ompl::geometric::AnytimePathShortening Class Reference
#include <ompl/geometric/planners/AnytimePathShortening.h>
Inheritance diagram for ompl::geometric::AnytimePathShortening:

Public Member Functions | |
AnytimePathShortening (const base::SpaceInformationPtr &si) | |
Constructor requires the space information to plan in. | |
~AnytimePathShortening () override | |
Destructor. | |
void | addPlanner (base::PlannerPtr &planner) |
Adds the given planner to the set of planners used to compute candidate paths. | |
void | setProblemDefinition (const base::ProblemDefinitionPtr &pdef) override |
Set the problem definition for the planners. 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(). | |
base::PlannerStatus | solve (const base::PlannerTerminationCondition &ptc) override |
Method that solves the motion planning problem. This method terminates under just two conditions, the given argument condition, or when the maximum path length in the optimization objective is met. More... | |
void | clear () override |
Clear all internal planning datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work. | |
void | getPlannerData (base::PlannerData &data) const override |
Get information about the most recent run of the motion planner. More... | |
virtual void | getPlannerData (ompl::base::PlannerData &data, unsigned int idx) const |
Get information about the most recent run of the idxth motion planner. | |
void | setup () override |
Perform any necessary configuration steps. This method also invokes ompl::base::SpaceInformation::setup() if needed. This must be called before solving. | |
void | checkValidity () override |
Check to see if the planners are 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. | |
unsigned int | getNumPlanners () const |
Retrieve the number of planners added. | |
base::PlannerPtr | getPlanner (unsigned int idx) const |
Retrieve a pointer to the ith planner instance. | |
bool | isShortcutting () const |
Return whether the anytime planner will perform shortcutting on paths. | |
void | setShortcut (bool shortcut) |
Enable/disable shortcutting on paths. | |
bool | isHybridizing () const |
Return whether the anytime planner will extract a hybrid path from the set of solution paths. | |
void | setHybridize (bool hybridize) |
Enable/disable path hybridization on the set of solution paths. | |
unsigned int | maxHybridizationPaths () const |
Return the maximum number of paths that will be hybridized. | |
void | setMaxHybridizationPath (unsigned int maxPathCount) |
Set the maximum number of paths that will be hybridized. | |
void | setDefaultNumPlanners (unsigned int numPlanners) |
Set default number of planners to use if none are specified. | |
unsigned int | getDefaultNumPlanners () const |
Get default number of planners used if none are specified. | |
std::string | getBestCost () const |
Return best cost found so far by algorithm. | |
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Planner (const Planner &)=delete | |
Planner & | operator= (const Planner &)=delete |
Planner (SpaceInformationPtr si, std::string name) | |
Constructor. | |
virtual | ~Planner ()=default |
Destructor. | |
template<class T > | |
T * | as () |
Cast this instance to a desired type. More... | |
template<class T > | |
const T * | as () const |
Cast this instance to a desired type. More... | |
const SpaceInformationPtr & | getSpaceInformation () const |
Get the space information this planner is using. | |
const ProblemDefinitionPtr & | getProblemDefinition () const |
Get the problem definition the planner is trying to solve. | |
const PlannerInputStates & | getPlannerInputStates () const |
Get the planner input states. | |
PlannerStatus | solve (const PlannerTerminationConditionFn &ptc, double checkInterval) |
Same as above except the termination condition is only evaluated at a specified interval. | |
PlannerStatus | solve (double solveTime) |
Same as above except the termination condition is solely a time limit: the number of seconds the algorithm is allowed to spend planning. | |
const std::string & | getName () const |
Get the name of the planner. | |
void | setName (const std::string &name) |
Set the name of the planner. | |
const PlannerSpecs & | getSpecs () const |
Return the specifications (capabilities of this planner) | |
bool | isSetup () const |
Check if setup() was called for this planner. | |
ParamSet & | params () |
Get the parameters for this planner. | |
const ParamSet & | params () const |
Get the parameters for this planner. | |
const PlannerProgressProperties & | getPlannerProgressProperties () const |
Retrieve a planner's planner progress property map. | |
virtual void | printProperties (std::ostream &out) const |
Print properties of the motion planner. | |
virtual void | printSettings (std::ostream &out) const |
Print information about the motion planner's settings. | |
Protected Member Functions | |
virtual void | threadSolve (base::Planner *planner, const base::PlannerTerminationCondition &ptc) |
The function that the planning threads execute when solving a motion planning problem. | |
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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 | |
std::vector< base::PlannerPtr > | planners_ |
The list of planners used for solving the problem. | |
bool | shortcut_ {true} |
Flag indicating whether to shortcut paths. | |
bool | hybridize_ {true} |
Flag indicating whether to hybridize the set of solution paths. | |
unsigned int | maxHybridPaths_ {24} |
The maximum number of paths that will be hybridized. This prohibits hybridization of a very large path set, which may take significant time. | |
unsigned int | defaultNumPlanners_ |
The number of planners to use if none are specified. This defaults to the number of cores. This parameter has no effect if planners have already been added. | |
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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 | |
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typedef std::function< std::string()> | PlannerProgressProperty |
Definition of a function which returns a property about the planner's progress that can be queried by a benchmarking routine. | |
typedef std::map< std::string, PlannerProgressProperty > | PlannerProgressProperties |
A dictionary which maps the name of a progress property to the function to be used for querying that property. | |
Detailed Description
- Short description
- Anytime path shortening is a generic wrapper around one or more geometric motion planners that repeatedly applies shortcutting (ompl::geometric::PathSimplifier) and hybridization (ompl::geometric::PathHybridization) to a set of solution paths with the goal of rapidly converging to a solution with minimal length. Any number and combination of planners can be specified, each is run in a separate thread. A path length objective may be set, otherwise the tool will run until the termination condition is met. The purpose of this tool is to add anytime properties to motion planners that are not typically viewed as optimal/optimizing algorithms.
- External documentation
- R. Luna, I.A. Şucan, M. Moll, and L.E. Kavraki, Anytime Solution Optimization for Sampling-Based Motion Planning, in Proc. 2013 IEEE Intl. Conf. on Robotics and Automation, pp. 5053-5059, May. 2013. DOI: ICRA.2013.6631301
[PDF]
Definition at line 67 of file AnytimePathShortening.h.
Member Function Documentation
◆ getPlannerData()
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overridevirtual |
Get information about the most recent run of the motion planner.
- Remarks
- This call is ambiguous in this tool. By default, the planner data for the first planner in the planner list is returned.
Reimplemented from ompl::base::Planner.
Definition at line 209 of file AnytimePathShortening.cpp.
◆ solve()
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overridevirtual |
Method that solves the motion planning problem. This method terminates under just two conditions, the given argument condition, or when the maximum path length in the optimization objective is met.
- Remarks
- This method spawns a separate thread for each planner employed, and applies a series of optimization methods to the set of paths generated by each planning thread.
Implements ompl::base::Planner.
Definition at line 99 of file AnytimePathShortening.cpp.
The documentation for this class was generated from the following files:
- ompl/geometric/planners/AnytimePathShortening.h
- ompl/geometric/planners/AnytimePathShortening.cpp