Loading...
Searching...
No Matches

A graph on a Bundle-space. More...

#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>

Inheritance diagram for ompl::multilevel::BundleSpaceGraph:

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
 
- Public Types inherited from ompl::base::Planner
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::PathPtrgetSolutionPathByReference ()
 
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 Configurationnearest (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 GraphgetGraphNonConst ()
 Get underlying boost graph representation (non const)
 
virtual const GraphgetGraph () 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.
 
ConfigurationsteerTowards (const Configuration *from, const Configuration *to)
 Steer system at Configuration *from to Configuration *to.
 
ConfigurationsteerTowards_Range (const Configuration *from, Configuration *to)
 Steer system at Configuration *from to Configuration *to, stopping if maxdistance is reached.
 
ConfigurationextendGraphTowards_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 ConfigurationaddBundleConfiguration (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.
 
- Public Member Functions inherited from ompl::multilevel::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.
 
const ompl::base::SpaceInformationPtrgetBundle () const
 Get SpaceInformationPtr for Bundle.
 
const ompl::base::SpaceInformationPtrgetBase () 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::StateallocIdentityStateBundle () const
 Allocate State, set entries to Identity/Zero.
 
ompl::base::StateallocIdentityStateBase () const
 
ompl::base::StateallocIdentityState (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::StateSamplerPtrgetBundleSamplerPtr () const
 
const ompl::base::StateSamplerPtrgetBaseSamplerPtr () const
 
BundleSpacegetChild () 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)
 
BundleSpacegetParent () 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::GoalSampleableRegiongetGoalPtr () const
 
- Public Member Functions inherited from ompl::base::Planner
 Planner (const Planner &)=delete
 
Planneroperator= (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 SpaceInformationPtrgetSpaceInformation () const
 Get the space information this planner is using.
 
const ProblemDefinitionPtrgetProblemDefinition () const
 Get the problem definition the planner is trying to solve.
 
ProblemDefinitionPtrgetProblemDefinition ()
 Get the problem definition the planner is trying to solve.
 
const PlannerInputStatesgetPlannerInputStates () 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 PlannerSpecsgetSpecs () 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.
 
ParamSetparams ()
 Get the parameters for this planner.
 
const ParamSetparams () const
 Get the parameters for this planner.
 
const PlannerProgressPropertiesgetPlannerProgressProperties () 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
 
- Protected Member Functions inherited from ompl::multilevel::BundleSpace
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.
 
- Protected Member Functions inherited from ompl::base::Planner
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.
 
ConfigurationxRandom_ {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.
 
ConfigurationqStart_ {nullptr}
 Start configuration.
 
ConfigurationqGoal_ {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.
 
- Protected Attributes inherited from ompl::multilevel::BundleSpace
ompl::base::StatexBaseTmp_ {nullptr}
 A temporary state on Base.
 
ompl::base::StatexBundleTmp_ {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.
 
- Protected Attributes inherited from ompl::base::Planner
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 Public Member Functions inherited from ompl::multilevel::BundleSpace
static void resetCounter ()
 reset counter for number of levels
 
- Static Protected Attributes inherited from ompl::multilevel::BundleSpace
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.

◆ PDF

◆ PDF_Element

◆ RNGType

using ompl::multilevel::BundleSpaceGraph::RNGType = boost::minstd_rand
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()

BundleSpaceGraph::~BundleSpaceGraph ( )
virtual

Definition at line 111 of file BundleSpaceGraph.cpp.

Member Function Documentation

◆ addBundleConfiguration()

BundleSpaceGraph::Configuration * BundleSpaceGraph::addBundleConfiguration ( base::State state)
virtual

Add ompl::base::State to graph. Return its configuration.

Definition at line 342 of file BundleSpaceGraph.cpp.

◆ addBundleEdge()

void BundleSpaceGraph::addBundleEdge ( const Configuration a,
const Configuration b 
)
virtual

Add edge between configuration a and configuration b to graph.

Definition at line 349 of file BundleSpaceGraph.cpp.

◆ addConfiguration()

BundleSpaceGraph::Vertex BundleSpaceGraph::addConfiguration ( Configuration q)
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()

const std::pair< BundleSpaceGraph::Edge, bool > BundleSpaceGraph::addEdge ( const Vertex  a,
const Vertex  b 
)
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()

bool BundleSpaceGraph::checkMotion ( const Configuration a,
const Configuration b 
) const
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()

void BundleSpaceGraph::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()

void BundleSpaceGraph::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()

ompl::base::Cost BundleSpaceGraph::costHeuristic ( Vertex  u,
Vertex  v 
) const
protected

Definition at line 392 of file BundleSpaceGraph.cpp.

◆ deleteConfiguration()

void BundleSpaceGraph::deleteConfiguration ( Configuration q)
virtual

Definition at line 265 of file BundleSpaceGraph.cpp.

◆ distance()

double BundleSpaceGraph::distance ( const Configuration a,
const Configuration b 
) const
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()

bool BundleSpaceGraph::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()

BundleSpaceGraph::Vertex BundleSpaceGraph::getGoalIndex ( ) const
virtual

Get vertex representing the goal.

Definition at line 590 of file BundleSpaceGraph.cpp.

◆ getGraph()

const BundleSpaceGraph::Graph & BundleSpaceGraph::getGraph ( ) const
virtual

Get underlying boost graph representation.

Definition at line 377 of file BundleSpaceGraph.cpp.

◆ getGraphNonConst()

BundleSpaceGraph::Graph & BundleSpaceGraph::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()

double BundleSpaceGraph::getImportance ( ) const
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()

unsigned int BundleSpaceGraph::getNumberOfEdges ( ) const
virtual

Definition at line 372 of file BundleSpaceGraph.cpp.

◆ getNumberOfVertices()

unsigned int BundleSpaceGraph::getNumberOfVertices ( ) const
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()

void BundleSpaceGraph::getPlannerData ( ompl::base::PlannerData data) const
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()

bool BundleSpaceGraph::getSolution ( ompl::base::PathPtr solution)
overridevirtual

Return best solution.

Implements ompl::multilevel::BundleSpace.

Definition at line 618 of file BundleSpaceGraph.cpp.

◆ getSolutionPathByReference()

ompl::base::PathPtr & BundleSpaceGraph::getSolutionPathByReference ( )
virtual

Definition at line 613 of file BundleSpaceGraph.cpp.

◆ getStartIndex()

BundleSpaceGraph::Vertex BundleSpaceGraph::getStartIndex ( ) const
virtual

Get vertex representing the start.

Definition at line 576 of file BundleSpaceGraph.cpp.

◆ grow()

void ompl::multilevel::BundleSpaceGraph::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()

void BundleSpaceGraph::init ( )
virtual

Initialization methods for the first iteration (adding start configuration and doing sanity checks)

Definition at line 299 of file BundleSpaceGraph.cpp.

◆ interpolate()

void BundleSpaceGraph::interpolate ( const Configuration a,
const Configuration b,
Configuration dest 
) const
virtual

Interpolate from configuration a to configuration b and store results in dest.

Definition at line 420 of file BundleSpaceGraph.cpp.

◆ nearest()

const BundleSpaceGraph::Configuration * BundleSpaceGraph::nearest ( const Configuration s) const
virtual

Definition at line 337 of file BundleSpaceGraph.cpp.

◆ nullVertex()

BundleSpaceGraph::Vertex BundleSpaceGraph::nullVertex ( ) const

Definition at line 603 of file BundleSpaceGraph.cpp.

◆ print()

void BundleSpaceGraph::print ( std::ostream &  out) const
overridevirtual

Print class to ostream.

Reimplemented from ompl::multilevel::BundleSpace.

Definition at line 775 of file BundleSpaceGraph.cpp.

◆ printConfiguration()

void BundleSpaceGraph::printConfiguration ( const Configuration q) const
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()

void BundleSpaceGraph::sampleBundleGoalBias ( ompl::base::State xRandom)
virtual

Definition at line 734 of file BundleSpaceGraph.cpp.

◆ sampleFromDatastructure()

void BundleSpaceGraph::sampleFromDatastructure ( ompl::base::State xRandom)
overridevirtual

Implements ompl::multilevel::BundleSpace.

Definition at line 755 of file BundleSpaceGraph.cpp.

◆ setFindSectionStrategy()

void BundleSpaceGraph::setFindSectionStrategy ( FindSectionType  type)
virtual

Definition at line 160 of file BundleSpaceGraph.cpp.

◆ setGoalBias()

void BundleSpaceGraph::setGoalBias ( double  goalBias)

Definition at line 236 of file BundleSpaceGraph.cpp.

◆ setGraphSampler()

void BundleSpaceGraph::setGraphSampler ( const std::string &  sGraphSampler)
virtual

Definition at line 538 of file BundleSpaceGraph.cpp.

◆ setImportance()

void BundleSpaceGraph::setImportance ( const std::string &  sImportance)
virtual

Definition at line 514 of file BundleSpaceGraph.cpp.

◆ setMetric()

void BundleSpaceGraph::setMetric ( const std::string &  sMetric)
overridevirtual

Implements ompl::multilevel::BundleSpace.

Definition at line 500 of file BundleSpaceGraph.cpp.

◆ setNearestNeighbors()

template<template< typename T > class NN>
void BundleSpaceGraph::setNearestNeighbors ( )

Definition at line 398 of file BundleSpaceGraph.cpp.

◆ setPropagator()

void BundleSpaceGraph::setPropagator ( const std::string &  sPropagator)
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()

void BundleSpaceGraph::setStartIndex ( Vertex  idx)
virtual

Set vertex representing the start.

Definition at line 608 of file BundleSpaceGraph.cpp.

◆ setup()

void BundleSpaceGraph::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_

double ompl::multilevel::BundleSpaceGraph::goalBias_ {.1}
protected

Goal bias.

Definition at line 401 of file BundleSpaceGraph.h.

◆ goalConfigurations_

std::vector<Configuration *> ompl::multilevel::BundleSpaceGraph::goalConfigurations_
protected

List of configurations that satisfy the goal condition.

Definition at line 433 of file BundleSpaceGraph.h.

◆ graph_

Graph ompl::multilevel::BundleSpaceGraph::graph_
protected

Definition at line 387 of file BundleSpaceGraph.h.

◆ graphLength_

double ompl::multilevel::BundleSpaceGraph::graphLength_ {0.0}
protected

Length of graph (useful for determing importance of Bundle-space.

Definition at line 395 of file BundleSpaceGraph.h.

◆ graphSampler_

BundleSpaceGraphSamplerPtr ompl::multilevel::BundleSpaceGraph::graphSampler_ {nullptr}
protected

Pointer to strategy to sample from graph.

Definition at line 412 of file BundleSpaceGraph.h.

◆ importanceCalculator_

BundleSpaceImportancePtr ompl::multilevel::BundleSpaceGraph::importanceCalculator_ {nullptr}
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_

double ompl::multilevel::BundleSpaceGraph::maxDistance_ {-1.0}
protected

Maximum expansion step.

Definition at line 398 of file BundleSpaceGraph.h.

◆ nearestDatastructure_

RoadmapNeighborsPtr ompl::multilevel::BundleSpaceGraph::nearestDatastructure_
protected

Nearest neighbor structure for Bundle space configurations.

Definition at line 386 of file BundleSpaceGraph.h.

◆ numVerticesWhenComputingSolutionPath_

unsigned int ompl::multilevel::BundleSpaceGraph::numVerticesWhenComputingSolutionPath_ {0}
protected

Definition at line 388 of file BundleSpaceGraph.h.

◆ optimizer_

ompl::geometric::PathSimplifierPtr ompl::multilevel::BundleSpaceGraph::optimizer_
protected

A path optimizer.

Definition at line 421 of file BundleSpaceGraph.h.

◆ pathRestriction_

PathRestrictionPtr ompl::multilevel::BundleSpaceGraph::pathRestriction_ {nullptr}
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_

Configuration* ompl::multilevel::BundleSpaceGraph::qGoal_ {nullptr}
protected

The (best) goal configuration.

Definition at line 427 of file BundleSpaceGraph.h.

◆ qStart_

Configuration* ompl::multilevel::BundleSpaceGraph::qStart_ {nullptr}
protected

Start configuration.

Definition at line 424 of file BundleSpaceGraph.h.

◆ rng_

RNG ompl::multilevel::BundleSpaceGraph::rng_
protected

Definition at line 389 of file BundleSpaceGraph.h.

◆ rng_boost

RNGType ompl::multilevel::BundleSpaceGraph::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_

ompl::base::PathPtr ompl::multilevel::BundleSpaceGraph::solutionPath_
protected

Definition at line 379 of file BundleSpaceGraph.h.

◆ startConfigurations_

std::vector<Configuration *> ompl::multilevel::BundleSpaceGraph::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_

Vertex ompl::multilevel::BundleSpaceGraph::vStart_
protected

Definition at line 381 of file BundleSpaceGraph.h.

◆ xRandom_

Configuration* ompl::multilevel::BundleSpaceGraph::xRandom_ {nullptr}
protected

Temporary random configuration.

Definition at line 404 of file BundleSpaceGraph.h.


The documentation for this class was generated from the following files: