Loading...
Searching...
No Matches
PRM.h
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2011, Rice University
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the Rice University nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Author: Ioan Sucan, James D. Marble, Ryan Luna, Henning Kayser */
36
37#ifndef OMPL_GEOMETRIC_PLANNERS_PRM_PRM_
38#define OMPL_GEOMETRIC_PLANNERS_PRM_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 <boost/pending/disjoint_sets.hpp>
45#include <mutex>
46#include <utility>
47#include <vector>
48#include <map>
49
50namespace ompl
51{
52 namespace base
53 {
54 // Forward declare for use in implementation
55 OMPL_CLASS_FORWARD(OptimizationObjective);
56 }
57
58 namespace geometric
59 {
80 class PRM : public base::Planner
81 {
82 public:
84 {
85 using kind = boost::vertex_property_tag;
86 };
87
89 {
90 using kind = boost::vertex_property_tag;
91 };
92
94 {
95 using kind = boost::vertex_property_tag;
96 };
97
113 using Graph = boost::adjacency_list<
114 boost::vecS, boost::vecS, boost::undirectedS,
115 boost::property<
117 boost::property<
118 vertex_total_connection_attempts_t, unsigned long int,
119 boost::property<vertex_successful_connection_attempts_t, unsigned long int,
120 boost::property<boost::vertex_predecessor_t, unsigned long int,
121 boost::property<boost::vertex_rank_t, unsigned long int>>>>>,
122 boost::property<boost::edge_weight_t, base::Cost>>;
123
125 using Vertex = boost::graph_traits<Graph>::vertex_descriptor;
127 using Edge = boost::graph_traits<Graph>::edge_descriptor;
128
130 using RoadmapNeighbors = std::shared_ptr<NearestNeighbors<Vertex>>;
131
134 using ConnectionStrategy = std::function<const std::vector<Vertex> &(const Vertex)>;
135
141 using ConnectionFilter = std::function<bool(const Vertex &, const Vertex &)>;
142
144 PRM(const base::SpaceInformationPtr &si, bool starStrategy = false);
145
147 PRM(const base::PlannerData &data, bool starStrategy = false);
148
149 ~PRM() override;
150
151 void setProblemDefinition(const base::ProblemDefinitionPtr &pdef) override;
152
166 void setConnectionStrategy(const ConnectionStrategy &connectionStrategy)
167 {
168 connectionStrategy_ = connectionStrategy;
170 }
173
177 void setMaxNearestNeighbors(unsigned int k);
178
183 unsigned int getMaxNearestNeighbors() const;
184
185
199 void setConnectionFilter(const ConnectionFilter &connectionFilter)
200 {
201 connectionFilter_ = connectionFilter;
202 }
203
204 void getPlannerData(base::PlannerData &data) const override;
205
210
214 void growRoadmap(double growTime);
215
220
224 void expandRoadmap(double expandTime);
225
230
245
250 void clearQuery() override;
251
252 void clear() override;
253
255 template <template <typename T> class NN>
257 {
258 if (nn_ && nn_->size() == 0)
259 OMPL_WARN("Calling setNearestNeighbors will clear all states.");
260 clear();
261 nn_ = std::make_shared<NN<Vertex>>();
264 if (isSetup())
265 setup();
266 }
267
268 void setup() override;
269
270 const Graph &getRoadmap() const
271 {
272 return g_;
273 }
274
276 unsigned long int milestoneCount() const
277 {
278 return boost::num_vertices(g_);
279 }
280
282 unsigned long int edgeCount() const
283 {
284 return boost::num_edges(g_);
285 }
286
287 const RoadmapNeighbors &getNearestNeighbors()
288 {
289 return nn_;
290 }
291
292 protected:
294 void freeMemory();
295
299 Vertex addMilestone(base::State *state);
300
303 void uniteComponents(Vertex m1, Vertex m2);
304
307 bool sameComponent(Vertex m1, Vertex m2);
308
312 void growRoadmap(const base::PlannerTerminationCondition &ptc, base::State *workState);
313
317 void expandRoadmap(const base::PlannerTerminationCondition &ptc, std::vector<base::State *> &workStates);
318
320 void checkForSolution(const base::PlannerTerminationCondition &ptc, base::PathPtr &solution);
321
325 bool maybeConstructSolution(const std::vector<Vertex> &starts, const std::vector<Vertex> &goals,
326 base::PathPtr &solution);
327
330 ompl::base::Cost constructApproximateSolution(const std::vector<Vertex> &starts, const std::vector<Vertex> &goals, base::PathPtr &solution);
331
333 bool addedNewSolution() const;
334
337 base::PathPtr constructSolution(const Vertex &start, const Vertex &goal);
338
341 base::Cost costHeuristic(Vertex u, Vertex v) const;
342
345 double distanceFunction(const Vertex a, const Vertex b) const
346 {
347 return si_->distance(stateProperty_[a], stateProperty_[b]);
348 }
349
351 // Planner progress property functions
352 std::string getIterationCount() const
353 {
354 return std::to_string(iterations_);
355 }
356 std::string getBestCost() const
357 {
358 return std::to_string(bestCost_.value());
359 }
360 std::string getMilestoneCountString() const
361 {
362 return std::to_string(milestoneCount());
363 }
364 std::string getEdgeCountString() const
365 {
366 return std::to_string(edgeCount());
367 }
368
371
373 base::ValidStateSamplerPtr sampler_;
374
376 base::StateSamplerPtr simpleSampler_;
377
380
383
385 std::vector<Vertex> startM_;
386
388 std::vector<Vertex> goalM_;
389
391 boost::property_map<Graph, vertex_state_t>::type stateProperty_;
392
394 boost::property_map<Graph, vertex_total_connection_attempts_t>::type totalConnectionAttemptsProperty_;
395
397 boost::property_map<Graph, vertex_successful_connection_attempts_t>::type
399
401 boost::property_map<Graph, boost::edge_weight_t>::type weightProperty_;
402
404 boost::disjoint_sets<boost::property_map<Graph, boost::vertex_rank_t>::type,
405 boost::property_map<Graph, boost::vertex_predecessor_t>::type> disjointSets_;
406
409
412
416
419
421 bool addedNewSolution_{false};
422
424 mutable std::mutex graphMutex_;
425
427 base::OptimizationObjectivePtr opt_;
428
430 // Planner progress properties
432 unsigned long int iterations_{0};
434 base::Cost bestCost_{std::numeric_limits<double>::quiet_NaN()};
435 };
436 }
437}
438
439#endif
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
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
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
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
Probabilistic RoadMap planner.
Definition PRM.h:81
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 PRM.cpp:750
std::mutex graphMutex_
Mutex to guard access to the Graph member (g_)
Definition PRM.h:424
bool starStrategy_
Flag indicating whether the default connection strategy is the Star strategy.
Definition PRM.h:370
ompl::base::Cost constructApproximateSolution(const std::vector< Vertex > &starts, const std::vector< Vertex > &goals, base::PathPtr &solution)
(Assuming that there is always an approximate solution), finds an approximate solution.
Definition PRM.cpp:608
std::vector< Vertex > startM_
Array of start milestones.
Definition PRM.h:385
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. Grows a roadmap using constructRoadmap()....
Definition PRM.cpp:446
bool addedNewSolution() const
Returns the value of the addedNewSolution_ member.
Definition PRM.cpp:441
std::function< const std::vector< Vertex > &(const Vertex)> ConnectionStrategy
A function returning the milestones that should be attempted to connect to.
Definition PRM.h:134
std::shared_ptr< NearestNeighbors< Vertex > > RoadmapNeighbors
A nearest neighbors data structure for roadmap vertices.
Definition PRM.h:130
boost::disjoint_sets< boost::property_map< Graph, boost::vertex_rank_t >::type, boost::property_map< Graph, boost::vertex_predecessor_t >::type > disjointSets_
Data structure that maintains the connected components.
Definition PRM.h:405
void clearQuery() override
Clear the query previously loaded from the ProblemDefinition. Subsequent calls to solve() will reuse ...
Definition PRM.cpp:230
bool sameComponent(Vertex m1, Vertex m2)
Check if two milestones (m1 and m2) are part of the same connected component. This is not a const fun...
Definition PRM.cpp:603
base::OptimizationObjectivePtr opt_
Objective cost function for PRM graph edges.
Definition PRM.h:427
bool addedNewSolution_
A flag indicating that a solution has been added during solve()
Definition PRM.h:421
base::Cost bestCost_
Best cost found so far by algorithm.
Definition PRM.h:434
void freeMemory()
Free all the memory allocated by the planner.
Definition PRM.cpp:251
base::StateSamplerPtr simpleSampler_
Sampler user for generating random in the state space.
Definition PRM.h:376
RoadmapNeighbors nn_
Nearest neighbors data structure.
Definition PRM.h:379
boost::graph_traits< Graph >::edge_descriptor Edge
The type for an edge in the roadmap.
Definition PRM.h:127
boost::graph_traits< Graph >::vertex_descriptor Vertex
The type for a vertex in the roadmap.
Definition PRM.h:125
boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, boost::property< vertex_state_t, base::State *, boost::property< vertex_total_connection_attempts_t, unsigned long int, boost::property< vertex_successful_connection_attempts_t, unsigned long int, boost::property< boost::vertex_predecessor_t, unsigned long int, boost::property< boost::vertex_rank_t, unsigned long int > > > > >, boost::property< boost::edge_weight_t, base::Cost > > Graph
The underlying roadmap graph.
Definition PRM.h:122
void checkForSolution(const base::PlannerTerminationCondition &ptc, base::PathPtr &solution)
Definition PRM.cpp:379
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition PRM.h:256
void expandRoadmap(double expandTime)
Attempt to connect disjoint components in the roadmap using random bouncing motions (the PRM expansio...
Definition PRM.cpp:258
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 PRM.h:345
std::function< bool(const Vertex &, const Vertex &)> ConnectionFilter
A function that can reject connections.
Definition PRM.h:141
bool maybeConstructSolution(const std::vector< Vertex > &starts, const std::vector< Vertex > &goals, base::PathPtr &solution)
Check if there exists a solution, i.e., there exists a pair of milestones such that the first is in s...
Definition PRM.cpp:400
ConnectionStrategy connectionStrategy_
Function that returns the milestones to attempt connections with.
Definition PRM.h:408
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 PRM.cpp:688
void setConnectionStrategy(const ConnectionStrategy &connectionStrategy)
Set the connection strategy function that specifies the milestones that connection attempts will be m...
Definition PRM.h:166
void uniteComponents(Vertex m1, Vertex m2)
Make two milestones (m1 and m2) be part of the same connected component. The component with fewer ele...
Definition PRM.cpp:598
void constructRoadmap(const base::PlannerTerminationCondition &ptc)
While the termination condition allows, this function will construct the roadmap (using growRoadmap()...
Definition PRM.cpp:530
boost::property_map< Graph, boost::edge_weight_t >::type weightProperty_
Access to the weights of each Edge.
Definition PRM.h:401
boost::property_map< Graph, vertex_successful_connection_attempts_t >::type successfulConnectionAttemptsProperty_
Access to the number of successful connection attempts for a vertex.
Definition PRM.h:398
unsigned long int iterations_
Number of iterations the algorithm performed.
Definition PRM.h:432
void growRoadmap(double growTime)
If the user desires, the roadmap can be improved for the given time (seconds). The solve() method wil...
Definition PRM.cpp:339
Graph g_
Connectivity graph.
Definition PRM.h:382
Vertex addMilestone(base::State *state)
Construct a milestone for a given state (state), store it in the nearest neighbors data structure and...
Definition PRM.cpp:562
unsigned long int milestoneCount() const
Return the number of milestones currently in the graph.
Definition PRM.h:276
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition PRM.cpp:155
bool userSetConnectionStrategy_
Flag indicating whether the employed connection strategy was set by the user (or defaults are assumed...
Definition PRM.h:415
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition PRM.cpp:237
void setMaxNearestNeighbors(unsigned int k)
Convenience function that sets the connection strategy to the default one with k nearest neighbors.
Definition PRM.cpp:193
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 PRM.cpp:721
std::vector< Vertex > goalM_
Array of goal milestones.
Definition PRM.h:388
unsigned int getMaxNearestNeighbors() const
return the maximum number of nearest neighbors to connect a sample to
Definition PRM.cpp:210
void setConnectionFilter(const ConnectionFilter &connectionFilter)
Set the function that can reject a milestone connection.
Definition PRM.h:199
base::ValidStateSamplerPtr sampler_
Sampler user for generating valid samples in the state space.
Definition PRM.h:373
void setDefaultConnectionStrategy()
Definition PRM.cpp:216
RNG rng_
Random number generator.
Definition PRM.h:418
unsigned long int edgeCount() const
Return the number of edges currently in the graph.
Definition PRM.h:282
boost::property_map< Graph, vertex_state_t >::type stateProperty_
Access to the internal base::state at each Vertex.
Definition PRM.h:391
boost::property_map< Graph, vertex_total_connection_attempts_t >::type totalConnectionAttemptsProperty_
Access to the number of total connection attempts for a vertex.
Definition PRM.h:394
ConnectionFilter connectionFilter_
Function that can reject a milestone connection.
Definition PRM.h:411
#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()