ompl::multilevel Namespace Reference
This namespace contains datastructures and planners to exploit multilevel abstractions, which you have to specify using a sequence of SpaceInformationPtr (each with their own StateValidityChecker). More...
Classes | |
| class | BundleSpace |
| A single Bundle-space. More... | |
| class | BundleSpaceGraph |
| A graph on a Bundle-space. More... | |
| class | BundleSpaceGraphSampler |
| class | BundleSpaceGraphSamplerRandomDegreeVertex |
| class | BundleSpaceGraphSamplerRandomEdge |
| class | BundleSpaceGraphSamplerRandomVertex |
| class | BundleSpaceImportance |
| class | BundleSpaceImportanceExponential |
| class | BundleSpaceImportanceGreedy |
| class | BundleSpaceImportanceUniform |
| class | BundleSpaceMetric |
| class | BundleSpaceMetricGeodesic |
| class | BundleSpacePropagator |
| class | BundleSpacePropagatorGeometric |
| class | BundleSpaceSequence |
| A planner for a sequence of BundleSpaces. More... | |
| class | CompoundProjection |
| class | FiberedProjection |
| class | FindSection |
| class | FindSectionSideStep |
| class | Head |
| A pointer to a specific location on the base path of the path restriction. More... | |
| class | HeadAnalyzer |
| class | PathRestriction |
| Representation of path restriction (union of fibers over a base path). More... | |
| class | PathSection |
| Representation of a path section (not necessarily feasible). More... | |
| class | PlannerDataVertexAnnotated |
| An annotated vertex, adding information about its level in the multilevel hierarchy. Class has two modes: Mode 1 (baseMode), we store a reference to its base state element. In Mode 2 (totalMode), we store a deep copy of the lift of the base state into the total space (NOTE: required for PlannerData functions like decoupleFromPlanner()) More... | |
| class | PlannerMultiLevel |
| MultiLevel Planner Interface. Extends base::Planner by allowing sequences of base::SpaceInformationPtr. More... | |
| class | Projection |
| class | Projection_EmptySet |
| class | Projection_Identity |
| class | Projection_None |
| class | Projection_Relaxation |
| class | Projection_RN_RM |
| class | Projection_RNSO2_RN |
| class | Projection_SE2_R2 |
| class | Projection_SE2RN_R2 |
| class | Projection_SE2RN_SE2 |
| class | Projection_SE2RN_SE2RM |
| class | Projection_SE3_R3 |
| class | Projection_SE3RN_R3 |
| class | Projection_SE3RN_SE3 |
| class | Projection_SE3RN_SE3RM |
| class | Projection_SO2N_SO2M |
| class | Projection_SO2RN_SO2 |
| class | Projection_SO2RN_SO2RM |
| class | Projection_SO3RN_SO3 |
| class | Projection_SO3RN_SO3RM |
| class | Projection_XRN_X |
| class | Projection_XRN_XRM |
| class | ProjectionFactory |
| class | QMPImpl |
| Implementation of the Quotient space roadMap Planner. More... | |
| class | QMPStarImpl |
| class | QRRTImpl |
| Implementation of BundleSpace Rapidly-Exploring Random Trees Algorithm. More... | |
| class | QRRTStarImpl |
| Implementation of BundleSpace Rapidly-Exploring Random Tree Star Algorithm. More... | |
Typedefs | |
| using | Configuration = ompl::multilevel::BundleSpaceGraph::Configuration |
| using | QMP = BundleSpaceSequence< QMPImpl > |
| [Q]uotient space road[M]ap [P]lanner (QMP) Algorithm More... | |
| using | QMPStar = BundleSpaceSequence< QMPStarImpl > |
| [Q]uotient space road[M]ap [P]lanner Star (QMP*) Algorithm More... | |
| using | QRRT = BundleSpaceSequence< QRRTImpl > |
| [Q]uotient space [R]apidly exploring [R]andom [T]rees (QRRT) Algorithm More... | |
| using | QRRTStar = BundleSpaceSequence< QRRTStarImpl > |
| [Q]uotient space [R]apidly exploring [R]andom [T]rees Star (QRRT*) Algorithm More... | |
Enumerations | |
| enum | FindSectionType { NONE = 0, SIDE_STEP = 1, PATTERN_DANCE = 2 } |
| enum | ProjectionType { PROJECTION_NONE = 0, PROJECTION_EMPTY_SET = 1, PROJECTION_IDENTITY = 2, PROJECTION_CONSTRAINED_RELAXATION = 3, PROJECTION_RN_RM = 4, PROJECTION_SE2_R2 = 5, PROJECTION_SE2RN_R2 = 6, PROJECTION_SE2RN_SE2 = 7, PROJECTION_SE2RN_SE2RM = 8, PROJECTION_SO2RN_SO2 = 9, PROJECTION_SO2RN_SO2RM = 10, PROJECTION_SE3_R3 = 11, PROJECTION_SE3RN_R3 = 12, PROJECTION_SE3RN_SE3 = 13, PROJECTION_SE3RN_SE3RM = 14, PROJECTION_SO3RN_SO3 = 15, PROJECTION_SO3RN_SO3RM = 16, PROJECTION_RNSO2_RN = 17, PROJECTION_SO2N_SO2M = 18, PROJECTION_TASK_SPACE = 19, PROJECTION_COMPOUND = -2, PROJECTION_UNKNOWN = -1 } |
Functions | |
| OMPL_CLASS_FORWARD (Projection) | |
| OMPL_CLASS_FORWARD (BundleSpaceGraph) | |
| OMPL_CLASS_FORWARD (PathRestriction) | |
| OMPL_CLASS_FORWARD (FiberedProjection) | |
| std::ostream & | operator<< (std::ostream &out, const Head &h) |
| std::ostream & | operator<< (std::ostream &out, const PathRestriction &r) |
| std::ostream & | operator<< (std::ostream &out, const PathSection &s) |
| std::ostream & | operator<< (std::ostream &out, const BundleSpace &bundleSpace) |
| std::ostream & | operator<< (std::ostream &out, const Projection &projection) |
| OMPL_CLASS_FORWARD (PathGeometric) | |
Detailed Description
This namespace contains datastructures and planners to exploit multilevel abstractions, which you have to specify using a sequence of SpaceInformationPtr (each with their own StateValidityChecker).
Typedef Documentation
◆ QMP
| using ompl::multilevel::QMP = typedef BundleSpaceSequence<QMPImpl> |
[Q]uotient space road[M]ap [P]lanner (QMP) Algorithm
- Short description
- The Quotient-space roadMap Planner (QMP) is a multi-query, probabilistically complete roadmap planner which generalizes PRM to bundle spaces.
- External documentation
- A. Orthey, A. Escande and E. Yoshida, Quotient-Space Motion Planning, in International Conference on Intelligent Robots and Systems, 2018, [PDF]
◆ QMPStar
| using ompl::multilevel::QMPStar = typedef BundleSpaceSequence<QMPStarImpl> |
[Q]uotient space road[M]ap [P]lanner Star (QMP*) Algorithm
- Short description
- Quotient space roadMap Planner Star (QMP*) generalizes the PRM* algorithm to bundle spaces.
- External documentation
- Andreas Orthey and Sohaib Akbar and Marc Toussaint, Multilevel Motion Planning: A Fiber Bundle Formulation, in arXiv:2007.09435 [cs.RO], 2020, [PDF]
◆ QRRT
| using ompl::multilevel::QRRT = typedef BundleSpaceSequence<QRRTImpl> |
[Q]uotient space [R]apidly exploring [R]andom [T]rees (QRRT) Algorithm
- Short description
- QRRT is a planner using different abstractions levels, each described by a quotient-space, and grows trees both sequentially and simultaneously on them. The growing of each tree is similar to the RRT algorithm, but it differs that (1) a tree is only started if there exists a solution on a lower-dimensional quotient-space, and (2) a sample is not drawn uniformly, but constraint to the tree of the lower-dimensional quotient-space. The algorithm stops if a planner terminate condition (ptc) is reached, or if a solution has been found on the last quotient-space, which is equivalent to the configuration space.
- External documentation
- A. Orthey and M. Toussaint, Rapidly-Exploring Quotient-Space Trees: Motion Planning using Sequential Simplifications, in International Symposium of Robotics Research, 2019, [PDF]
◆ QRRTStar
| using ompl::multilevel::QRRTStar = typedef BundleSpaceSequence<QRRTStarImpl> |
[Q]uotient space [R]apidly exploring [R]andom [T]rees Star (QRRT*) Algorithm
- Short description
- QRRTstar is an almost-surely asymptotically optimal planners which generalizes RRTstar to multilevel abstractions, which we formulate using fiber bundle sequences.
- External documentation
- Andreas Orthey and Sohaib Akbar and Marc Toussaint, Multilevel Motion Planning: A Fiber Bundle Formulation, in arXiv:2007.09435 [cs.RO], 2020, [PDF]
Definition at line 132 of file QRRTStar.h.
Enumeration Type Documentation
◆ ProjectionType
Definition at line 114 of file ProjectionTypes.h.