ompl::multilevel::BundleSpaceSequence< T > Class Template Reference

A planner for a sequence of BundleSpaces. More...

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

Inheritance diagram for ompl::multilevel::BundleSpaceSequence< T >:

Classes
struct	CmpBundleSpacePtrs
	Compare function for priority queue. More...

Public Member Functions
	BundleSpaceSequence (ompl::base::SpaceInformationPtr si, std::string type="BundleSpacePlannerNonMultilevel")
	Non-multilevel Mode: Calling with a single ompl::base::SpaceInformationPtr will revert to standard planning without invoking any projection operators.
	BundleSpaceSequence (std::vector< ompl::base::SpaceInformationPtr > &siVec, std::string type="BundleSpacePlanner")
	Basic Mode: Specify vector of ompl::base::SpaceInformationPtr and let the algorithm figure out the projections itself.
	BundleSpaceSequence (std::vector< ompl::base::SpaceInformationPtr > &siVec, std::vector< ompl::multilevel::ProjectionPtr > &projVec, std::string type="BundleSpacePlannerCustomProjection")
	Advanced Mode: Specify not only the vector of ompl::base::SpaceInformationPtr, but also how we should project from each bundle space to each base space.
void	declareBundleSpaces (bool guessProjection=true)
virtual void	getPlannerData (ompl::base::PlannerData &data) const override
	Return annotated vertices (with information about BundleSpace level)
ompl::base::PlannerStatus	solve (const ompl::base::PlannerTerminationCondition &ptc) override
	Function that can solve the motion planning problem. 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. If this option is used, it is assumed the problem definition is not changed (unpredictable results otherwise). The only change in the problem definition that is accounted for is the addition of starting or goal states (but not changing previously added start/goal states). If clearQuery() is called, the planner may retain prior datastructures generated from a previous query on a new problem definition. The function terminates if the call to ptc returns true.
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 void	clear () override
	Clear multilevel planner by clearing all levels.
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().
void	setStopLevel (unsigned int level_)
void	setFindSectionStrategy (FindSectionType type)
	Set strategy to use to solve the find section problem.
Public Member Functions inherited from ompl::multilevel::PlannerMultiLevel
	PlannerMultiLevel (std::vector< ompl::base::SpaceInformationPtr > &siVec, std::string type="PlannerMultiLevel")
	Constructor for a set of ompl::base::SpaceInformationPtr which represent different abstraction levels.
	PlannerMultiLevel (ompl::base::SpaceInformationPtr si)
	PlannerMultiLevel (ompl::base::SpaceInformationPtr si, std::string type)
const ompl::base::ProblemDefinitionPtr &	getProblemDefinition (int level) const
	Get ompl::base::ProblemDefinitionPtr for a specific level.
ompl::base::ProblemDefinitionPtr &	getProblemDefinitionNonConst (int level)
	Get ompl::base::ProblemDefinitionPtr for a specific level (non const)
const std::vector< ompl::base::ProblemDefinitionPtr > &	getProblemDefinitionVector () const
	Get all ompl::base::ProblemDefinitionPtr for all levels in the hierarchy.
int	getLevels () const
	Number of multilevel abstractions.
std::vector< int >	getDimensionsPerLevel () const
	Get dimensionality of the multilevel abstraction.
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.

Protected Types
typedef std::priority_queue< BundleSpace *, std::vector< BundleSpace * >, CmpBundleSpacePtrs >	BundleSpacePriorityQueue
	Priority queue of BundleSpaces which keeps track of how often every graph on each space has been expanded.

Protected Member Functions
ompl::base::State *	getTotalState (int baseLevel, const base::State *baseState) const
	Starting from a baseState on baseLevel, we lift it iteratively upwards into the total space of the sequence. For each lift, we choose an identity fiber element using the allocIdentityState method in ompl::multilevel::BundleSpace.
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
std::vector< T * >	bundleSpaces_
	Sequence of BundleSpaces.
bool	foundKLevelSolution_ {false}
	Indicator if a solution has been found on the current BundleSpaces.
unsigned int	currentBundleSpaceLevel_ {0}
	Current level on which we have not yet found a path.
unsigned int	stopAtLevel_
	Sometimes we only want to plan until a certain BundleSpace level (for debugging for example). This variable sets the stopping level.
BundleSpacePriorityQueue	priorityQueue_
Protected Attributes inherited from ompl::multilevel::PlannerMultiLevel
std::vector< ompl::base::PathPtr >	solutions_
	Solution paths on each abstraction level.
std::vector< ompl::base::ProblemDefinitionPtr >	pdefVec_
	Sequence of ProblemDefinitionPtr.
std::vector< ompl::base::SpaceInformationPtr >	siVec_
	Each abstraction level has a unique ompl::base::SpaceInformationPtr.
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

template<class T>
class ompl::multilevel::BundleSpaceSequence< T >

A planner for a sequence of BundleSpaces.

Example usage with QRRT ompl::base::PlannerPtr planner = std::make_shared<BundleSpaceSequence<ompl::multilevel::QRRT> >(si_vec);

whereby si_vec is of type std::vector<ompl::base::SpaceInformationPtr>

Template Parameters

T	Planner function used to grow each space

Definition at line 103 of file BundleSpaceSequence.h.

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

• ompl/multilevel/datastructures/BundleSpaceSequence.h
• ompl/multilevel/datastructures/BundleSpaceSequenceImpl.h