Syclop.h
94 Syclop(const SpaceInformationPtr& si, const DecompositionPtr &d, const std::string& plannerName) : ompl::base::Planner(si, plannerName),
109 Planner::declareParam<int> ("free_volume_samples", this, &Syclop::setNumFreeVolumeSamples, &Syclop::getNumFreeVolumeSamples, "10000:10000:500000");
110 Planner::declareParam<int> ("num_region_expansions", this, &Syclop::setNumRegionExpansions, &Syclop::getNumRegionExpansions, "10:10:500");
111 Planner::declareParam<int> ("num_tree_expansions", this, &Syclop::setNumTreeExpansions, &Syclop::getNumTreeExpansions, "0:1:100");
112 Planner::declareParam<double>("prob_abandon_lead_early", this, &Syclop::setProbAbandonLeadEarly, &Syclop::getProbAbandonLeadEarly, "0.:.05:1.");
113 Planner::declareParam<double>("prob_add_available_regions", this, &Syclop::setProbAddingToAvailableRegions, &Syclop::getProbAddingToAvailableRegions, "0.:.05:1.");
114 Planner::declareParam<double>("prob_shortest_path_lead", this, &Syclop::setProbShortestPathLead, &Syclop::getProbShortestPathLead, "0.:.05:1.");
246 #pragma pack(push, 4) // push default byte alignment to stack and align the following structure to 4 byte boundary
258 Motion(const SpaceInformation *si) : state(si->allocState()), control(si->allocControl()), parent(NULL), steps(0)
275 #pragma pack(push, 4) // push default byte alignment to stack and align the following structure to 4 byte boundary
317 #pragma pack(push, 4) // push default byte alignment to stack and align the following structure to 4 byte boundary
399 CoverageGrid(const int len, const DecompositionPtr& d) : GridDecomposition(len, d->getDimension(), d->getBounds()), decomp(d)
415 virtual void sampleFullState(const base::StateSamplerPtr& /*sampler*/, const std::vector<double>& /*coord*/, base::State* /*s*/) const
423 typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::directedS, Region, Adjacency> RegionGraph;
bool approximateSolutions
Flag indicating whether the planner is able to compute approximate solutions.
Definition: Planner.h:214
Planner(const SpaceInformationPtr &si, const std::string &name)
Constructor.
Definition: Planner.cpp:43
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: Syclop.cpp:48
double alpha
The coefficient contributed by this region to edge weights in lead computations.
Definition: Syclop.h:307
Representation of an adjacency (a directed edge) between two regions in the Decomposition assigned to...
Definition: Syclop.h:320
std::set< int > covGridCells
The cells of the underlying coverage grid that contain tree motions from this region.
Definition: Syclop.h:295
int numLeadInclusions
The number of times this adjacency has been included in a lead.
Definition: Syclop.h:344
int numSelections
The number of times the low-level tree planner has selected motions from the source region when attem...
Definition: Syclop.h:347
PDF< int >::Element * pdfElem
The Element corresponding to this region in the PDF of available regions.
Definition: Syclop.h:313
A boost shared pointer wrapper for ompl::base::StateSampler.
Representation of a region in the Decomposition assigned to Syclop.
Definition: Syclop.h:277
int getNumTreeExpansions() const
Get the number of calls to selectAndExtend() in the low-level tree planner for a given lead and regio...
Definition: Syclop.h:202
Motion(const SpaceInformation *si)
Constructor that allocates memory for the state and the control.
Definition: Syclop.h:258
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
double getProbAbandonLeadEarly() const
Get the probability [0,1] that a lead will be abandoned early, before a new region is chosen for expa...
Definition: Syclop.h:216
const SpaceInformation * siC_
Handle to the control::SpaceInformation object.
Definition: Syclop.h:385
DecompositionPtr decomp_
The high level decomposition used to focus tree expansion.
Definition: Syclop.h:388
A GridDecomposition is a Decomposition implemented using a grid.
Definition: GridDecomposition.h:53
int numTreeSelections_
The number of calls to selectAndExtend() in the low-level tree planner for a given lead and region...
Definition: Syclop.h:379
double getProbShortestPathLead() const
Get the probability [0,1] that a lead will be computed as a shortest-path instead of a random-DFS...
Definition: Syclop.h:160
int numRegionExpansions_
The number of times a new region will be chosen and promoted for expansion from a given lead...
Definition: Syclop.h:376
boost::function< void(int, int, std::vector< int > &)> LeadComputeFn
Leads should consist of a path of adjacent regions in the decomposition that start with the start reg...
Definition: Syclop.h:91
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: Syclop.cpp:57
void clearEdgeCostFactors()
Clears all edge cost factors, making all edge weights equivalent to 1.
Definition: Syclop.cpp:221
const Region & getRegionFromIndex(const int rid) const
Returns a reference to the Region object with the given index. Assumes the index is valid...
Definition: Syclop.h:361
virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc)
Continues solving until a solution is found or a given planner termination condition is met...
Definition: Syclop.cpp:68
Syclop(const SpaceInformationPtr &si, const DecompositionPtr &d, const std::string &plannerName)
Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.
Definition: Syclop.h:94
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:54
void addEdgeCostFactor(const EdgeCostFactorFn &factor)
Adds an edge cost factor to be used for edge weights between adjacent regions.
Definition: Syclop.cpp:216
bool empty
This value is true if and only if this adjacency's source and target regions both contain zero tree m...
Definition: Syclop.h:349
std::set< int > covGridCells
The cells of the underlying coverage grid that contain tree motions originating from direct connectio...
Definition: Syclop.h:336
void setProbAbandonLeadEarly(double probability)
The probability that a lead will be abandoned early, before a new region is chosen for expansion...
Definition: Syclop.h:223
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
boost::function< double(int, int)> EdgeCostFactorFn
Each edge weight between two adjacent regions in the Decomposition is defined as a product of edge co...
Definition: Syclop.h:88
A boost shared pointer wrapper for ompl::control::SpaceInformation.
virtual void project(const base::State *s, std::vector< double > &coord) const =0
Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition...
double probShortestPath_
The probability that a lead will be computed as a shortest-path instead of a random-DFS.
Definition: Syclop.h:370
Contains default values for Syclop parameters.
Definition: Syclop.h:230
void setLeadComputeFn(const LeadComputeFn &compute)
Allows the user to override the lead computation function.
Definition: Syclop.cpp:211
int getNumRegionExpansions() const
Get the number of times a new region will be chosen and promoted for expansion from a given lead...
Definition: Syclop.h:188
unsigned int numSelections
The number of times this region has been selected for expansion.
Definition: Syclop.h:311
void setNumFreeVolumeSamples(int numSamples)
Set the number of states to sample when estimating free volume in the Decomposition.
Definition: Syclop.h:153
void setProbShortestPathLead(double probability)
Set the probability [0,1] that a lead will be computed as a shortest-path instead of a random-DFS...
Definition: Syclop.h:167
double probKeepAddingToAvail_
The probability that the set of available regions will be augmented.
Definition: Syclop.h:373
int getNumFreeVolumeSamples() const
Get the number of states to sample when estimating free volume in the Decomposition.
Definition: Syclop.h:146
virtual void selectAndExtend(Region ®ion, std::vector< Motion * > &newMotions)=0
Select a Motion from the given Region, and extend the tree from the Motion. Add any new motions creat...
A boost shared pointer wrapper for ompl::control::Decomposition.
double getProbAddingToAvailableRegions() const
Get the probability [0,1] that the set of available regions will be augmented.
Definition: Syclop.h:174
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:69
int numFreeVolSamples_
The number of states to sample to estimate free volume in the Decomposition.
Definition: Syclop.h:367
void setNumTreeExpansions(int treeExpansions)
Set the number of calls to selectAndExtend() in the low-level tree planner for a given lead and regio...
Definition: Syclop.h:209
double probAbandonLeadEarly_
The probability that a lead will be abandoned early, before a new region is chosen for expansion...
Definition: Syclop.h:382
void setNumRegionExpansions(int regionExpansions)
Set the number of times a new region will be chosen and promoted for expansion from a given lead...
Definition: Syclop.h:195
double weight
The probabilistic weight of this region, used when sampling from PDF.
Definition: Syclop.h:305
virtual Motion * addRoot(const base::State *s)=0
Add State s as a new root in the low-level tree, and return the Motion corresponding to s...
void setProbAddingToAvailableRegions(double probability)
Set the probability [0,1] that the set of available regions will be augmented.
Definition: Syclop.h:181