SPArse Roadmap Spanner Version 2.0 More...
#include <ompl/geometric/planners/prm/SPARStwo.h>

Classes | |
struct | InterfaceData |
Interface information storage class, which does bookkeeping for criterion four. More... | |
struct | vertex_color_t |
struct | vertex_interface_data_t |
struct | vertex_state_t |
Public Types | |
enum | GuardType { START , GOAL , COVERAGE , CONNECTIVITY , INTERFACE , QUALITY } |
Enumeration which specifies the reason a guard is added to the spanner. More... | |
using | VertexIndexType = unsigned long |
The type used internally for representing vertex IDs. | |
using | VertexPair = std::pair<VertexIndexType, VertexIndexType> |
Pair of vertices which support an interface. | |
using | InterfaceHash = std::unordered_map<VertexPair, InterfaceData> |
the hash which maps pairs of neighbor points to pairs of states | |
using | Graph |
The underlying roadmap graph. | |
using | Vertex = boost::graph_traits<Graph>::vertex_descriptor |
Vertex in Graph. | |
using | Edge = boost::graph_traits<Graph>::edge_descriptor |
Edge in Graph. | |
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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. | |
Public Member Functions | |
SPARStwo (const base::SpaceInformationPtr &si) | |
Constructor. | |
~SPARStwo () override | |
Destructor. | |
void | setProblemDefinition (const base::ProblemDefinitionPtr &pdef) override |
void | setStretchFactor (double t) |
Sets the stretch factor. | |
void | setSparseDeltaFraction (double D) |
Sets vertex visibility range as a fraction of max. extent. | |
void | setDenseDeltaFraction (double d) |
Sets interface support tolerance as a fraction of max. extent. | |
void | setMaxFailures (unsigned int m) |
Sets the maximum failures until termination. | |
unsigned int | getMaxFailures () const |
Retrieve the maximum consecutive failure limit. | |
double | getDenseDeltaFraction () const |
Retrieve the dense graph interface support delta. | |
double | getSparseDeltaFraction () const |
Retrieve the sparse graph visibility range delta. | |
double | getStretchFactor () const |
Retrieve the spanner's set stretch factor. | |
void | constructRoadmap (const base::PlannerTerminationCondition &ptc) |
While the termination condition permits, construct the spanner graph. | |
void | constructRoadmap (const base::PlannerTerminationCondition &ptc, bool stopOnMaxFail) |
While the termination condition permits, construct the spanner graph. If stopOnMaxFail is true, the function also terminates when the failure limit set by setMaxFailures() is reached. | |
base::PlannerStatus | solve (const 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. 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 Graph & | getRoadmap () const |
Retrieve the computed roadmap. | |
unsigned int | milestoneCount () const |
Get the number of vertices in the sparse roadmap. | |
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 | printDebug (std::ostream &out=std::cout) const |
Print debug information about planner. | |
std::string | getIterationCount () const |
std::string | getBestCost () const |
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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. | |
template<class T> | |
const T * | as () const |
Cast this instance to a desired type. | |
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. | |
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 | |
void | freeMemory () |
Free all the memory allocated by the planner. | |
void | checkQueryStateInitialization () |
Check that the query vertex is initialized (used for internal nearest neighbor searches) | |
bool | checkAddCoverage (const base::State *qNew, std::vector< Vertex > &visibleNeighborhood) |
Checks to see if the sample needs to be added to ensure coverage of the space. | |
bool | checkAddConnectivity (const base::State *qNew, std::vector< Vertex > &visibleNeighborhood) |
Checks to see if the sample needs to be added to ensure connectivity. | |
bool | checkAddInterface (const base::State *qNew, std::vector< Vertex > &graphNeighborhood, std::vector< Vertex > &visibleNeighborhood) |
Checks to see if the current sample reveals the existence of an interface, and if so, tries to bridge it. | |
bool | checkAddPath (Vertex v) |
Checks vertex v for short paths through its region and adds when appropriate. | |
void | resetFailures () |
A reset function for resetting the failures count. | |
void | findGraphNeighbors (base::State *st, std::vector< Vertex > &graphNeighborhood, std::vector< Vertex > &visibleNeighborhood) |
Finds visible nodes in the graph near st. | |
void | approachGraph (Vertex v) |
Approaches the graph from a given vertex. | |
Vertex | findGraphRepresentative (base::State *st) |
Finds the representative of the input state, st. | |
void | findCloseRepresentatives (base::State *workArea, const base::State *qNew, Vertex qRep, std::map< Vertex, base::State * > &closeRepresentatives, const base::PlannerTerminationCondition &ptc) |
Finds representatives of samples near qNew_ which are not his representative. | |
void | updatePairPoints (Vertex rep, const base::State *q, Vertex r, const base::State *s) |
High-level method which updates pair point information for repV_ with neighbor r. | |
void | computeVPP (Vertex v, Vertex vp, std::vector< Vertex > &VPPs) |
Computes all nodes which qualify as a candidate v" for v and vp. | |
void | computeX (Vertex v, Vertex vp, Vertex vpp, std::vector< Vertex > &Xs) |
Computes all nodes which qualify as a candidate x for v, v', and v". | |
VertexPair | index (Vertex vp, Vertex vpp) |
Rectifies indexing order for accessing the vertex data. | |
InterfaceData & | getData (Vertex v, Vertex vp, Vertex vpp) |
Retrieves the Vertex data associated with v,vp,vpp. | |
void | distanceCheck (Vertex rep, const base::State *q, Vertex r, const base::State *s, Vertex rp) |
Performs distance checking for the candidate new state, q against the current information. | |
void | abandonLists (base::State *st) |
When a new guard is added at state st, finds all guards who must abandon their interface information and deletes that information. | |
Vertex | addGuard (base::State *state, GuardType type) |
Construct a guard for a given state (state) and store it in the nearest neighbors data structure. | |
void | connectGuards (Vertex v, Vertex vp) |
Connect two guards in the roadmap. | |
bool | haveSolution (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, the path is saved. | |
void | checkForSolution (const base::PlannerTerminationCondition &ptc, base::PathPtr &solution) |
bool | reachedTerminationCriterion () const |
Returns true if we have reached the iteration failures limit, maxFailures_ or if a solution was added. | |
bool | reachedFailureLimit () const |
Returns whether we have reached the iteration failures limit, maxFailures_. | |
base::PathPtr | constructSolution (Vertex start, Vertex goal) const |
Given two milestones from the same connected component, construct a path connecting them and set it as the solution. | |
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. | |
double | distanceFunction (const Vertex a, const Vertex b) const |
Compute distance between two milestones (this is simply distance between the states of the milestones) | |
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. | |
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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::ValidStateSamplerPtr | sampler_ |
Sampler user for generating valid samples in the state space. | |
std::shared_ptr< NearestNeighbors< Vertex > > | nn_ |
Nearest neighbors data structure. | |
Graph | g_ |
Connectivity graph. | |
std::vector< Vertex > | startM_ |
Array of start milestones. | |
std::vector< Vertex > | goalM_ |
Array of goal milestones. | |
Vertex | queryVertex_ |
Vertex for performing nearest neighbor queries. | |
double | stretchFactor_ {3.} |
Stretch Factor as per graph spanner literature (multiplicative bound on path quality) | |
double | sparseDeltaFraction_ {.25} |
Maximum visibility range for nodes in the graph as a fraction of maximum extent. | |
double | denseDeltaFraction_ {.001} |
Maximum range for allowing two samples to support an interface as a fraction of maximum extent. | |
unsigned int | maxFailures_ {5000} |
The number of consecutive failures to add to the graph before termination. | |
unsigned int | nearSamplePoints_ |
Number of sample points to use when trying to detect interfaces. | |
boost::property_map< Graph, vertex_state_t >::type | stateProperty_ |
Access to the internal base::state at each Vertex. | |
PathSimplifierPtr | psimp_ |
A path simplifier used to simplify dense paths added to the graph. | |
boost::property_map< Graph, boost::edge_weight_t >::type | weightProperty_ |
Access to the weights of each Edge. | |
boost::property_map< Graph, vertex_color_t >::type | colorProperty_ |
Access to the colors for the vertices. | |
boost::property_map< Graph, vertex_interface_data_t >::type | interfaceDataProperty_ |
Access to the interface pair information for the vertices. | |
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. | |
RNG | rng_ |
Random number generator. | |
bool | addedSolution_ {false} |
A flag indicating that a solution has been added during solve() | |
unsigned int | consecutiveFailures_ {0} |
A counter for the number of consecutive failed iterations of the algorithm. | |
double | sparseDelta_ {0.} |
Maximum visibility range for nodes in the graph. | |
double | denseDelta_ {0.} |
Maximum range for allowing two samples to support an interface. | |
std::mutex | graphMutex_ |
Mutex to guard access to the Graph member (g_) | |
base::OptimizationObjectivePtr | opt_ |
Objective cost function for PRM graph edges. | |
long unsigned int | iterations_ {0ul} |
A counter for the number of iterations of the algorithm. | |
base::Cost | bestCost_ {std::numeric_limits<double>::quiet_NaN()} |
Best cost found so far by algorithm. | |
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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
SPArse Roadmap Spanner Version 2.0
- Short description
- SPARStwo is a variant of the SPARS algorithm which removes the dependency on having the dense graph, D. It works through similar mechanics, but uses a different approach to identifying interfaces and computing shortest paths through said interfaces.
- External documentation
- A. Dobson, K. Bekris, Improving Sparse Roadmap Spanners, IEEE International Conference on Robotics and Automation (ICRA) May 2013. [PDF]
Definition at line 77 of file SPARStwo.h.
Member Typedef Documentation
◆ Edge
using ompl::geometric::SPARStwo::Edge = boost::graph_traits<Graph>::edge_descriptor |
Definition at line 219 of file SPARStwo.h.
◆ Graph
The underlying roadmap graph.
- Any BGL graph representation could be used here. Because we
- expect the roadmap to be sparse (m<n^2), an adjacency_list is more appropriate than an adjacency_matrix.
- Obviously, a ompl::base::State* vertex property is required.
- The incremental connected components algorithm requires vertex_predecessor_t and vertex_rank_t properties. If boost::vecS is not used for vertex storage, then there must also be a boost:vertex_index_t property manually added.
- Edges should be undirected and have a weight property.
Definition at line 204 of file SPARStwo.h.
◆ InterfaceHash
using ompl::geometric::SPARStwo::InterfaceHash = std::unordered_map<VertexPair, InterfaceData> |
the hash which maps pairs of neighbor points to pairs of states
Definition at line 172 of file SPARStwo.h.
◆ Vertex
using ompl::geometric::SPARStwo::Vertex = boost::graph_traits<Graph>::vertex_descriptor |
Definition at line 216 of file SPARStwo.h.
◆ VertexIndexType
using ompl::geometric::SPARStwo::VertexIndexType = unsigned long |
The type used internally for representing vertex IDs.
Definition at line 92 of file SPARStwo.h.
◆ VertexPair
using ompl::geometric::SPARStwo::VertexPair = std::pair<VertexIndexType, VertexIndexType> |
Pair of vertices which support an interface.
Definition at line 95 of file SPARStwo.h.
Member Enumeration Documentation
◆ GuardType
Enumeration which specifies the reason a guard is added to the spanner.
Definition at line 81 of file SPARStwo.h.
Constructor & Destructor Documentation
◆ SPARStwo()
ompl::geometric::SPARStwo::SPARStwo | ( | const base::SpaceInformationPtr & | si | ) |
Constructor.
Definition at line 53 of file SPARStwo.cpp.
◆ ~SPARStwo()
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override |
Destructor.
Definition at line 82 of file SPARStwo.cpp.
Member Function Documentation
◆ abandonLists()
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protected |
When a new guard is added at state st, finds all guards who must abandon their interface information and deletes that information.
Definition at line 743 of file SPARStwo.cpp.
◆ addGuard()
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protected |
Construct a guard for a given state (state) and store it in the nearest neighbors data structure.
Definition at line 760 of file SPARStwo.cpp.
◆ approachGraph()
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protected |
Approaches the graph from a given vertex.
Definition at line 566 of file SPARStwo.cpp.
◆ checkAddConnectivity()
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protected |
Checks to see if the sample needs to be added to ensure connectivity.
Definition at line 395 of file SPARStwo.cpp.
◆ checkAddCoverage()
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protected |
Checks to see if the sample needs to be added to ensure coverage of the space.
Definition at line 386 of file SPARStwo.cpp.
◆ checkAddInterface()
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protected |
Checks to see if the current sample reveals the existence of an interface, and if so, tries to bridge it.
Definition at line 428 of file SPARStwo.cpp.
◆ checkAddPath()
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protected |
Checks vertex v for short paths through its region and adds when appropriate.
Definition at line 458 of file SPARStwo.cpp.
◆ checkForSolution()
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protected |
Thread that checks for solution
Definition at line 365 of file SPARStwo.cpp.
◆ checkQueryStateInitialization()
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protected |
Check that the query vertex is initialized (used for internal nearest neighbor searches)
Definition at line 288 of file SPARStwo.cpp.
◆ clear()
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overridevirtual |
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.
Reimplemented from ompl::base::Planner.
Definition at line 135 of file SPARStwo.cpp.
◆ clearQuery()
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overridevirtual |
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.
Reimplemented from ompl::base::Planner.
Definition at line 128 of file SPARStwo.cpp.
◆ computeVPP()
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protected |
Computes all nodes which qualify as a candidate v" for v and vp.
Definition at line 660 of file SPARStwo.cpp.
◆ computeX()
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protected |
Computes all nodes which qualify as a candidate x for v, v', and v".
Definition at line 669 of file SPARStwo.cpp.
◆ connectGuards()
Connect two guards in the roadmap.
Definition at line 778 of file SPARStwo.cpp.
◆ constructRoadmap() [1/2]
void ompl::geometric::SPARStwo::constructRoadmap | ( | const base::PlannerTerminationCondition & | ptc | ) |
While the termination condition permits, construct the spanner graph.
Definition at line 231 of file SPARStwo.cpp.
◆ constructRoadmap() [2/2]
void ompl::geometric::SPARStwo::constructRoadmap | ( | const base::PlannerTerminationCondition & | ptc, |
bool | stopOnMaxFail ) |
While the termination condition permits, construct the spanner graph. If stopOnMaxFail is true, the function also terminates when the failure limit set by setMaxFailures() is reached.
Definition at line 219 of file SPARStwo.cpp.
◆ constructSolution()
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protected |
Given two milestones from the same connected component, construct a path connecting them and set it as the solution.
Definition at line 790 of file SPARStwo.cpp.
◆ costHeuristic()
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protected |
Given two vertices, returns a heuristic on the cost of the path connecting them. This method wraps OptimizationObjective::motionCostHeuristic.
Definition at line 875 of file SPARStwo.cpp.
◆ distanceCheck()
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protected |
Performs distance checking for the candidate new state, q against the current information.
Definition at line 698 of file SPARStwo.cpp.
◆ distanceFunction()
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inlineprotected |
Compute distance between two milestones (this is simply distance between the states of the milestones)
Definition at line 447 of file SPARStwo.h.
◆ findCloseRepresentatives()
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protected |
Finds representatives of samples near qNew_ which are not his representative.
Definition at line 598 of file SPARStwo.cpp.
◆ findGraphNeighbors()
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protected |
Finds visible nodes in the graph near st.
Definition at line 552 of file SPARStwo.cpp.
◆ findGraphRepresentative()
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protected |
Finds the representative of the input state, st.
Definition at line 580 of file SPARStwo.cpp.
◆ freeMemory()
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protected |
Free all the memory allocated by the planner.
Definition at line 147 of file SPARStwo.cpp.
◆ getBestCost()
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inline |
Definition at line 348 of file SPARStwo.h.
◆ getData()
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protected |
Retrieves the Vertex data associated with v,vp,vpp.
Definition at line 693 of file SPARStwo.cpp.
◆ getDenseDeltaFraction()
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inline |
Retrieve the dense graph interface support delta.
Definition at line 264 of file SPARStwo.h.
◆ getIterationCount()
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inline |
Definition at line 344 of file SPARStwo.h.
◆ getMaxFailures()
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inline |
Retrieve the maximum consecutive failure limit.
Definition at line 258 of file SPARStwo.h.
◆ getPlannerData()
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overridevirtual |
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).
Reimplemented from ompl::base::Planner.
Definition at line 839 of file SPARStwo.cpp.
◆ getRoadmap()
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inline |
Retrieve the computed roadmap.
Definition at line 326 of file SPARStwo.h.
◆ getSparseDeltaFraction()
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inline |
Retrieve the sparse graph visibility range delta.
Definition at line 270 of file SPARStwo.h.
◆ getStretchFactor()
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inline |
Retrieve the spanner's set stretch factor.
Definition at line 276 of file SPARStwo.h.
◆ haveSolution()
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protected |
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, the path is saved.
Definition at line 166 of file SPARStwo.cpp.
◆ index()
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protected |
Rectifies indexing order for accessing the vertex data.
Definition at line 683 of file SPARStwo.cpp.
◆ milestoneCount()
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inline |
Get the number of vertices in the sparse roadmap.
Definition at line 332 of file SPARStwo.h.
◆ printDebug()
void ompl::geometric::SPARStwo::printDebug | ( | std::ostream & | out = std::cout | ) | const |
Print debug information about planner.
Definition at line 825 of file SPARStwo.cpp.
◆ reachedFailureLimit()
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protected |
Returns whether we have reached the iteration failures limit, maxFailures_.
Definition at line 209 of file SPARStwo.cpp.
◆ reachedTerminationCriterion()
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protected |
Returns true if we have reached the iteration failures limit, maxFailures_ or if a solution was added.
Definition at line 214 of file SPARStwo.cpp.
◆ resetFailures()
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protected |
A reset function for resetting the failures count.
Definition at line 547 of file SPARStwo.cpp.
◆ sameComponent()
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.
Definition at line 204 of file SPARStwo.cpp.
◆ setDenseDeltaFraction()
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inline |
Sets interface support tolerance as a fraction of max. extent.
Definition at line 244 of file SPARStwo.h.
◆ setMaxFailures()
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inline |
Sets the maximum failures until termination.
Definition at line 252 of file SPARStwo.h.
◆ setNearestNeighbors()
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inline |
Set a different nearest neighbors datastructure.
Definition at line 313 of file SPARStwo.h.
◆ setProblemDefinition()
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override |
Definition at line 122 of file SPARStwo.cpp.
◆ setSparseDeltaFraction()
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inline |
Sets vertex visibility range as a fraction of max. extent.
Definition at line 236 of file SPARStwo.h.
◆ setStretchFactor()
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inline |
Sets the stretch factor.
Definition at line 230 of file SPARStwo.h.
◆ setup()
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overridevirtual |
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.
Reimplemented from ompl::base::Planner.
Definition at line 87 of file SPARStwo.cpp.
◆ solve()
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overridevirtual |
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. 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.
Implements ompl::base::Planner.
Definition at line 298 of file SPARStwo.cpp.
◆ updatePairPoints()
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protected |
High-level method which updates pair point information for repV_ with neighbor r.
Definition at line 648 of file SPARStwo.cpp.
Member Data Documentation
◆ addedSolution_
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protected |
A flag indicating that a solution has been added during solve()
Definition at line 508 of file SPARStwo.h.
◆ bestCost_
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protected |
Best cost found so far by algorithm.
Definition at line 534 of file SPARStwo.h.
◆ colorProperty_
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protected |
Access to the colors for the vertices.
Definition at line 496 of file SPARStwo.h.
◆ consecutiveFailures_
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protected |
A counter for the number of consecutive failed iterations of the algorithm.
Definition at line 511 of file SPARStwo.h.
◆ denseDelta_
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protected |
Maximum range for allowing two samples to support an interface.
Definition at line 517 of file SPARStwo.h.
◆ denseDeltaFraction_
|
protected |
Maximum range for allowing two samples to support an interface as a fraction of maximum extent.
Definition at line 478 of file SPARStwo.h.
◆ disjointSets_
|
protected |
Data structure that maintains the connected components.
Definition at line 503 of file SPARStwo.h.
◆ g_
|
protected |
Connectivity graph.
Definition at line 459 of file SPARStwo.h.
◆ goalM_
|
protected |
Array of goal milestones.
Definition at line 465 of file SPARStwo.h.
◆ graphMutex_
|
mutableprotected |
Mutex to guard access to the Graph member (g_)
Definition at line 520 of file SPARStwo.h.
◆ interfaceDataProperty_
|
protected |
Access to the interface pair information for the vertices.
Definition at line 499 of file SPARStwo.h.
◆ iterations_
|
protected |
A counter for the number of iterations of the algorithm.
Definition at line 532 of file SPARStwo.h.
◆ maxFailures_
|
protected |
The number of consecutive failures to add to the graph before termination.
Definition at line 481 of file SPARStwo.h.
◆ nearSamplePoints_
|
protected |
Number of sample points to use when trying to detect interfaces.
Definition at line 484 of file SPARStwo.h.
◆ nn_
|
protected |
Nearest neighbors data structure.
Definition at line 456 of file SPARStwo.h.
◆ opt_
|
protected |
Objective cost function for PRM graph edges.
Definition at line 523 of file SPARStwo.h.
◆ psimp_
|
protected |
A path simplifier used to simplify dense paths added to the graph.
Definition at line 490 of file SPARStwo.h.
◆ queryVertex_
|
protected |
Vertex for performing nearest neighbor queries.
Definition at line 468 of file SPARStwo.h.
◆ rng_
|
protected |
Random number generator.
Definition at line 505 of file SPARStwo.h.
◆ sampler_
|
protected |
Sampler user for generating valid samples in the state space.
Definition at line 453 of file SPARStwo.h.
◆ sparseDelta_
|
protected |
Maximum visibility range for nodes in the graph.
Definition at line 514 of file SPARStwo.h.
◆ sparseDeltaFraction_
|
protected |
Maximum visibility range for nodes in the graph as a fraction of maximum extent.
Definition at line 474 of file SPARStwo.h.
◆ startM_
|
protected |
Array of start milestones.
Definition at line 462 of file SPARStwo.h.
◆ stateProperty_
|
protected |
Access to the internal base::state at each Vertex.
Definition at line 487 of file SPARStwo.h.
◆ stretchFactor_
|
protected |
Stretch Factor as per graph spanner literature (multiplicative bound on path quality)
Definition at line 471 of file SPARStwo.h.
◆ weightProperty_
|
protected |
Access to the weights of each Edge.
Definition at line 493 of file SPARStwo.h.
The documentation for this class was generated from the following files:
- ompl/geometric/planners/prm/SPARStwo.h
- ompl/geometric/planners/prm/src/SPARStwo.cpp