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LazyPRM.h
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34
35/* Author: Ioan Sucan, Henning Kayser */
36
37#ifndef OMPL_GEOMETRIC_PLANNERS_PRM_LAZY_PRM_
38#define OMPL_GEOMETRIC_PLANNERS_PRM_LAZY_PRM_
39
40#include "ompl/geometric/planners/PlannerIncludes.h"
41#include "ompl/datastructures/NearestNeighbors.h"
42#include <boost/graph/graph_traits.hpp>
43#include <boost/graph/adjacency_list.hpp>
44#include <utility>
45#include <vector>
46#include <map>
47
48namespace ompl
49{
50 namespace base
51 {
52 // Forward declare for use in implementation
53 OMPL_CLASS_FORWARD(OptimizationObjective);
54 }
55
56 namespace geometric
57 {
73 class LazyPRM : public base::Planner
74 {
75 public:
77 {
78 using kind = boost::vertex_property_tag;
79 };
80
82 {
83 using kind = boost::vertex_property_tag;
84 };
85
87 {
88 using kind = boost::vertex_property_tag;
89 };
90
92 {
93 using kind = boost::edge_property_tag;
94 };
95
97 using Vertex =
98 boost::adjacency_list_traits<boost::vecS, boost::listS, boost::undirectedS>::vertex_descriptor;
99
116 using Graph = boost::adjacency_list<
117 boost::vecS, boost::listS, boost::undirectedS,
118 boost::property<
120 boost::property<
121 boost::vertex_index_t, unsigned long int,
122 boost::property<vertex_flags_t, unsigned int,
123 boost::property<vertex_component_t, unsigned long int,
124 boost::property<boost::vertex_predecessor_t, Vertex,
125 boost::property<boost::vertex_rank_t,
126 unsigned long int>>>>>>,
127 boost::property<boost::edge_weight_t, base::Cost, boost::property<edge_flags_t, unsigned int>>>;
128
130 using Edge = boost::graph_traits<Graph>::edge_descriptor;
131
133 using RoadmapNeighbors = std::shared_ptr<NearestNeighbors<Vertex> >;
134
137 using ConnectionStrategy = std::function<const std::vector<Vertex> &(const Vertex)>;
138
144 using ConnectionFilter = std::function<bool (const Vertex &, const Vertex &)>;
145
147 LazyPRM(const base::SpaceInformationPtr &si, bool starStrategy = false);
148
150 LazyPRM(const base::PlannerData &data, bool starStrategy = false);
151
152 ~LazyPRM() override;
153
155 void setRange(double distance);
156
158 double getRange() const
159 {
160 return maxDistance_;
161 }
162
164 template <template <typename T> class NN>
166 {
167 if (nn_ && nn_->size() == 0)
168 OMPL_WARN("Calling setNearestNeighbors will clear all states.");
169 clear();
170 nn_ = std::make_shared<NN<Vertex>>();
173 if (isSetup())
174 setup();
175 }
176
177 void setProblemDefinition(const base::ProblemDefinitionPtr &pdef) override;
178
192 void setConnectionStrategy(const ConnectionStrategy &connectionStrategy)
193 {
194 connectionStrategy_ = connectionStrategy;
196 }
199
203 void setMaxNearestNeighbors(unsigned int k);
204
218 void setConnectionFilter(const ConnectionFilter &connectionFilter)
219 {
220 connectionFilter_ = connectionFilter;
221 }
222
224 unsigned long int milestoneCount() const
225 {
226 return boost::num_vertices(g_);
227 }
228
230 unsigned long int edgeCount() const
231 {
232 return boost::num_edges(g_);
233 }
234
235 void getPlannerData(base::PlannerData &data) const override;
236
237 void setup() override;
238
239 void clear() override;
240
245 void clearQuery() override;
246
248 void clearValidity();
249
251
252 protected:
254 static const unsigned int VALIDITY_UNKNOWN = 0;
255
257 static const unsigned int VALIDITY_TRUE = 1;
258
260 // Planner progress property functions
261 std::string getIterationCount() const
262 {
263 return std::to_string(iterations_);
264 }
265 std::string getBestCost() const
266 {
267 return std::to_string(bestCost_.value());
268 }
269 std::string getMilestoneCountString() const
270 {
271 return std::to_string(milestoneCount());
272 }
273 std::string getEdgeCountString() const
274 {
275 return std::to_string(edgeCount());
276 }
277
279 void freeMemory();
280
284 Vertex addMilestone(base::State *state);
285
286 void uniteComponents(Vertex a, Vertex b);
287
288 void markComponent(Vertex v, unsigned long int newComponent);
289
292 long int solutionComponent(std::pair<std::size_t, std::size_t> *startGoalPair) const;
293
296 ompl::base::PathPtr constructSolution(const Vertex &start, const Vertex &goal);
297
300 double distanceFunction(const Vertex a, const Vertex b) const
301 {
302 return si_->distance(stateProperty_[a], stateProperty_[b]);
303 }
304
307 base::Cost costHeuristic(Vertex u, Vertex v) const;
308
311
314
317
321
323 double maxDistance_{0.};
324
326 base::StateSamplerPtr sampler_;
327
330
333
335 std::vector<Vertex> startM_;
336
338 std::vector<Vertex> goalM_;
339
341 boost::property_map<Graph, boost::vertex_index_t>::type indexProperty_;
342
344 boost::property_map<Graph, vertex_state_t>::type stateProperty_;
345
347 boost::property_map<Graph, boost::edge_weight_t>::type weightProperty_;
348
350 boost::property_map<Graph, vertex_component_t>::type vertexComponentProperty_;
351
353 boost::property_map<Graph, vertex_flags_t>::type vertexValidityProperty_;
354
356 boost::property_map<Graph, edge_flags_t>::type edgeValidityProperty_;
357
360 unsigned long int componentCount_{0};
361
363 std::map<unsigned long int, unsigned long int> componentSize_;
364
366 base::OptimizationObjectivePtr opt_;
367
368 base::Cost bestCost_{std::numeric_limits<double>::quiet_NaN()};
369
370 unsigned long int iterations_{0};
371 };
372 }
373}
374
375#endif
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
double value() const
The value of the cost.
Definition: Cost.h:56
A shared pointer wrapper for ompl::base::Path.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Base class for a planner.
Definition: Planner.h:223
bool isSetup() const
Check if setup() was called for this planner.
Definition: Planner.cpp:113
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:417
Definition of an abstract state.
Definition: State.h:50
Lazy Probabilistic RoadMap planner.
Definition: LazyPRM.h:74
void clearQuery() override
Clear the query previously loaded from the ProblemDefinition. Subsequent calls to solve() will reuse ...
Definition: LazyPRM.cpp:241
static const unsigned int VALIDITY_UNKNOWN
Flag indicating validity of an edge of a vertex.
Definition: LazyPRM.h:254
void clearValidity()
change the validity flag of each node and edge to VALIDITY_UNKNOWN
Definition: LazyPRM.cpp:248
void setRange(double distance)
Set the maximum length of a motion to be added to the roadmap.
Definition: LazyPRM.cpp:200
std::vector< Vertex > startM_
Array of start milestones.
Definition: LazyPRM.h:335
void setConnectionStrategy(const ConnectionStrategy &connectionStrategy)
Set the connection strategy function that specifies the milestones that connection attempts will be m...
Definition: LazyPRM.h:192
unsigned long int componentCount_
Number of connected components created so far. This is used as an ID only, does not represent the act...
Definition: LazyPRM.h:360
boost::adjacency_list_traits< boost::vecS, boost::listS, boost::undirectedS >::vertex_descriptor Vertex
The type for a vertex in the roadmap.
Definition: LazyPRM.h:98
void freeMemory()
Free all the memory allocated by the planner.
Definition: LazyPRM.cpp:269
bool userSetConnectionStrategy_
Flag indicating whether the employed connection strategy was set by the user (or defaults are assumed...
Definition: LazyPRM.h:320
void setMaxNearestNeighbors(unsigned int k)
Convenience function that sets the connection strategy to the default one with k nearest neighbors.
Definition: LazyPRM.cpp:209
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 Op...
Definition: LazyPRM.cpp:603
ompl::base::PathPtr constructSolution(const Vertex &start, const Vertex &goal)
Given two milestones from the same connected component, construct a path connecting them and set it a...
Definition: LazyPRM.cpp:476
std::function< const std::vector< Vertex > &(const Vertex)> ConnectionStrategy
A function returning the milestones that should be attempted to connect to.
Definition: LazyPRM.h:137
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: LazyPRM.cpp:256
std::shared_ptr< NearestNeighbors< Vertex > > RoadmapNeighbors
A nearest neighbors data structure for roadmap vertices.
Definition: LazyPRM.h:133
boost::property_map< Graph, vertex_component_t >::type vertexComponentProperty_
Access the connected component of a vertex.
Definition: LazyPRM.h:350
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: LazyPRM.cpp:302
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: LazyPRM.h:165
std::map< unsigned long int, unsigned long int > componentSize_
The number of elements in each component in the LazyPRM roadmap.
Definition: LazyPRM.h:363
static const unsigned int VALIDITY_TRUE
Flag indicating validity of an edge of a vertex.
Definition: LazyPRM.h:257
double maxDistance_
The maximum length of a motion to be added to a tree.
Definition: LazyPRM.h:323
Vertex addMilestone(base::State *state)
Construct a milestone for a given state (state), store it in the nearest neighbors data structure and...
Definition: LazyPRM.cpp:276
bool starStrategy_
Flag indicating whether the default connection strategy is the Star strategy.
Definition: LazyPRM.h:310
Graph g_
Connectivity graph.
Definition: LazyPRM.h:332
boost::property_map< Graph, boost::edge_weight_t >::type weightProperty_
Access to the weights of each Edge.
Definition: LazyPRM.h:347
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: LazyPRM.cpp:608
void setConnectionFilter(const ConnectionFilter &connectionFilter)
Set the function that can reject a milestone connection.
Definition: LazyPRM.h:218
unsigned long int edgeCount() const
Return the number of edges currently in the graph.
Definition: LazyPRM.h:230
boost::property_map< Graph, vertex_flags_t >::type vertexValidityProperty_
Access the validity state of a vertex.
Definition: LazyPRM.h:353
boost::adjacency_list< boost::vecS, boost::listS, boost::undirectedS, boost::property< vertex_state_t, base::State *, boost::property< boost::vertex_index_t, unsigned long int, boost::property< vertex_flags_t, unsigned int, boost::property< vertex_component_t, unsigned long int, boost::property< boost::vertex_predecessor_t, Vertex, boost::property< boost::vertex_rank_t, unsigned long int > > > > > >, boost::property< boost::edge_weight_t, base::Cost, boost::property< edge_flags_t, unsigned int > > > Graph
The underlying roadmap graph.
Definition: LazyPRM.h:127
double getRange() const
Get the range the planner is using.
Definition: LazyPRM.h:158
unsigned long int milestoneCount() const
Return the number of milestones currently in the graph.
Definition: LazyPRM.h:224
RoadmapNeighbors nn_
Nearest neighbors data structure.
Definition: LazyPRM.h:329
boost::property_map< Graph, vertex_state_t >::type stateProperty_
Access to the internal base::state at each Vertex.
Definition: LazyPRM.h:344
std::vector< Vertex > goalM_
Array of goal milestones.
Definition: LazyPRM.h:338
void setDefaultConnectionStrategy()
Definition: LazyPRM.cpp:227
double distanceFunction(const Vertex a, const Vertex b) const
Compute distance between two milestones (this is simply distance between the states of the milestones...
Definition: LazyPRM.h:300
std::function< bool(const Vertex &, const Vertex &)> ConnectionFilter
A function that can reject connections.
Definition: LazyPRM.h:144
ConnectionStrategy connectionStrategy_
Function that returns the milestones to attempt connections with.
Definition: LazyPRM.h:313
boost::graph_traits< Graph >::edge_descriptor Edge
The type for an edge in the roadmap.
Definition: LazyPRM.h:130
long int solutionComponent(std::pair< std::size_t, std::size_t > *startGoalPair) const
Check if any pair of a start state and goal state are part of the same connected component....
Definition: LazyPRM.cpp:458
boost::property_map< Graph, boost::vertex_index_t >::type indexProperty_
Access to the internal base::state at each Vertex.
Definition: LazyPRM.h:341
boost::property_map< Graph, edge_flags_t >::type edgeValidityProperty_
Access the validity state of an edge.
Definition: LazyPRM.h:356
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: LazyPRM.cpp:153
base::StateSamplerPtr sampler_
Sampler user for generating random in the state space.
Definition: LazyPRM.h:326
base::OptimizationObjectivePtr opt_
Objective cost function for PRM graph edges.
Definition: LazyPRM.h:366
ConnectionFilter connectionFilter_
Function that can reject a milestone connection.
Definition: LazyPRM.h:316
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition: Console.h:66
Main namespace. Contains everything in this library.
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49