A single Bundle-space. More...

#include <ompl/multilevel/datastructures/BundleSpace.h>

Inheritance diagram for ompl::multilevel::BundleSpace:

[legend]

Public Member Functions
	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	grow ()=0
	Perform an iteration of the planner.

virtual bool	getSolution (ompl::base::PathPtr &solution)=0
	Return best solution.

virtual void	setMetric (const std::string &sMetric)=0

virtual void	setPropagator (const std::string &sPropagator)=0

virtual void	sampleFromDatastructure (ompl::base::State *xBase)=0

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.

virtual void	clear () override
	Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.

virtual 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 double	getImportance () const =0
	Compute importance of bundle space (to decide where to.

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().

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.

Static Public Member Functions
static void	resetCounter ()
	reset counter for number of levels

Protected Member Functions
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.

virtual void	print (std::ostream &out) const
	Internal function implementing actual printing to stream.

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
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
static unsigned int	counter_ = 0
	Internal counter to track multiple bundle spaces.

Friends
std::ostream &	operator<< (std::ostream &, const BundleSpace &)
	Write class to stream (use as std::cout << *this << std::endl)

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 single Bundle-space.

Definition at line 131 of file BundleSpace.h.

Constructor & Destructor Documentation

◆ BundleSpace()

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.

Bundle is (locally) a product space of Base and Fiber
Base is a pointer to the next lower-dimensional Bundle-space (if any)
Projection is a mapping from Bundle to Base

You can provide Bundle and Base space (as ompl::base::SpaceInformationPtr) and let the class compute the projection automatically or provide an explicit projection

Definition at line 60 of file BundleSpace.cpp.

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

ompl/multilevel/datastructures/BundleSpace.h
ompl/multilevel/datastructures/src/BundleSpace.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BundleSpace()