SPArse Roadmap Spanner Version 2.0 More...

#include <ompl/geometric/planners/prm/SPARStwo.h>

Inheritance diagram for ompl::geometric::SPARStwo:

Classes

struct  InterfaceData
 Interface information storage class, which does bookkeeping for criterion four. More...
 
struct  vertex_color_t
 
struct  vertex_interface_data_t
 
struct  vertex_state_t
 

Public Types

enum  GuardType {
  START , GOAL , COVERAGE , CONNECTIVITY ,
  INTERFACE , QUALITY
}
 Enumeration which specifies the reason a guard is added to the spanner. More...
 
using VertexIndexType = unsigned long
 The type used internally for representing vertex IDs. More...
 
using VertexPair = std::pair< VertexIndexType, VertexIndexType >
 Pair of vertices which support an interface. More...
 
using InterfaceHash = std::unordered_map< VertexPair, InterfaceData >
 the hash which maps pairs of neighbor points to pairs of states More...
 
using Graph = boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, boost::property< vertex_state_t, base::State *, boost::property< boost::vertex_predecessor_t, VertexIndexType, boost::property< boost::vertex_rank_t, VertexIndexType, boost::property< vertex_color_t, GuardType, boost::property< vertex_interface_data_t, InterfaceHash > > > > >, boost::property< boost::edge_weight_t, base::Cost > >
 The underlying roadmap graph. More...
 
using Vertex = boost::graph_traits< Graph >::vertex_descriptor
 Vertex in Graph. More...
 
using Edge = boost::graph_traits< Graph >::edge_descriptor
 Edge in Graph. More...
 
- 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. More...
 
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. More...
 

Public Member Functions

 SPARStwo (const base::SpaceInformationPtr &si)
 Constructor. More...
 
 ~SPARStwo () override
 Destructor. More...
 
void setProblemDefinition (const base::ProblemDefinitionPtr &pdef) override
 
void setStretchFactor (double t)
 Sets the stretch factor. More...
 
void setSparseDeltaFraction (double D)
 Sets vertex visibility range as a fraction of max. extent. More...
 
void setDenseDeltaFraction (double d)
 Sets interface support tolerance as a fraction of max. extent. More...
 
void setMaxFailures (unsigned int m)
 Sets the maximum failures until termination. More...
 
unsigned int getMaxFailures () const
 Retrieve the maximum consecutive failure limit. More...
 
double getDenseDeltaFraction () const
 Retrieve the dense graph interface support delta. More...
 
double getSparseDeltaFraction () const
 Retrieve the sparse graph visibility range delta. More...
 
double getStretchFactor () const
 Retrieve the spanner's set stretch factor. More...
 
void constructRoadmap (const base::PlannerTerminationCondition &ptc)
 While the termination condition permits, construct the spanner graph. More...
 
void constructRoadmap (const base::PlannerTerminationCondition &ptc, bool stopOnMaxFail)
 While the termination condition permits, construct the spanner graph. If stopOnMaxFail is true, the function also terminates when the failure limit set by setMaxFailures() is reached. More...
 
base::PlannerStatus solve (const base::PlannerTerminationCondition &ptc) override
 Function that can solve the motion planning problem. This function can be called multiple times on the same problem, without calling clear() in between. This allows the planner to continue work for more time on an unsolved problem, for example. Start and goal states from the currently specified ProblemDefinition are cached. This means that between calls to solve(), input states are only added, not removed. When using PRM as a multi-query planner, the input states should be however cleared, without clearing the roadmap itself. This can be done using the clearQuery() function. More...
 
void clearQuery () override
 Clear the query previously loaded from the ProblemDefinition. Subsequent calls to solve() will reuse the previously computed roadmap, but will clear the set of input states constructed by the previous call to solve(). This enables multi-query functionality for PRM. More...
 
void clear () override
 Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work. More...
 
template<template< typename T > class NN>
void setNearestNeighbors ()
 Set a different nearest neighbors datastructure. More...
 
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. More...
 
const GraphgetRoadmap () const
 Retrieve the computed roadmap. More...
 
unsigned int milestoneCount () const
 Get the number of vertices in the sparse roadmap. More...
 
void getPlannerData (base::PlannerData &data) const override
 Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between).
More...
 
void printDebug (std::ostream &out=std::cout) const
 Print debug information about planner. More...
 
std::string getIterationCount () const
 
std::string getBestCost () const
 
- Public Member Functions inherited from ompl::base::Planner
 Planner (const Planner &)=delete
 
Planneroperator= (const Planner &)=delete
 
 Planner (SpaceInformationPtr si, std::string name)
 Constructor. More...
 
virtual ~Planner ()=default
 Destructor.
 
template<class T >
T * as ()
 Cast this instance to a desired type. More...
 
template<class T >
const T * as () const
 Cast this instance to a desired type. More...
 
const SpaceInformationPtrgetSpaceInformation () const
 Get the space information this planner is using. More...
 
const ProblemDefinitionPtrgetProblemDefinition () const
 Get the problem definition the planner is trying to solve. More...
 
ProblemDefinitionPtrgetProblemDefinition ()
 Get the problem definition the planner is trying to solve. More...
 
const PlannerInputStatesgetPlannerInputStates () const
 Get the planner input states. More...
 
virtual void setProblemDefinition (const ProblemDefinitionPtr &pdef)
 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(). More...
 
virtual PlannerStatus solve (const PlannerTerminationCondition &ptc)=0
 Function that can solve the motion planning problem. This function can be called multiple times on the same problem, without calling clear() in between. This allows the planner to continue work for more time on an unsolved problem, for example. If this option is used, it is assumed the problem definition is not changed (unpredictable results otherwise). The only change in the problem definition that is accounted for is the addition of starting or goal states (but not changing previously added start/goal states). If clearQuery() is called, the planner may retain prior datastructures generated from a previous query on a new problem definition. The function terminates if the call to ptc returns true. More...
 
PlannerStatus solve (const PlannerTerminationConditionFn &ptc, double checkInterval)
 Same as above except the termination condition is only evaluated at a specified interval. More...
 
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. More...
 
virtual void clear ()
 Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work. More...
 
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(). More...
 
virtual void getPlannerData (PlannerData &data) const
 Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between).
More...
 
const std::string & getName () const
 Get the name of the planner. More...
 
void setName (const std::string &name)
 Set the name of the planner. More...
 
const PlannerSpecsgetSpecs () const
 Return the specifications (capabilities of this planner) More...
 
virtual void setup ()
 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. More...
 
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. More...
 
bool isSetup () const
 Check if setup() was called for this planner. More...
 
ParamSetparams ()
 Get the parameters for this planner. More...
 
const ParamSetparams () const
 Get the parameters for this planner. More...
 
const PlannerProgressPropertiesgetPlannerProgressProperties () const
 Retrieve a planner's planner progress property map. More...
 
virtual void printProperties (std::ostream &out) const
 Print properties of the motion planner. More...
 
virtual void printSettings (std::ostream &out) const
 Print information about the motion planner's settings. More...
 

Protected Member Functions

void freeMemory ()
 Free all the memory allocated by the planner. More...
 
void checkQueryStateInitialization ()
 Check that the query vertex is initialized (used for internal nearest neighbor searches) More...
 
bool checkAddCoverage (const base::State *qNew, std::vector< Vertex > &visibleNeighborhood)
 Checks to see if the sample needs to be added to ensure coverage of the space. More...
 
bool checkAddConnectivity (const base::State *qNew, std::vector< Vertex > &visibleNeighborhood)
 Checks to see if the sample needs to be added to ensure connectivity. More...
 
bool checkAddInterface (const base::State *qNew, std::vector< Vertex > &graphNeighborhood, std::vector< Vertex > &visibleNeighborhood)
 Checks to see if the current sample reveals the existence of an interface, and if so, tries to bridge it. More...
 
bool checkAddPath (Vertex v)
 Checks vertex v for short paths through its region and adds when appropriate. More...
 
void resetFailures ()
 A reset function for resetting the failures count. More...
 
void findGraphNeighbors (base::State *st, std::vector< Vertex > &graphNeighborhood, std::vector< Vertex > &visibleNeighborhood)
 Finds visible nodes in the graph near st. More...
 
void approachGraph (Vertex v)
 Approaches the graph from a given vertex. More...
 
Vertex findGraphRepresentative (base::State *st)
 Finds the representative of the input state, st
More...
 
void findCloseRepresentatives (base::State *workArea, const base::State *qNew, Vertex qRep, std::map< Vertex, base::State * > &closeRepresentatives, const base::PlannerTerminationCondition &ptc)
 Finds representatives of samples near qNew_ which are not his representative. More...
 
void updatePairPoints (Vertex rep, const base::State *q, Vertex r, const base::State *s)
 High-level method which updates pair point information for repV_ with neighbor r. More...
 
void computeVPP (Vertex v, Vertex vp, std::vector< Vertex > &VPPs)
 Computes all nodes which qualify as a candidate v" for v and vp. More...
 
void computeX (Vertex v, Vertex vp, Vertex vpp, std::vector< Vertex > &Xs)
 Computes all nodes which qualify as a candidate x for v, v', and v". More...
 
VertexPair index (Vertex vp, Vertex vpp)
 Rectifies indexing order for accessing the vertex data. More...
 
InterfaceDatagetData (Vertex v, Vertex vp, Vertex vpp)
 Retrieves the Vertex data associated with v,vp,vpp. More...
 
void distanceCheck (Vertex rep, const base::State *q, Vertex r, const base::State *s, Vertex rp)
 Performs distance checking for the candidate new state, q against the current information. More...
 
void abandonLists (base::State *st)
 When a new guard is added at state st, finds all guards who must abandon their interface information and deletes that information. More...
 
Vertex addGuard (base::State *state, GuardType type)
 Construct a guard for a given state (state) and store it in the nearest neighbors data structure. More...
 
void connectGuards (Vertex v, Vertex vp)
 Connect two guards in the roadmap. More...
 
bool haveSolution (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 start and the second is in goal, and the two milestones are in the same connected component. If a solution is found, the path is saved. More...
 
void checkForSolution (const base::PlannerTerminationCondition &ptc, base::PathPtr &solution)
 
bool reachedTerminationCriterion () const
 Returns true if we have reached the iteration failures limit, maxFailures_ or if a solution was added. More...
 
bool reachedFailureLimit () const
 Returns whether we have reached the iteration failures limit, maxFailures_. More...
 
base::PathPtr constructSolution (Vertex start, Vertex goal) const
 Given two milestones from the same connected component, construct a path connecting them and set it as the solution. More...
 
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 function since we use incremental connected components from boost. More...
 
double distanceFunction (const Vertex a, const Vertex b) const
 Compute distance between two milestones (this is simply distance between the states of the milestones) More...
 
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 OptimizationObjective::motionCostHeuristic. More...
 
- 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. More...
 
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. More...
 
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. More...
 

Protected Attributes

base::ValidStateSamplerPtr sampler_
 Sampler user for generating valid samples in the state space. More...
 
std::shared_ptr< NearestNeighbors< Vertex > > nn_
 Nearest neighbors data structure. More...
 
Graph g_
 Connectivity graph. More...
 
std::vector< VertexstartM_
 Array of start milestones. More...
 
std::vector< VertexgoalM_
 Array of goal milestones. More...
 
Vertex queryVertex_
 Vertex for performing nearest neighbor queries. More...
 
double stretchFactor_ {3.}
 Stretch Factor as per graph spanner literature (multiplicative bound on path quality) More...
 
double sparseDeltaFraction_ {.25}
 Maximum visibility range for nodes in the graph as a fraction of maximum extent. More...
 
double denseDeltaFraction_ {.001}
 Maximum range for allowing two samples to support an interface as a fraction of maximum extent. More...
 
unsigned int maxFailures_ {5000}
 The number of consecutive failures to add to the graph before termination. More...
 
unsigned int nearSamplePoints_
 Number of sample points to use when trying to detect interfaces. More...
 
boost::property_map< Graph, vertex_state_t >::type stateProperty_
 Access to the internal base::state at each Vertex. More...
 
PathSimplifierPtr psimp_
 A path simplifier used to simplify dense paths added to the graph. More...
 
boost::property_map< Graph, boost::edge_weight_t >::type weightProperty_
 Access to the weights of each Edge. More...
 
boost::property_map< Graph, vertex_color_t >::type colorProperty_
 Access to the colors for the vertices. More...
 
boost::property_map< Graph, vertex_interface_data_t >::type interfaceDataProperty_
 Access to the interface pair information for the vertices. More...
 
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. More...
 
RNG rng_
 Random number generator. More...
 
bool addedSolution_ {false}
 A flag indicating that a solution has been added during solve() More...
 
unsigned int consecutiveFailures_ {0}
 A counter for the number of consecutive failed iterations of the algorithm. More...
 
double sparseDelta_ {0.}
 Maximum visibility range for nodes in the graph. More...
 
double denseDelta_ {0.}
 Maximum range for allowing two samples to support an interface. More...
 
std::mutex graphMutex_
 Mutex to guard access to the Graph member (g_) More...
 
base::OptimizationObjectivePtr opt_
 Objective cost function for PRM graph edges. More...
 
long unsigned int iterations_ {0ul}
 A counter for the number of iterations of the algorithm. More...
 
base::Cost bestCost_ {std::numeric_limits<double>::quiet_NaN()}
 Best cost found so far by algorithm. More...
 
- Protected Attributes inherited from ompl::base::Planner
SpaceInformationPtr si_
 The space information for which planning is done. More...
 
ProblemDefinitionPtr pdef_
 The user set problem definition. More...
 
PlannerInputStates pis_
 Utility class to extract valid input states
More...
 
std::string name_
 The name of this planner. More...
 
PlannerSpecs specs_
 The specifications of the planner (its capabilities) More...
 
ParamSet params_
 A map from parameter names to parameter instances for this planner. This field is populated by the declareParam() function. More...
 
PlannerProgressProperties plannerProgressProperties_
 A mapping between this planner's progress property names and the functions used for querying those progress properties. More...
 
bool setup_
 Flag indicating whether setup() has been called. More...
 

Detailed Description

SPArse Roadmap Spanner Version 2.0

Short description
SPARStwo is a variant of the SPARS algorithm which removes the dependency on having the dense graph, D. It works through similar mechanics, but uses a different approach to identifying interfaces and computing shortest paths through said interfaces.
External documentation
A. Dobson, K. Bekris, Improving Sparse Roadmap Spanners, IEEE International Conference on Robotics and Automation (ICRA) May 2013. [PDF]

Definition at line 77 of file SPARStwo.h.

Member Typedef Documentation

◆ Edge

using ompl::geometric::SPARStwo::Edge = boost::graph_traits<Graph>::edge_descriptor

Edge in Graph.

Definition at line 219 of file SPARStwo.h.

◆ Graph

using ompl::geometric::SPARStwo::Graph = boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, boost::property< vertex_state_t, base::State *, boost::property< boost::vertex_predecessor_t, VertexIndexType, boost::property<boost::vertex_rank_t, VertexIndexType, boost::property<vertex_color_t, GuardType, boost::property<vertex_interface_data_t, InterfaceHash> >> >>, boost::property<boost::edge_weight_t, base::Cost> >

The underlying roadmap graph.

Any BGL graph representation could be used here. Because we
expect the roadmap to be sparse (m<n^2), an adjacency_list is more appropriate than an adjacency_matrix.
Obviously, a ompl::base::State* vertex property is required.
The incremental connected components algorithm requires vertex_predecessor_t and vertex_rank_t properties. If boost::vecS is not used for vertex storage, then there must also be a boost:vertex_index_t property manually added.
Edges should be undirected and have a weight property.

Definition at line 204 of file SPARStwo.h.

◆ InterfaceHash

the hash which maps pairs of neighbor points to pairs of states

Definition at line 172 of file SPARStwo.h.

◆ Vertex

using ompl::geometric::SPARStwo::Vertex = boost::graph_traits<Graph>::vertex_descriptor

Vertex in Graph.

Definition at line 216 of file SPARStwo.h.

◆ VertexIndexType

The type used internally for representing vertex IDs.

Definition at line 92 of file SPARStwo.h.

◆ VertexPair

Pair of vertices which support an interface.

Definition at line 95 of file SPARStwo.h.

Member Enumeration Documentation

◆ GuardType

Enumeration which specifies the reason a guard is added to the spanner.

Definition at line 81 of file SPARStwo.h.

Constructor & Destructor Documentation

◆ SPARStwo()

ompl::geometric::SPARStwo::SPARStwo ( const base::SpaceInformationPtr &  si)

Constructor.

Definition at line 53 of file SPARStwo.cpp.

◆ ~SPARStwo()

ompl::geometric::SPARStwo::~SPARStwo ( )
override

Destructor.

Definition at line 88 of file SPARStwo.cpp.

Member Function Documentation

◆ abandonLists()

void ompl::geometric::SPARStwo::abandonLists ( base::State st)
protected

When a new guard is added at state st, finds all guards who must abandon their interface information and deletes that information.

Definition at line 760 of file SPARStwo.cpp.

◆ addGuard()

ompl::geometric::SPARStwo::Vertex ompl::geometric::SPARStwo::addGuard ( base::State state,
GuardType  type 
)
protected

Construct a guard for a given state (state) and store it in the nearest neighbors data structure.

Definition at line 777 of file SPARStwo.cpp.

◆ approachGraph()

void ompl::geometric::SPARStwo::approachGraph ( Vertex  v)
protected

Approaches the graph from a given vertex.

Definition at line 583 of file SPARStwo.cpp.

◆ checkAddConnectivity()

bool ompl::geometric::SPARStwo::checkAddConnectivity ( const base::State qNew,
std::vector< Vertex > &  visibleNeighborhood 
)
protected

Checks to see if the sample needs to be added to ensure connectivity.

Definition at line 412 of file SPARStwo.cpp.

◆ checkAddCoverage()

bool ompl::geometric::SPARStwo::checkAddCoverage ( const base::State qNew,
std::vector< Vertex > &  visibleNeighborhood 
)
protected

Checks to see if the sample needs to be added to ensure coverage of the space.

Definition at line 403 of file SPARStwo.cpp.

◆ checkAddInterface()

bool ompl::geometric::SPARStwo::checkAddInterface ( const base::State qNew,
std::vector< Vertex > &  graphNeighborhood,
std::vector< Vertex > &  visibleNeighborhood 
)
protected

Checks to see if the current sample reveals the existence of an interface, and if so, tries to bridge it.

Definition at line 445 of file SPARStwo.cpp.

◆ checkAddPath()

bool ompl::geometric::SPARStwo::checkAddPath ( Vertex  v)
protected

Checks vertex v for short paths through its region and adds when appropriate.

Definition at line 475 of file SPARStwo.cpp.

◆ checkForSolution()

void ompl::geometric::SPARStwo::checkForSolution ( const base::PlannerTerminationCondition ptc,
base::PathPtr &  solution 
)
protected

Thread that checks for solution

Definition at line 382 of file SPARStwo.cpp.

◆ checkQueryStateInitialization()

void ompl::geometric::SPARStwo::checkQueryStateInitialization ( )
protected

Check that the query vertex is initialized (used for internal nearest neighbor searches)

Definition at line 300 of file SPARStwo.cpp.

◆ clear()

void ompl::geometric::SPARStwo::clear ( )
overridevirtual

Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.

Reimplemented from ompl::base::Planner.

Definition at line 144 of file SPARStwo.cpp.

◆ clearQuery()

void ompl::geometric::SPARStwo::clearQuery ( )
overridevirtual

Clear the query previously loaded from the ProblemDefinition. Subsequent calls to solve() will reuse the previously computed roadmap, but will clear the set of input states constructed by the previous call to solve(). This enables multi-query functionality for PRM.

Reimplemented from ompl::base::Planner.

Definition at line 137 of file SPARStwo.cpp.

◆ computeVPP()

void ompl::geometric::SPARStwo::computeVPP ( Vertex  v,
Vertex  vp,
std::vector< Vertex > &  VPPs 
)
protected

Computes all nodes which qualify as a candidate v" for v and vp.

Definition at line 677 of file SPARStwo.cpp.

◆ computeX()

void ompl::geometric::SPARStwo::computeX ( Vertex  v,
Vertex  vp,
Vertex  vpp,
std::vector< Vertex > &  Xs 
)
protected

Computes all nodes which qualify as a candidate x for v, v', and v".

Definition at line 686 of file SPARStwo.cpp.

◆ connectGuards()

void ompl::geometric::SPARStwo::connectGuards ( Vertex  v,
Vertex  vp 
)
protected

Connect two guards in the roadmap.

Definition at line 795 of file SPARStwo.cpp.

◆ constructRoadmap() [1/2]

void ompl::geometric::SPARStwo::constructRoadmap ( const base::PlannerTerminationCondition ptc)

While the termination condition permits, construct the spanner graph.

Definition at line 243 of file SPARStwo.cpp.

◆ constructRoadmap() [2/2]

void ompl::geometric::SPARStwo::constructRoadmap ( const base::PlannerTerminationCondition ptc,
bool  stopOnMaxFail 
)

While the termination condition permits, construct the spanner graph. If stopOnMaxFail is true, the function also terminates when the failure limit set by setMaxFailures() is reached.

Definition at line 228 of file SPARStwo.cpp.

◆ constructSolution()

ompl::base::PathPtr ompl::geometric::SPARStwo::constructSolution ( Vertex  start,
Vertex  goal 
) const
protected

Given two milestones from the same connected component, construct a path connecting them and set it as the solution.

Definition at line 807 of file SPARStwo.cpp.

◆ costHeuristic()

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

Given two vertices, returns a heuristic on the cost of the path connecting them. This method wraps OptimizationObjective::motionCostHeuristic.

Definition at line 901 of file SPARStwo.cpp.

◆ distanceCheck()

void ompl::geometric::SPARStwo::distanceCheck ( Vertex  rep,
const base::State q,
Vertex  r,
const base::State s,
Vertex  rp 
)
protected

Performs distance checking for the candidate new state, q against the current information.

Definition at line 715 of file SPARStwo.cpp.

◆ distanceFunction()

double ompl::geometric::SPARStwo::distanceFunction ( const Vertex  a,
const Vertex  b 
) const
inlineprotected

Compute distance between two milestones (this is simply distance between the states of the milestones)

Definition at line 447 of file SPARStwo.h.

◆ findCloseRepresentatives()

void ompl::geometric::SPARStwo::findCloseRepresentatives ( base::State workArea,
const base::State qNew,
Vertex  qRep,
std::map< Vertex, base::State * > &  closeRepresentatives,
const base::PlannerTerminationCondition ptc 
)
protected

Finds representatives of samples near qNew_ which are not his representative.

Definition at line 615 of file SPARStwo.cpp.

◆ findGraphNeighbors()

void ompl::geometric::SPARStwo::findGraphNeighbors ( base::State st,
std::vector< Vertex > &  graphNeighborhood,
std::vector< Vertex > &  visibleNeighborhood 
)
protected

Finds visible nodes in the graph near st.

Definition at line 569 of file SPARStwo.cpp.

◆ findGraphRepresentative()

ompl::geometric::SPARStwo::Vertex ompl::geometric::SPARStwo::findGraphRepresentative ( base::State st)
protected

Finds the representative of the input state, st

Definition at line 597 of file SPARStwo.cpp.

◆ freeMemory()

void ompl::geometric::SPARStwo::freeMemory ( )
protected

Free all the memory allocated by the planner.

Definition at line 156 of file SPARStwo.cpp.

◆ getBestCost()

std::string ompl::geometric::SPARStwo::getBestCost ( ) const
inline

Definition at line 348 of file SPARStwo.h.

◆ getData()

ompl::geometric::SPARStwo::InterfaceData & ompl::geometric::SPARStwo::getData ( Vertex  v,
Vertex  vp,
Vertex  vpp 
)
protected

Retrieves the Vertex data associated with v,vp,vpp.

Definition at line 710 of file SPARStwo.cpp.

◆ getDenseDeltaFraction()

double ompl::geometric::SPARStwo::getDenseDeltaFraction ( ) const
inline

Retrieve the dense graph interface support delta.

Definition at line 264 of file SPARStwo.h.

◆ getIterationCount()

std::string ompl::geometric::SPARStwo::getIterationCount ( ) const
inline

Definition at line 344 of file SPARStwo.h.

◆ getMaxFailures()

unsigned int ompl::geometric::SPARStwo::getMaxFailures ( ) const
inline

Retrieve the maximum consecutive failure limit.

Definition at line 258 of file SPARStwo.h.

◆ getPlannerData()

void ompl::geometric::SPARStwo::getPlannerData ( base::PlannerData data) const
overridevirtual

Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between).

Reimplemented from ompl::base::Planner.

Definition at line 865 of file SPARStwo.cpp.

◆ getRoadmap()

const Graph & ompl::geometric::SPARStwo::getRoadmap ( ) const
inline

Retrieve the computed roadmap.

Definition at line 326 of file SPARStwo.h.

◆ getSparseDeltaFraction()

double ompl::geometric::SPARStwo::getSparseDeltaFraction ( ) const
inline

Retrieve the sparse graph visibility range delta.

Definition at line 270 of file SPARStwo.h.

◆ getStretchFactor()

double ompl::geometric::SPARStwo::getStretchFactor ( ) const
inline

Retrieve the spanner's set stretch factor.

Definition at line 276 of file SPARStwo.h.

◆ haveSolution()

bool ompl::geometric::SPARStwo::haveSolution ( const std::vector< Vertex > &  starts,
const std::vector< Vertex > &  goals,
base::PathPtr &  solution 
)
protected

Check if there exists a solution, i.e., there exists a pair of milestones such that the first is in start and the second is in goal, and the two milestones are in the same connected component. If a solution is found, the path is saved.

Definition at line 175 of file SPARStwo.cpp.

◆ index()

ompl::geometric::SPARStwo::VertexPair ompl::geometric::SPARStwo::index ( Vertex  vp,
Vertex  vpp 
)
protected

Rectifies indexing order for accessing the vertex data.

Definition at line 700 of file SPARStwo.cpp.

◆ milestoneCount()

unsigned int ompl::geometric::SPARStwo::milestoneCount ( ) const
inline

Get the number of vertices in the sparse roadmap.

Definition at line 332 of file SPARStwo.h.

◆ printDebug()

void ompl::geometric::SPARStwo::printDebug ( std::ostream &  out = std::cout) const

Print debug information about planner.

Definition at line 851 of file SPARStwo.cpp.

◆ reachedFailureLimit()

bool ompl::geometric::SPARStwo::reachedFailureLimit ( ) const
protected

Returns whether we have reached the iteration failures limit, maxFailures_.

Definition at line 218 of file SPARStwo.cpp.

◆ reachedTerminationCriterion()

bool ompl::geometric::SPARStwo::reachedTerminationCriterion ( ) const
protected

Returns true if we have reached the iteration failures limit, maxFailures_ or if a solution was added.

Definition at line 223 of file SPARStwo.cpp.

◆ resetFailures()

void ompl::geometric::SPARStwo::resetFailures ( )
protected

A reset function for resetting the failures count.

Definition at line 564 of file SPARStwo.cpp.

◆ sameComponent()

bool ompl::geometric::SPARStwo::sameComponent ( Vertex  m1,
Vertex  m2 
)
protected

Check if two milestones (m1 and m2) are part of the same connected component. This is not a const function since we use incremental connected components from boost.

Definition at line 213 of file SPARStwo.cpp.

◆ setDenseDeltaFraction()

void ompl::geometric::SPARStwo::setDenseDeltaFraction ( double  d)
inline

Sets interface support tolerance as a fraction of max. extent.

Definition at line 244 of file SPARStwo.h.

◆ setMaxFailures()

void ompl::geometric::SPARStwo::setMaxFailures ( unsigned int  m)
inline

Sets the maximum failures until termination.

Definition at line 252 of file SPARStwo.h.

◆ setNearestNeighbors()

template<template< typename T > class NN>
void ompl::geometric::SPARStwo::setNearestNeighbors ( )
inline

Set a different nearest neighbors datastructure.

Definition at line 313 of file SPARStwo.h.

◆ setProblemDefinition()

void ompl::geometric::SPARStwo::setProblemDefinition ( const base::ProblemDefinitionPtr &  pdef)
override

Definition at line 131 of file SPARStwo.cpp.

◆ setSparseDeltaFraction()

void ompl::geometric::SPARStwo::setSparseDeltaFraction ( double  D)
inline

Sets vertex visibility range as a fraction of max. extent.

Definition at line 236 of file SPARStwo.h.

◆ setStretchFactor()

void ompl::geometric::SPARStwo::setStretchFactor ( double  t)
inline

Sets the stretch factor.

Definition at line 230 of file SPARStwo.h.

◆ setup()

void ompl::geometric::SPARStwo::setup ( )
overridevirtual

Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceInformation::setup() if needed. This must be called before solving.

Reimplemented from ompl::base::Planner.

Definition at line 93 of file SPARStwo.cpp.

◆ solve()

ompl::base::PlannerStatus ompl::geometric::SPARStwo::solve ( const base::PlannerTerminationCondition ptc)
overridevirtual

Function that can solve the motion planning problem. This function can be called multiple times on the same problem, without calling clear() in between. This allows the planner to continue work for more time on an unsolved problem, for example. Start and goal states from the currently specified ProblemDefinition are cached. This means that between calls to solve(), input states are only added, not removed. When using PRM as a multi-query planner, the input states should be however cleared, without clearing the roadmap itself. This can be done using the clearQuery() function.

Implements ompl::base::Planner.

Definition at line 310 of file SPARStwo.cpp.

◆ updatePairPoints()

void ompl::geometric::SPARStwo::updatePairPoints ( Vertex  rep,
const base::State q,
Vertex  r,
const base::State s 
)
protected

High-level method which updates pair point information for repV_ with neighbor r.

Definition at line 665 of file SPARStwo.cpp.

Member Data Documentation

◆ addedSolution_

bool ompl::geometric::SPARStwo::addedSolution_ {false}
protected

A flag indicating that a solution has been added during solve()

Definition at line 508 of file SPARStwo.h.

◆ bestCost_

base::Cost ompl::geometric::SPARStwo::bestCost_ {std::numeric_limits<double>::quiet_NaN()}
protected

Best cost found so far by algorithm.

Definition at line 534 of file SPARStwo.h.

◆ colorProperty_

boost::property_map<Graph,vertex_color_t>::type ompl::geometric::SPARStwo::colorProperty_
protected

Access to the colors for the vertices.

Definition at line 496 of file SPARStwo.h.

◆ consecutiveFailures_

unsigned int ompl::geometric::SPARStwo::consecutiveFailures_ {0}
protected

A counter for the number of consecutive failed iterations of the algorithm.

Definition at line 511 of file SPARStwo.h.

◆ denseDelta_

double ompl::geometric::SPARStwo::denseDelta_ {0.}
protected

Maximum range for allowing two samples to support an interface.

Definition at line 517 of file SPARStwo.h.

◆ denseDeltaFraction_

double ompl::geometric::SPARStwo::denseDeltaFraction_ {.001}
protected

Maximum range for allowing two samples to support an interface as a fraction of maximum extent.

Definition at line 478 of file SPARStwo.h.

◆ disjointSets_

boost::disjoint_sets<boost::property_map<Graph, boost::vertex_rank_t>::type, boost::property_map<Graph, boost::vertex_predecessor_t>::type> ompl::geometric::SPARStwo::disjointSets_
protected

Data structure that maintains the connected components.

Definition at line 503 of file SPARStwo.h.

◆ g_

Graph ompl::geometric::SPARStwo::g_
protected

Connectivity graph.

Definition at line 459 of file SPARStwo.h.

◆ goalM_

std::vector<Vertex> ompl::geometric::SPARStwo::goalM_
protected

Array of goal milestones.

Definition at line 465 of file SPARStwo.h.

◆ graphMutex_

std::mutex ompl::geometric::SPARStwo::graphMutex_
mutableprotected

Mutex to guard access to the Graph member (g_)

Definition at line 520 of file SPARStwo.h.

◆ interfaceDataProperty_

boost::property_map<Graph,vertex_interface_data_t>::type ompl::geometric::SPARStwo::interfaceDataProperty_
protected

Access to the interface pair information for the vertices.

Definition at line 499 of file SPARStwo.h.

◆ iterations_

long unsigned int ompl::geometric::SPARStwo::iterations_ {0ul}
protected

A counter for the number of iterations of the algorithm.

Definition at line 532 of file SPARStwo.h.

◆ maxFailures_

unsigned int ompl::geometric::SPARStwo::maxFailures_ {5000}
protected

The number of consecutive failures to add to the graph before termination.

Definition at line 481 of file SPARStwo.h.

◆ nearSamplePoints_

unsigned int ompl::geometric::SPARStwo::nearSamplePoints_
protected

Number of sample points to use when trying to detect interfaces.

Definition at line 484 of file SPARStwo.h.

◆ nn_

std::shared_ptr<NearestNeighbors<Vertex> > ompl::geometric::SPARStwo::nn_
protected

Nearest neighbors data structure.

Definition at line 456 of file SPARStwo.h.

◆ opt_

base::OptimizationObjectivePtr ompl::geometric::SPARStwo::opt_
protected

Objective cost function for PRM graph edges.

Definition at line 523 of file SPARStwo.h.

◆ psimp_

PathSimplifierPtr ompl::geometric::SPARStwo::psimp_
protected

A path simplifier used to simplify dense paths added to the graph.

Definition at line 490 of file SPARStwo.h.

◆ queryVertex_

Vertex ompl::geometric::SPARStwo::queryVertex_
protected

Vertex for performing nearest neighbor queries.

Definition at line 468 of file SPARStwo.h.

◆ rng_

RNG ompl::geometric::SPARStwo::rng_
protected

Random number generator.

Definition at line 505 of file SPARStwo.h.

◆ sampler_

base::ValidStateSamplerPtr ompl::geometric::SPARStwo::sampler_
protected

Sampler user for generating valid samples in the state space.

Definition at line 453 of file SPARStwo.h.

◆ sparseDelta_

double ompl::geometric::SPARStwo::sparseDelta_ {0.}
protected

Maximum visibility range for nodes in the graph.

Definition at line 514 of file SPARStwo.h.

◆ sparseDeltaFraction_

double ompl::geometric::SPARStwo::sparseDeltaFraction_ {.25}
protected

Maximum visibility range for nodes in the graph as a fraction of maximum extent.

Definition at line 474 of file SPARStwo.h.

◆ startM_

std::vector<Vertex> ompl::geometric::SPARStwo::startM_
protected

Array of start milestones.

Definition at line 462 of file SPARStwo.h.

◆ stateProperty_

boost::property_map<Graph,vertex_state_t>::type ompl::geometric::SPARStwo::stateProperty_
protected

Access to the internal base::state at each Vertex.

Definition at line 487 of file SPARStwo.h.

◆ stretchFactor_

double ompl::geometric::SPARStwo::stretchFactor_ {3.}
protected

Stretch Factor as per graph spanner literature (multiplicative bound on path quality)

Definition at line 471 of file SPARStwo.h.

◆ weightProperty_

boost::property_map<Graph,boost::edge_weight_t>::type ompl::geometric::SPARStwo::weightProperty_
protected

Access to the weights of each Edge.

Definition at line 493 of file SPARStwo.h.


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