A graph on a Bundle-space. More...
#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>

Classes | |
class | Configuration |
A configuration in Bundle-space. More... | |
class | EdgeInternalState |
An edge in Bundle-space. More... | |
struct | GraphMetaData |
Public Types | |
using | normalized_index_type = int |
using | Graph = boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, Configuration *, EdgeInternalState, GraphMetaData > |
A Bundle-graph structure using boost::adjacency_list bundles. | |
using | BGT = boost::graph_traits< Graph > |
using | Vertex = BGT::vertex_descriptor |
using | Edge = BGT::edge_descriptor |
using | VertexIndex = BGT::vertices_size_type |
using | IEIterator = BGT::in_edge_iterator |
using | OEIterator = BGT::out_edge_iterator |
using | VertexParent = Vertex |
using | VertexRank = VertexIndex |
using | RoadmapNeighborsPtr = std::shared_ptr< NearestNeighbors< Configuration * > > |
using | PDF = ompl::PDF< Configuration * > |
using | PDF_Element = PDF::Element |
![]() | |
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 | |
BundleSpaceGraph (const ompl::base::SpaceInformationPtr &si, BundleSpace *parent=nullptr) | |
virtual unsigned int | getNumberOfVertices () const |
virtual unsigned int | getNumberOfEdges () const |
Vertex | nullVertex () const |
void | grow () override=0 |
Perform an iteration of the planner. | |
void | sampleFromDatastructure (ompl::base::State *) override |
virtual void | sampleBundleGoalBias (ompl::base::State *xRandom) |
bool | getSolution (ompl::base::PathPtr &solution) override |
Return best solution. | |
virtual ompl::base::PathPtr & | getSolutionPathByReference () |
void | getPlannerData (ompl::base::PlannerData &data) const override |
Return plannerdata structure, whereby each vertex is marked depending to which component it belongs (start/goal/non-connected) | |
void | getPlannerDataGraph (ompl::base::PlannerData &data, const Graph &graph, const Vertex vStart) const |
double | getImportance () const override |
Importance of Bundle-space depending on number of vertices in Bundle-graph. | |
virtual void | init () |
Initialization methods for the first iteration (adding start configuration and doing sanity checks) | |
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. | |
void | clear () override |
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work. | |
virtual void | clearVertices () |
virtual void | deleteConfiguration (Configuration *q) |
template<template< typename T > class NN> | |
void | setNearestNeighbors () |
void | uniteComponents (Vertex m1, Vertex m2) |
bool | sameComponent (Vertex m1, Vertex m2) |
virtual const Configuration * | nearest (const Configuration *s) const |
void | setMetric (const std::string &sMetric) override |
void | setPropagator (const std::string &sPropagator) override |
virtual void | setImportance (const std::string &sImportance) |
virtual void | setGraphSampler (const std::string &sGraphSampler) |
virtual void | setFindSectionStrategy (FindSectionType type) |
BundleSpaceGraphSamplerPtr | getGraphSampler () |
virtual Graph & | getGraphNonConst () |
Get underlying boost graph representation (non const) | |
virtual const Graph & | getGraph () const |
Get underlying boost graph representation. | |
const RoadmapNeighborsPtr & | getRoadmapNeighborsPtr () const |
void | print (std::ostream &out) const override |
Print class to ostream. | |
void | writeToGraphviz (std::string filename) const |
Write class to graphviz. | |
virtual void | printConfiguration (const Configuration *) const |
Print configuration to std::cout. | |
void | setGoalBias (double goalBias) |
double | getGoalBias () const |
void | setRange (double distance) |
double | getRange () const |
ompl::base::PathPtr | getPath (const Vertex &start, const Vertex &goal) |
Shortest path on Bundle-graph. | |
ompl::base::PathPtr | getPath (const Vertex &start, const Vertex &goal, Graph &graph) |
virtual double | distance (const Configuration *a, const Configuration *b) const |
Distance between two configurations using the current metric. | |
virtual bool | checkMotion (const Configuration *a, const Configuration *b) const |
Check if we can move from configuration a to configuration b using the current metric. | |
bool | connect (const Configuration *from, const Configuration *to) |
Try to connect configuration a to configuration b using the current metric. | |
Configuration * | steerTowards (const Configuration *from, const Configuration *to) |
Steer system at Configuration *from to Configuration *to. | |
Configuration * | steerTowards_Range (const Configuration *from, Configuration *to) |
Steer system at Configuration *from to Configuration *to, stopping if maxdistance is reached. | |
Configuration * | extendGraphTowards_Range (const Configuration *from, Configuration *to) |
Steer system at Configuration *from to Configuration *to while system is valid, stopping if maxDistance is reached. | |
virtual void | interpolate (const Configuration *a, const Configuration *b, Configuration *dest) const |
Interpolate from configuration a to configuration b and store results in dest. | |
virtual Configuration * | addBundleConfiguration (base::State *) |
Add ompl::base::State to graph. Return its configuration. | |
virtual Vertex | addConfiguration (Configuration *q) |
Add configuration to graph. Return its vertex in boost graph. | |
void | addGoalConfiguration (Configuration *x) |
Add configuration to graph as goal vertex. | |
virtual void | addBundleEdge (const Configuration *a, const Configuration *b) |
Add edge between configuration a and configuration b to graph. | |
virtual const std::pair< Edge, bool > | addEdge (const Vertex a, const Vertex b) |
Add edge between Vertex a and Vertex b to graph. | |
virtual Vertex | getStartIndex () const |
Get vertex representing the start. | |
virtual Vertex | getGoalIndex () const |
Get vertex representing the goal. | |
virtual void | setStartIndex (Vertex) |
Set vertex representing the start. | |
bool | findSection () override |
Call algorithm to solve the find section problem. | |
![]() | |
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 | 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. | |
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 |
![]() | |
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(). | |
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. | |
Public Attributes | |
std::map< Vertex, VertexRank > | vrank |
std::map< Vertex, Vertex > | vparent |
boost::disjoint_sets< boost::associative_property_map< std::map< Vertex, VertexRank > >, boost::associative_property_map< std::map< Vertex, Vertex > > > | disjointSets_ {boost::make_assoc_property_map(vrank), boost::make_assoc_property_map(vparent)} |
base::Cost | bestCost_ {+base::dInf} |
Best cost found so far by algorithm. | |
std::vector< Vertex > | shortestVertexPath_ |
Protected Types | |
using | RNGType = boost::minstd_rand |
Protected Member Functions | |
ompl::base::Cost | costHeuristic (Vertex u, Vertex v) const |
![]() | |
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. | |
![]() | |
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::PathPtr | solutionPath_ |
Vertex | vStart_ |
RoadmapNeighborsPtr | nearestDatastructure_ |
Nearest neighbor structure for Bundle space configurations. | |
Graph | graph_ |
unsigned int | numVerticesWhenComputingSolutionPath_ {0} |
RNG | rng_ |
RNGType | rng_boost |
double | graphLength_ {0.0} |
Length of graph (useful for determing importance of Bundle-space. | |
double | maxDistance_ {-1.0} |
Maximum expansion step. | |
double | goalBias_ {.1} |
Goal bias. | |
Configuration * | xRandom_ {nullptr} |
Temporary random configuration. | |
BundleSpaceImportancePtr | importanceCalculator_ {nullptr} |
Pointer to strategy to compute importance of this bundle space (which is used to decide which bundle space to grow next) | |
BundleSpaceGraphSamplerPtr | graphSampler_ {nullptr} |
Pointer to strategy to sample from graph. | |
PathRestrictionPtr | pathRestriction_ {nullptr} |
Pointer to current path restriction (the set of points which project onto the best cost path on the base space if any). This only exists if there exists a base space and there exists a base space path. | |
ompl::geometric::PathSimplifierPtr | optimizer_ |
A path optimizer. | |
Configuration * | qStart_ {nullptr} |
Start configuration. | |
Configuration * | qGoal_ {nullptr} |
The (best) goal configuration. | |
std::vector< Configuration * > | startConfigurations_ |
List of configurations that satisfy the start condition. | |
std::vector< Configuration * > | goalConfigurations_ |
List of configurations that satisfy the goal condition. | |
![]() | |
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. | |
![]() | |
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 | |
![]() | |
static void | resetCounter () |
reset counter for number of levels | |
![]() | |
static unsigned int | counter_ = 0 |
Internal counter to track multiple bundle spaces. | |
Detailed Description
A graph on a Bundle-space.
Definition at line 87 of file BundleSpaceGraph.h.
Member Typedef Documentation
◆ BGT
using ompl::multilevel::BundleSpaceGraph::BGT = boost::graph_traits<Graph> |
Definition at line 198 of file BundleSpaceGraph.h.
◆ Edge
using ompl::multilevel::BundleSpaceGraph::Edge = BGT::edge_descriptor |
Definition at line 200 of file BundleSpaceGraph.h.
◆ Graph
using ompl::multilevel::BundleSpaceGraph::Graph = boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, Configuration *, EdgeInternalState, GraphMetaData> |
A Bundle-graph structure using boost::adjacency_list bundles.
https://www.boost.org/doc/libs/1_71_0/libs/graph/doc/adjacency_list.html
Definition at line 196 of file BundleSpaceGraph.h.
◆ IEIterator
using ompl::multilevel::BundleSpaceGraph::IEIterator = BGT::in_edge_iterator |
Definition at line 202 of file BundleSpaceGraph.h.
◆ normalized_index_type
using ompl::multilevel::BundleSpaceGraph::normalized_index_type = int |
Definition at line 92 of file BundleSpaceGraph.h.
◆ OEIterator
using ompl::multilevel::BundleSpaceGraph::OEIterator = BGT::out_edge_iterator |
Definition at line 203 of file BundleSpaceGraph.h.
Definition at line 207 of file BundleSpaceGraph.h.
◆ PDF_Element
Definition at line 208 of file BundleSpaceGraph.h.
◆ RNGType
|
protected |
Definition at line 390 of file BundleSpaceGraph.h.
◆ RoadmapNeighborsPtr
using ompl::multilevel::BundleSpaceGraph::RoadmapNeighborsPtr = std::shared_ptr<NearestNeighbors<Configuration *> > |
Definition at line 206 of file BundleSpaceGraph.h.
◆ Vertex
using ompl::multilevel::BundleSpaceGraph::Vertex = BGT::vertex_descriptor |
Definition at line 199 of file BundleSpaceGraph.h.
◆ VertexIndex
using ompl::multilevel::BundleSpaceGraph::VertexIndex = BGT::vertices_size_type |
Definition at line 201 of file BundleSpaceGraph.h.
◆ VertexParent
using ompl::multilevel::BundleSpaceGraph::VertexParent = Vertex |
Definition at line 204 of file BundleSpaceGraph.h.
◆ VertexRank
using ompl::multilevel::BundleSpaceGraph::VertexRank = VertexIndex |
Definition at line 205 of file BundleSpaceGraph.h.
Constructor & Destructor Documentation
◆ BundleSpaceGraph()
BundleSpaceGraph::BundleSpaceGraph | ( | const ompl::base::SpaceInformationPtr & | si, |
BundleSpace * | parent = nullptr |
||
) |
Definition at line 79 of file BundleSpaceGraph.cpp.
◆ ~BundleSpaceGraph()
|
virtual |
Definition at line 111 of file BundleSpaceGraph.cpp.
Member Function Documentation
◆ addBundleConfiguration()
|
virtual |
Add ompl::base::State to graph. Return its configuration.
Definition at line 342 of file BundleSpaceGraph.cpp.
◆ addBundleEdge()
|
virtual |
Add edge between configuration a and configuration b to graph.
Definition at line 349 of file BundleSpaceGraph.cpp.
◆ addConfiguration()
|
virtual |
Add configuration to graph. Return its vertex in boost graph.
Reimplemented in ompl::multilevel::QMPImpl.
Definition at line 354 of file BundleSpaceGraph.cpp.
◆ addEdge()
|
virtual |
Add edge between Vertex a and Vertex b to graph.
Definition at line 567 of file BundleSpaceGraph.cpp.
◆ addGoalConfiguration()
void BundleSpaceGraph::addGoalConfiguration | ( | Configuration * | x | ) |
Add configuration to graph as goal vertex.
Definition at line 581 of file BundleSpaceGraph.cpp.
◆ checkMotion()
|
virtual |
Check if we can move from configuration a to configuration b using the current metric.
Definition at line 415 of file BundleSpaceGraph.cpp.
◆ clear()
|
overridevirtual |
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.
Reimplemented from ompl::multilevel::BundleSpace.
Reimplemented in ompl::multilevel::QMPImpl.
Definition at line 187 of file BundleSpaceGraph.cpp.
◆ clearVertices()
|
virtual |
Definition at line 221 of file BundleSpaceGraph.cpp.
◆ connect()
bool BundleSpaceGraph::connect | ( | const Configuration * | from, |
const Configuration * | to | ||
) |
Try to connect configuration a to configuration b using the current metric.
Definition at line 475 of file BundleSpaceGraph.cpp.
◆ costHeuristic()
|
protected |
Definition at line 392 of file BundleSpaceGraph.cpp.
◆ deleteConfiguration()
|
virtual |
Definition at line 265 of file BundleSpaceGraph.cpp.
◆ distance()
|
virtual |
Distance between two configurations using the current metric.
Definition at line 410 of file BundleSpaceGraph.cpp.
◆ extendGraphTowards_Range()
Configuration * BundleSpaceGraph::extendGraphTowards_Range | ( | const Configuration * | from, |
Configuration * | to | ||
) |
Steer system at Configuration *from to Configuration *to while system is valid, stopping if maxDistance is reached.
Definition at line 453 of file BundleSpaceGraph.cpp.
◆ findSection()
|
overridevirtual |
Call algorithm to solve the find section problem.
Reimplemented from ompl::multilevel::BundleSpace.
Definition at line 168 of file BundleSpaceGraph.cpp.
◆ getGoalBias()
double BundleSpaceGraph::getGoalBias | ( | ) | const |
Definition at line 241 of file BundleSpaceGraph.cpp.
◆ getGoalIndex()
|
virtual |
Get vertex representing the goal.
Definition at line 590 of file BundleSpaceGraph.cpp.
◆ getGraph()
|
virtual |
Get underlying boost graph representation.
Definition at line 377 of file BundleSpaceGraph.cpp.
◆ getGraphNonConst()
|
virtual |
Get underlying boost graph representation (non const)
Definition at line 382 of file BundleSpaceGraph.cpp.
◆ getGraphSampler()
BundleSpaceGraphSamplerPtr BundleSpaceGraph::getGraphSampler | ( | ) |
Definition at line 562 of file BundleSpaceGraph.cpp.
◆ getImportance()
|
overridevirtual |
Importance of Bundle-space depending on number of vertices in Bundle-graph.
Implements ompl::multilevel::BundleSpace.
Definition at line 294 of file BundleSpaceGraph.cpp.
◆ getNumberOfEdges()
|
virtual |
Definition at line 372 of file BundleSpaceGraph.cpp.
◆ getNumberOfVertices()
|
virtual |
Definition at line 367 of file BundleSpaceGraph.cpp.
◆ getPath() [1/2]
ompl::base::PathPtr BundleSpaceGraph::getPath | ( | const Vertex & | start, |
const Vertex & | goal | ||
) |
Shortest path on Bundle-graph.
Definition at line 680 of file BundleSpaceGraph.cpp.
◆ getPath() [2/2]
ompl::base::PathPtr BundleSpaceGraph::getPath | ( | const Vertex & | start, |
const Vertex & | goal, | ||
Graph & | graph | ||
) |
Definition at line 685 of file BundleSpaceGraph.cpp.
◆ getPlannerData()
|
overridevirtual |
Return plannerdata structure, whereby each vertex is marked depending to which component it belongs (start/goal/non-connected)
Reimplemented from ompl::base::Planner.
Definition at line 844 of file BundleSpaceGraph.cpp.
◆ getPlannerDataGraph()
void BundleSpaceGraph::getPlannerDataGraph | ( | ompl::base::PlannerData & | data, |
const Graph & | graph, | ||
const Vertex | vStart | ||
) | const |
Definition at line 788 of file BundleSpaceGraph.cpp.
◆ getRange()
double BundleSpaceGraph::getRange | ( | ) | const |
Definition at line 251 of file BundleSpaceGraph.cpp.
◆ getRoadmapNeighborsPtr()
const BundleSpaceGraph::RoadmapNeighborsPtr & BundleSpaceGraph::getRoadmapNeighborsPtr | ( | ) | const |
Definition at line 387 of file BundleSpaceGraph.cpp.
◆ getSolution()
|
overridevirtual |
Return best solution.
Implements ompl::multilevel::BundleSpace.
Definition at line 618 of file BundleSpaceGraph.cpp.
◆ getSolutionPathByReference()
|
virtual |
Definition at line 613 of file BundleSpaceGraph.cpp.
◆ getStartIndex()
|
virtual |
Get vertex representing the start.
Definition at line 576 of file BundleSpaceGraph.cpp.
◆ grow()
|
overridepure virtual |
Perform an iteration of the planner.
Implements ompl::multilevel::BundleSpace.
Implemented in ompl::multilevel::QMPImpl, ompl::multilevel::QRRTImpl, and ompl::multilevel::QRRTStarImpl.
◆ init()
|
virtual |
Initialization methods for the first iteration (adding start configuration and doing sanity checks)
Definition at line 299 of file BundleSpaceGraph.cpp.
◆ interpolate()
|
virtual |
Interpolate from configuration a to configuration b and store results in dest.
Definition at line 420 of file BundleSpaceGraph.cpp.
◆ nearest()
|
virtual |
Definition at line 337 of file BundleSpaceGraph.cpp.
◆ nullVertex()
BundleSpaceGraph::Vertex BundleSpaceGraph::nullVertex | ( | ) | const |
Definition at line 603 of file BundleSpaceGraph.cpp.
◆ print()
|
overridevirtual |
Print class to ostream.
Reimplemented from ompl::multilevel::BundleSpace.
Definition at line 775 of file BundleSpaceGraph.cpp.
◆ printConfiguration()
|
virtual |
Print configuration to std::cout.
Definition at line 783 of file BundleSpaceGraph.cpp.
◆ sameComponent()
bool BundleSpaceGraph::sameComponent | ( | Vertex | m1, |
Vertex | m2 | ||
) |
Definition at line 332 of file BundleSpaceGraph.cpp.
◆ sampleBundleGoalBias()
|
virtual |
Definition at line 734 of file BundleSpaceGraph.cpp.
◆ sampleFromDatastructure()
|
overridevirtual |
Implements ompl::multilevel::BundleSpace.
Definition at line 755 of file BundleSpaceGraph.cpp.
◆ setFindSectionStrategy()
|
virtual |
Definition at line 160 of file BundleSpaceGraph.cpp.
◆ setGoalBias()
void BundleSpaceGraph::setGoalBias | ( | double | goalBias | ) |
Definition at line 236 of file BundleSpaceGraph.cpp.
◆ setGraphSampler()
|
virtual |
Definition at line 538 of file BundleSpaceGraph.cpp.
◆ setImportance()
|
virtual |
Definition at line 514 of file BundleSpaceGraph.cpp.
◆ setMetric()
|
overridevirtual |
Implements ompl::multilevel::BundleSpace.
Definition at line 500 of file BundleSpaceGraph.cpp.
◆ setNearestNeighbors()
void BundleSpaceGraph::setNearestNeighbors | ( | ) |
Definition at line 398 of file BundleSpaceGraph.cpp.
◆ setPropagator()
|
overridevirtual |
Implements ompl::multilevel::BundleSpace.
Definition at line 486 of file BundleSpaceGraph.cpp.
◆ setRange()
void BundleSpaceGraph::setRange | ( | double | distance | ) |
Definition at line 246 of file BundleSpaceGraph.cpp.
◆ setStartIndex()
|
virtual |
Set vertex representing the start.
Definition at line 608 of file BundleSpaceGraph.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::multilevel::BundleSpace.
Definition at line 116 of file BundleSpaceGraph.cpp.
◆ steerTowards()
Configuration * BundleSpaceGraph::steerTowards | ( | const Configuration * | from, |
const Configuration * | to | ||
) |
Steer system at Configuration *from to Configuration *to.
Definition at line 425 of file BundleSpaceGraph.cpp.
◆ steerTowards_Range()
Configuration * BundleSpaceGraph::steerTowards_Range | ( | const Configuration * | from, |
Configuration * | to | ||
) |
Steer system at Configuration *from to Configuration *to, stopping if maxdistance is reached.
Definition at line 437 of file BundleSpaceGraph.cpp.
◆ uniteComponents()
void BundleSpaceGraph::uniteComponents | ( | Vertex | m1, |
Vertex | m2 | ||
) |
Definition at line 327 of file BundleSpaceGraph.cpp.
◆ writeToGraphviz()
void BundleSpaceGraph::writeToGraphviz | ( | std::string | filename | ) | const |
Write class to graphviz.
Definition at line 760 of file BundleSpaceGraph.cpp.
Member Data Documentation
◆ bestCost_
base::Cost ompl::multilevel::BundleSpaceGraph::bestCost_ {+base::dInf} |
Best cost found so far by algorithm.
Definition at line 293 of file BundleSpaceGraph.h.
◆ disjointSets_
boost::disjoint_sets<boost::associative_property_map<std::map<Vertex, VertexRank> >, boost::associative_property_map<std::map<Vertex, Vertex> > > ompl::multilevel::BundleSpaceGraph::disjointSets_ {boost::make_assoc_property_map(vrank), boost::make_assoc_property_map(vparent)} |
Definition at line 275 of file BundleSpaceGraph.h.
◆ goalBias_
|
protected |
Goal bias.
Definition at line 401 of file BundleSpaceGraph.h.
◆ goalConfigurations_
|
protected |
List of configurations that satisfy the goal condition.
Definition at line 433 of file BundleSpaceGraph.h.
◆ graph_
|
protected |
Definition at line 387 of file BundleSpaceGraph.h.
◆ graphLength_
|
protected |
Length of graph (useful for determing importance of Bundle-space.
Definition at line 395 of file BundleSpaceGraph.h.
◆ graphSampler_
|
protected |
Pointer to strategy to sample from graph.
Definition at line 412 of file BundleSpaceGraph.h.
◆ importanceCalculator_
|
protected |
Pointer to strategy to compute importance of this bundle space (which is used to decide which bundle space to grow next)
Definition at line 409 of file BundleSpaceGraph.h.
◆ maxDistance_
|
protected |
Maximum expansion step.
Definition at line 398 of file BundleSpaceGraph.h.
◆ nearestDatastructure_
|
protected |
Nearest neighbor structure for Bundle space configurations.
Definition at line 386 of file BundleSpaceGraph.h.
◆ numVerticesWhenComputingSolutionPath_
|
protected |
Definition at line 388 of file BundleSpaceGraph.h.
◆ optimizer_
|
protected |
A path optimizer.
Definition at line 421 of file BundleSpaceGraph.h.
◆ pathRestriction_
|
protected |
Pointer to current path restriction (the set of points which project onto the best cost path on the base space if any). This only exists if there exists a base space and there exists a base space path.
Definition at line 418 of file BundleSpaceGraph.h.
◆ qGoal_
|
protected |
The (best) goal configuration.
Definition at line 427 of file BundleSpaceGraph.h.
◆ qStart_
|
protected |
Start configuration.
Definition at line 424 of file BundleSpaceGraph.h.
◆ rng_
|
protected |
Definition at line 389 of file BundleSpaceGraph.h.
◆ rng_boost
|
protected |
Definition at line 391 of file BundleSpaceGraph.h.
◆ shortestVertexPath_
std::vector<Vertex> ompl::multilevel::BundleSpaceGraph::shortestVertexPath_ |
Definition at line 296 of file BundleSpaceGraph.h.
◆ solutionPath_
|
protected |
Definition at line 379 of file BundleSpaceGraph.h.
◆ startConfigurations_
|
protected |
List of configurations that satisfy the start condition.
Definition at line 430 of file BundleSpaceGraph.h.
◆ vparent
std::map<Vertex, Vertex> ompl::multilevel::BundleSpaceGraph::vparent |
Definition at line 272 of file BundleSpaceGraph.h.
◆ vrank
std::map<Vertex, VertexRank> ompl::multilevel::BundleSpaceGraph::vrank |
Definition at line 271 of file BundleSpaceGraph.h.
◆ vStart_
|
protected |
Definition at line 381 of file BundleSpaceGraph.h.
◆ xRandom_
|
protected |
Temporary random configuration.
Definition at line 404 of file BundleSpaceGraph.h.
The documentation for this class was generated from the following files:
- ompl/multilevel/datastructures/BundleSpaceGraph.h
- ompl/multilevel/datastructures/src/BundleSpaceGraph.cpp