ompl::geometric::PRMstar Class Reference

PRM* planner. More...

#include <ompl/geometric/planners/prm/PRMstar.h>

Inheritance diagram for ompl::geometric::PRMstar:

Public Member Functions

 PRMstar (const base::SpaceInformationPtr &si)
 PRMstar (const base::PlannerData &data)
- Public Member Functions inherited from ompl::geometric::PRM
 PRM (const base::SpaceInformationPtr &si, bool starStrategy=false)
 PRM (const base::PlannerData &data, bool starStrategy=false)
void setProblemDefinition (const base::ProblemDefinitionPtr &pdef) override
void setConnectionStrategy (const ConnectionStrategy &connectionStrategy)
 Set the connection strategy function that specifies the milestones that connection attempts will be make to for a given milestone. More...
void setDefaultConnectionStrategy ()
void setMaxNearestNeighbors (unsigned int k)
 Convenience function that sets the connection strategy to the default one with k nearest neighbors.
unsigned int getMaxNearestNeighbors () const
 return the maximum number of nearest neighbors to connect a sample to More...
void setConnectionFilter (const ConnectionFilter &connectionFilter)
 Set the function that can reject a milestone connection. More...
void getPlannerData (base::PlannerData &data) const override
 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).

void constructRoadmap (const base::PlannerTerminationCondition &ptc)
 While the termination condition allows, this function will construct the roadmap (using growRoadmap() and expandRoadmap(), maintaining a 2:1 ratio for growing/expansion of roadmap)
void growRoadmap (double growTime)
 If the user desires, the roadmap can be improved for the given time (seconds). The solve() method will also improve the roadmap, as needed.
void growRoadmap (const base::PlannerTerminationCondition &ptc)
 If the user desires, the roadmap can be improved until a given condition is true. The solve() method will also improve the roadmap, as needed.
void expandRoadmap (double expandTime)
 Attempt to connect disjoint components in the roadmap using random bouncing motions (the PRM expansion step) for the given time (seconds).
void expandRoadmap (const base::PlannerTerminationCondition &ptc)
 Attempt to connect disjoint components in the roadmap using random bouncing motions (the PRM expansion step) until the given condition evaluates true.
base::PlannerStatus solve (const base::PlannerTerminationCondition &ptc) override
 Function that can solve the motion planning problem. Grows a roadmap using constructRoadmap(). 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. Start and goal states from the currently specified ProblemDefinition are cached. This means that between calls to solve(), input states are only added, not removed. When using PRM as a multi-query planner, the input states should be however cleared, without clearing the roadmap itself. This can be done using the clearQuery() function.
void clearQuery () override
 Clear the query previously loaded from the ProblemDefinition. Subsequent calls to solve() will reuse the previously computed roadmap, but will clear the set of input states constructed by the previous call to solve(). This enables multi-query functionality for PRM.
void clear () override
 Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.
template<template< typename T > class NN>
void setNearestNeighbors ()
 Set a different nearest neighbors datastructure.
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.
const GraphgetRoadmap () const
unsigned long int milestoneCount () const
 Return the number of milestones currently in the graph.
unsigned long int edgeCount () const
 Return the number of edges currently in the graph.
const RoadmapNeighborsgetNearestNeighbors ()
- 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.
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.
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.

Additional Inherited Members

- Public Types inherited from ompl::geometric::PRM
using Graph = boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, boost::property< vertex_state_t, base::State *, boost::property< vertex_total_connection_attempts_t, unsigned long int, boost::property< vertex_successful_connection_attempts_t, unsigned long int, boost::property< boost::vertex_predecessor_t, unsigned long int, boost::property< boost::vertex_rank_t, unsigned long int > >> >>, boost::property< boost::edge_weight_t, base::Cost > >
 The underlying roadmap graph. More...
using Vertex = boost::graph_traits< Graph >::vertex_descriptor
 The type for a vertex in the roadmap.
using Edge = boost::graph_traits< Graph >::edge_descriptor
 The type for an edge in the roadmap.
using RoadmapNeighbors = std::shared_ptr< NearestNeighbors< Vertex > >
 A nearest neighbors data structure for roadmap vertices.
using ConnectionStrategy = std::function< const std::vector< Vertex > &(const Vertex)>
 A function returning the milestones that should be attempted to connect to.
using ConnectionFilter = std::function< bool(const Vertex &, const Vertex &)>
 A function that can reject connections. More...
- 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.
- Protected Member Functions inherited from ompl::geometric::PRM
void freeMemory ()
 Free all the memory allocated by the planner.
Vertex addMilestone (base::State *state)
 Construct a milestone for a given state (state), store it in the nearest neighbors data structure and then connect it to the roadmap in accordance to the connection strategy.
void uniteComponents (Vertex m1, Vertex m2)
 Make two milestones (m1 and m2) be part of the same connected component. The component with fewer elements will get the id of the component with more elements.
bool sameComponent (Vertex m1, Vertex m2)
 Check if two milestones (m1 and m2) are part of the same connected component. This is not a const function since we use incremental connected components from boost.
void growRoadmap (const base::PlannerTerminationCondition &ptc, base::State *workState)
 Randomly sample the state space, add and connect milestones in the roadmap. Stop this process when the termination condition ptc returns true. Use workState as temporary memory.
void expandRoadmap (const base::PlannerTerminationCondition &ptc, std::vector< base::State * > &workStates)
 Attempt to connect disjoint components in the roadmap using random bounding motions (the PRM expansion step)
void checkForSolution (const base::PlannerTerminationCondition &ptc, base::PathPtr &solution)
bool maybeConstructSolution (const std::vector< Vertex > &starts, const std::vector< Vertex > &goals, base::PathPtr &solution)
 Check if there exists a solution, i.e., there exists a pair of milestones such that the first is in start and the second is in goal, and the two milestones are in the same connected component. If a solution is found, it is constructed in the solution argument.
ompl::base::Cost constructApproximateSolution (const std::vector< Vertex > &starts, const std::vector< Vertex > &goals, base::PathPtr &solution)
 (Assuming that there is always an approximate solution), finds an approximate solution.
bool addedNewSolution () const
 Returns the value of the addedNewSolution_ member.
base::PathPtr constructSolution (const Vertex &start, const Vertex &goal)
 Given two milestones from the same connected component, construct a path connecting them and set it as the solution.
base::Cost costHeuristic (Vertex u, Vertex v) const
 Given two vertices, returns a heuristic on the cost of the path connecting them. This method wraps OptimizationObjective::motionCostHeuristic.
double distanceFunction (const Vertex a, const Vertex b) const
 Compute distance between two milestones (this is simply distance between the states of the milestones)
std::string getIterationCount () const
std::string getBestCost () const
std::string getMilestoneCountString () const
std::string getEdgeCountString () const
- 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::geometric::PRM
bool starStrategy_
 Flag indicating whether the default connection strategy is the Star strategy.
base::ValidStateSamplerPtr sampler_
 Sampler user for generating valid samples in the state space.
base::StateSamplerPtr simpleSampler_
 Sampler user for generating random in the state space.
RoadmapNeighbors nn_
 Nearest neighbors data structure.
Graph g_
 Connectivity graph.
std::vector< VertexstartM_
 Array of start milestones.
std::vector< VertexgoalM_
 Array of goal milestones.
boost::property_map< Graph, vertex_state_t >::type stateProperty_
 Access to the internal base::state at each Vertex.
boost::property_map< Graph, vertex_total_connection_attempts_t >::type totalConnectionAttemptsProperty_
 Access to the number of total connection attempts for a vertex.
boost::property_map< Graph, vertex_successful_connection_attempts_t >::type successfulConnectionAttemptsProperty_
 Access to the number of successful connection attempts for a vertex.
boost::property_map< Graph, boost::edge_weight_t >::type weightProperty_
 Access to the weights of each Edge.
boost::disjoint_sets< boost::property_map< Graph, boost::vertex_rank_t >::type, boost::property_map< Graph, boost::vertex_predecessor_t >::type > disjointSets_
 Data structure that maintains the connected components.
ConnectionStrategy connectionStrategy_
 Function that returns the milestones to attempt connections with.
ConnectionFilter connectionFilter_
 Function that can reject a milestone connection.
bool userSetConnectionStrategy_ {false}
 Flag indicating whether the employed connection strategy was set by the user (or defaults are assumed)
RNG rng_
 Random number generator.
bool addedNewSolution_ {false}
 A flag indicating that a solution has been added during solve()
std::mutex graphMutex_
 Mutex to guard access to the Graph member (g_)
base::OptimizationObjectivePtr opt_
 Objective cost function for PRM graph edges.
unsigned long int iterations_ {0}
 Number of iterations the algorithm performed.
base::Cost bestCost_ {std::numeric_limits<double>::quiet_NaN()}
 Best cost found so far by algorithm.
- 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.

Detailed Description

PRM* planner.

Run PRM with the "star strategy". Instead of setting the value "k" for how many neighbors to connect, automatically compute it based on the coverage of the space, guaranteeing optimality of solutions.

Short description
External documentation
L.E. Kavraki, P.Švestka, J.-C. Latombe, and M.H. Overmars, Probabilistic roadmaps for path planning in high-dimensional configuration spaces, IEEE Trans. on Robotics and Automation, vol. 12, pp. 566–580, Aug. 1996. DOI: 10.1109/70.508439
S. Karaman and E. Frazzoli, Sampling-based Algorithms for Optimal Motion Planning, International Journal of Robotics Research, vol. 30, no.7, pp. 846-894, 2011. DOI: 10.1177/0278364911406761

Definition at line 129 of file PRMstar.h.

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