A single Bundle-space. More...
#include <ompl/multilevel/datastructures/BundleSpace.h>

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. | |
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 |
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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. | |
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. | |
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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 | |
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. | |
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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. | |
Static Protected Attributes | |
static unsigned int | counter_ = 0 |
Internal counter to track multiple bundle spaces. | |
Friends | |
std::ostream & | operator<< (std::ostream &out, const BundleSpace &bundleSpace) |
Write class to stream (use as std::cout << *this << std::endl) | |
Additional Inherited Members | |
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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. | |
Detailed Description
A single Bundle-space.
Definition at line 63 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.
◆ ~BundleSpace()
|
virtual |
Definition at line 86 of file BundleSpace.cpp.
Member Function Documentation
◆ allocIdentityState() [1/2]
void BundleSpace::allocIdentityState | ( | ompl::base::State * | s, |
ompl::base::StateSpacePtr | space ) const |
Definition at line 231 of file BundleSpace.cpp.
◆ allocIdentityState() [2/2]
State * BundleSpace::allocIdentityState | ( | ompl::base::StateSpacePtr | space | ) | const |
Definition at line 299 of file BundleSpace.cpp.
◆ allocIdentityStateBase()
State * BundleSpace::allocIdentityStateBase | ( | ) | const |
Definition at line 318 of file BundleSpace.cpp.
◆ allocIdentityStateBundle()
State * BundleSpace::allocIdentityStateBundle | ( | ) | const |
Allocate State, set entries to Identity/Zero.
Definition at line 313 of file BundleSpace.cpp.
◆ checkBundleSpaceMeasure()
|
protected |
Check if Bundle-space is bounded.
Definition at line 190 of file BundleSpace.cpp.
◆ clear()
|
overridevirtual |
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.
Reimplemented from ompl::base::Planner.
Reimplemented in ompl::multilevel::BundleSpaceGraph, and ompl::multilevel::QMPImpl.
Definition at line 164 of file BundleSpace.cpp.
◆ getBase()
const SpaceInformationPtr & BundleSpace::getBase | ( | ) | const |
Get SpaceInformationPtr for Base.
Definition at line 328 of file BundleSpace.cpp.
◆ getBaseDimension()
unsigned int BundleSpace::getBaseDimension | ( | ) | const |
Dimension of Base Space.
Definition at line 333 of file BundleSpace.cpp.
◆ getBaseSamplerPtr()
const StateSamplerPtr & BundleSpace::getBaseSamplerPtr | ( | ) | const |
Definition at line 351 of file BundleSpace.cpp.
◆ getBundle()
const SpaceInformationPtr & BundleSpace::getBundle | ( | ) | const |
Get SpaceInformationPtr for Bundle.
Definition at line 323 of file BundleSpace.cpp.
◆ getBundleDimension()
unsigned int BundleSpace::getBundleDimension | ( | ) | const |
Dimension of Bundle Space.
Definition at line 341 of file BundleSpace.cpp.
◆ getBundleSamplerPtr()
const StateSamplerPtr & BundleSpace::getBundleSamplerPtr | ( | ) | const |
Definition at line 364 of file BundleSpace.cpp.
◆ getChild()
BundleSpace * BundleSpace::getChild | ( | ) | const |
Return k-1 th bundle space (locally the base space)
Definition at line 389 of file BundleSpace.cpp.
◆ getCoDimension()
unsigned int BundleSpace::getCoDimension | ( | ) | const |
Dimension of Bundle Space - Dimension of Base Space.
Definition at line 346 of file BundleSpace.cpp.
◆ getGoalPtr()
GoalSampleableRegion * BundleSpace::getGoalPtr | ( | ) | const |
Definition at line 158 of file BundleSpace.cpp.
◆ getImportance()
|
pure virtual |
Compute importance of bundle space (to decide where to.
Implemented in ompl::multilevel::BundleSpaceGraph.
◆ getLevel()
unsigned int BundleSpace::getLevel | ( | ) | const |
Level in hierarchy of Bundle-spaces.
Definition at line 409 of file BundleSpace.cpp.
◆ getOptimizationObjectivePtr()
OptimizationObjectivePtr BundleSpace::getOptimizationObjectivePtr | ( | ) | const |
Definition at line 419 of file BundleSpace.cpp.
◆ getParent()
BundleSpace * BundleSpace::getParent | ( | ) | const |
Return k+1 th bundle space (locally the total space)
Definition at line 399 of file BundleSpace.cpp.
◆ getProjection()
ProjectionPtr BundleSpace::getProjection | ( | ) | const |
Get ProjectionPtr from Bundle to Base.
Definition at line 226 of file BundleSpace.cpp.
◆ getSolution()
|
pure virtual |
Return best solution.
Implemented in ompl::multilevel::BundleSpaceGraph.
◆ grow()
|
pure virtual |
Perform an iteration of the planner.
Implemented in ompl::multilevel::BundleSpaceGraph, ompl::multilevel::QMPImpl, ompl::multilevel::QRRTImpl, and ompl::multilevel::QRRTStarImpl.
◆ hasBaseSpace()
bool BundleSpace::hasBaseSpace | ( | ) | const |
Return if has base space pointer.
Definition at line 114 of file BundleSpace.cpp.
◆ hasConverged()
|
virtual |
Check if the current space can still be sampled.
Definition at line 374 of file BundleSpace.cpp.
◆ hasParent()
bool BundleSpace::hasParent | ( | ) | const |
Return if has parent space pointer.
Definition at line 124 of file BundleSpace.cpp.
◆ hasSolution()
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virtual |
Definition at line 379 of file BundleSpace.cpp.
◆ isDynamic()
bool BundleSpace::isDynamic | ( | ) | const |
Definition at line 129 of file BundleSpace.cpp.
◆ isInfeasible()
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virtual |
Check if any infeasibility guarantees are fulfilled.
Definition at line 369 of file BundleSpace.cpp.
◆ lift()
void BundleSpace::lift | ( | const ompl::base::State * | xBase, |
ompl::base::State * | xBundle ) const |
Lift a state from Base to Bundle.
Definition at line 459 of file BundleSpace.cpp.
◆ makeProjection()
bool BundleSpace::makeProjection | ( | ) |
Given bundle space and base space, try to guess the right.
Definition at line 101 of file BundleSpace.cpp.
◆ print()
|
protectedvirtual |
Internal function implementing actual printing to stream.
Reimplemented in ompl::multilevel::BundleSpaceGraph.
Definition at line 469 of file BundleSpace.cpp.
◆ project()
void BundleSpace::project | ( | const ompl::base::State * | xBundle, |
ompl::base::State * | xBase ) const |
Bundle Space Projection Operator onto first component ProjectBase: Bundle \rightarrow Base.
Definition at line 464 of file BundleSpace.cpp.
◆ resetCounter()
|
static |
reset counter for number of levels
Definition at line 211 of file BundleSpace.cpp.
◆ sampleBundle()
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virtual |
Definition at line 438 of file BundleSpace.cpp.
◆ sampleBundleValid()
bool BundleSpace::sampleBundleValid | ( | ompl::base::State * | xRandom | ) |
Definition at line 424 of file BundleSpace.cpp.
◆ sanityChecks()
|
protected |
Check if Bundle-space has correct structure.
Definition at line 174 of file BundleSpace.cpp.
◆ setChild()
void BundleSpace::setChild | ( | BundleSpace * | child | ) |
Pointer to k-1 th bundle space (locally the base space)
Definition at line 394 of file BundleSpace.cpp.
◆ setLevel()
void BundleSpace::setLevel | ( | unsigned int | level | ) |
Change level in hierarchy.
Definition at line 414 of file BundleSpace.cpp.
◆ setParent()
void BundleSpace::setParent | ( | BundleSpace * | parent | ) |
Pointer to k+1 th bundle space (locally the total space)
Definition at line 404 of file BundleSpace.cpp.
◆ setProblemDefinition()
|
overridevirtual |
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().
Reimplemented from ompl::base::Planner.
Definition at line 206 of file BundleSpace.cpp.
◆ setProjection()
void BundleSpace::setProjection | ( | ProjectionPtr | projection | ) |
Set explicit projection (so that we do not need to guess.
Definition at line 216 of file BundleSpace.cpp.
◆ setup()
|
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.
Reimplemented in ompl::multilevel::BundleSpaceGraph.
Definition at line 134 of file BundleSpace.cpp.
Friends And Related Symbol Documentation
◆ operator<<
|
friend |
Write class to stream (use as std::cout << *this << std::endl)
Definition at line 478 of file BundleSpace.cpp.
Member Data Documentation
◆ counter_
|
staticprotected |
Internal counter to track multiple bundle spaces.
Definition at line 255 of file BundleSpace.h.
◆ firstRun_
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protected |
Variable to check if this bundle space planner has been run at.
Definition at line 265 of file BundleSpace.h.
◆ hasSolution_
|
protected |
If there exists a solution.
Definition at line 261 of file BundleSpace.h.
◆ id_
|
protected |
Identity of space (to keep track of number of Bundle-spaces created)
Definition at line 258 of file BundleSpace.h.
◆ isDynamic_
|
protected |
If the problem is dynamic or geometric.
Definition at line 268 of file BundleSpace.h.
◆ metric_
|
protected |
Metric on bundle space.
Definition at line 271 of file BundleSpace.h.
◆ propagator_
|
protected |
Propagator (steering or interpolation) on bundle space. Note: currently just a stub for base::StatePropagator.
Definition at line 275 of file BundleSpace.h.
◆ xBaseTmp_
|
protected |
A temporary state on Base.
Definition at line 250 of file BundleSpace.h.
◆ xBundleTmp_
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protected |
A temporary state on Bundle.
Definition at line 252 of file BundleSpace.h.
The documentation for this class was generated from the following files:
- ompl/multilevel/datastructures/BundleSpace.h
- ompl/multilevel/datastructures/src/BundleSpace.cpp