State *start=nullptr) const
	Helper debug method to return the sequence of high-level product graph states corresponding to a sequence of low-level continous system states, beginning from an optional initial high-level state.
ompl::base::Planner Interface
void	setup () override
	Initializes LTLPlanner data structures.
void	clear () override
	Clears all datastructures belonging to this LTLPlanner.
base::PlannerStatus	solve (const base::PlannerTerminationCondition &ptc) override
	Continues solving until a solution is found or a given planner termination condition is met. Returns true if a solution was found.
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().
virtual void	getPlannerData (PlannerData &data) const
	Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between).
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
virtual double	updateWeight (ProductGraph::State *as)
	Updates and returns the weight of an abstraction state.
virtual void	initAbstractInfo (ProductGraph::State *as)
	Initializes the info object for a new high-level state.
virtual void	buildAvail (const std::vector< ProductGraph::State * > &lead)
	Compute a set of high-level states along a lead to be considered for expansion.
virtual bool	explore (const std::vector< ProductGraph::State * > &lead, Motion *&soln, double duration)
	Expand the tree of motions along a given lead for a given duration of time. Returns true if a solution was found, in which case the endpoint of the solution trajectory will be stored in the given Motion pointer. Otherwise, returns false.
virtual double	abstractEdgeWeight (ProductGraph::State *a, ProductGraph::State *b) const
	Returns the weight of an edge between two given high-level states, which we compute as the product of the reciprocals of the weights of the two states.
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
base::StateSamplerPtr	sampler_
	State sampler.
ControlSamplerPtr	controlSampler_
	Control sampler.
const LTLSpaceInformation *	ltlsi_
	Handle to the control::SpaceInformation object.
ProductGraphPtr	abstraction_
	The high level abstaction used to grow the tree structure.
PDF< ProductGraph::State * >	availDist_
	Used to sample nonempty regions in which to promote expansion.
RNG	rng_
	A random number generator.
std::vector< Motion * >	motions_
	Set of all motions.
ProductGraph::State *	prodStart_ {nullptr}
	Start state in product graph.
double	exploreTime_
	Time to spend exploring each lead.
std::unordered_map< ProductGraph::State *, ProductGraphStateInfo >	abstractInfo_
	Map of abstraction states to their details.
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

A planner for generating system trajectories to satisfy a logical specification given by an automaton, the propositions of which are defined over a decomposition of the system's state space.

Todo:

cite papers

Definition at line 122 of file LTLPlanner.h.

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

• ompl/control/planners/ltl/LTLPlanner.h
• ompl/control/planners/ltl/src/LTLPlanner.cpp