LazyPRM.cpp
81 Planner::declareParam<double>("range", this, &LazyPRM::setRange, &LazyPRM::getRange, "0.:1.:10000.");
83 Planner::declareParam<unsigned int>("max_nearest_neighbors", this, &LazyPRM::setMaxNearestNeighbors,
130 connectionStrategy_ = KBoundedStrategy<Vertex>(magic::DEFAULT_NEAREST_NEIGHBORS_LAZY, maxDistance_, nn_);
156 OMPL_INFORM("%s: problem definition is not set, deferring setup completion...", getName().c_str());
249 ompl::base::PlannerStatus ompl::geometric::LazyPRM::solve(const base::PlannerTerminationCondition &ptc)
291 OMPL_INFORM("%s: Starting planning with %lu states already in datastructure", getName().c_str(), nrStartStates);
363 OMPL_INFORM("%s: Created %u states", getName().c_str(), boost::num_vertices(g_) - nrStartStates);
405 long int ompl::geometric::LazyPRM::solutionComponent(std::pair<std::size_t, std::size_t> *startGoalPair) const
423 ompl::base::PathPtr ompl::geometric::LazyPRM::constructSolution(const Vertex &start, const Vertex &goal)
519 std::vector<const base::State *>::const_iterator prevState = states.begin(), state = prevState + 1;
545 for (std::vector<const base::State *>::const_reverse_iterator st = states.rbegin(); st != states.rend(); ++st)
572 data.addEdge(base::PlannerDataVertex(stateProperty_[v1]), base::PlannerDataVertex(stateProperty_[v2]));
575 data.addEdge(base::PlannerDataVertex(stateProperty_[v2]), base::PlannerDataVertex(stateProperty_[v1]));
bool approximateSolutions
Flag indicating whether the planner is able to compute approximate solutions.
Definition: Planner.h:203
void addPlannerProgressProperty(const std::string &progressPropertyName, const PlannerProgressProperty &prop)
Add a planner progress property called progressPropertyName with a property querying function prop to...
Definition: Planner.h:399
static const unsigned int MIN_ADDED_SEGMENTS_FOR_LAZY_OPTIMIZATION
When optimizing solutions with lazy planners, this is the minimum number of path segments to add befo...
Definition: LazyPRM.cpp:63
bool starStrategy_
Flag indicating whether the default connection strategy is the Star strategy.
Definition: LazyPRM.h:303
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: LazyPRM.cpp:203
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: LazyPRM.cpp:106
LazyPRM(const base::SpaceInformationPtr &si, bool starStrategy=false)
Constructor.
Definition: LazyPRM.cpp:67
Definition: SPARSdb.cpp:73
A shared pointer wrapper for ompl::base::ProblemDefinition.
The planner failed to find a solution.
Definition: PlannerStatus.h:62
Representation of a solution to a planning problem.
Definition: ProblemDefinition.h:69
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: LazyPRM.cpp:555
GoalType recognizedGoal
The type of goal specification the planner can use.
Definition: Planner.h:197
unsigned int addGoalVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
Definition: PlannerData.cpp:422
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: LazyPRM.cpp:249
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
void setProblemDefinition(const base::ProblemDefinitionPtr &pdef) override
Set the problem definition for the planner. The problem needs to be set before calling solve()...
Definition: LazyPRM.cpp:190
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:58
Invalid start state or no start state specified.
Definition: PlannerStatus.h:56
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:47
Return at most k neighbors, as long as they are also within a specified bound.
Definition: ConnectionStrategy.h:157
The goal is of a type that a planner does not recognize.
Definition: PlannerStatus.h:60
Vertex addMilestone(base::State *state)
Construct a milestone for a given state (state), store it in the nearest neighbors data structure and...
Definition: LazyPRM.cpp:223
long int solutionComponent(std::pair< std::size_t, std::size_t > *startGoalPair) const
Check if any pair of a start state and goal state are part of the same connected component. If so, return the id of that component. Otherwise, return -1.
Definition: LazyPRM.cpp:405
void setMaxNearestNeighbors(unsigned int k)
Convenience function that sets the connection strategy to the default one with k nearest neighbors...
Definition: LazyPRM.cpp:172
bool tagState(const State *st, int tag)
Set the integer tag associated with the given state. If the given state does not exist in a vertex...
Definition: PlannerData.cpp:569
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: LazyPRM.cpp:550
The planner found an exact solution.
Definition: PlannerStatus.h:66
boost::adjacency_list_traits< boost::vecS, boost::listS, boost::undirectedS >::vertex_descriptor Vertex
The type for a vertex in the roadmap.
Definition: LazyPRM.h:98
ompl::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: LazyPRM.cpp:423
std::function< const std::vector< Vertex > &(const Vertex)> ConnectionStrategy
A function returning the milestones that should be attempted to connect to.
Definition: LazyPRM.h:138
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0))
Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...
Definition: PlannerData.cpp:432
A shared pointer wrapper for ompl::base::SpaceInformation.
void clearQuery()
Clear the query previously loaded from the ProblemDefinition. Subsequent calls to solve() will reuse ...
Definition: LazyPRM.cpp:196
unsigned int addStartVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
Definition: PlannerData.cpp:413
void setOptimized(const OptimizationObjectivePtr &opt, Cost cost, bool meetsObjective)
Set the optimization objective used to optimize this solution, the cost of the solution and whether i...
Definition: ProblemDefinition.h:97
void setRange(double distance)
Set the maximum length of a motion to be added to the roadmap.
Definition: LazyPRM.cpp:163
Make the minimal number of connections required to ensure asymptotic optimality.
Definition: ConnectionStrategy.h:120
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:225
This class contains methods that automatically configure various parameters for motion planning...
Definition: SelfConfig.h:59
boost::graph_traits< Graph >::edge_descriptor Edge
The type for an edge in the roadmap.
Definition: LazyPRM.h:131
bool optimizingPaths
Flag indicating whether the planner attempts to optimize the path and reduce its length until the max...
Definition: Planner.h:207
static const unsigned int DEFAULT_NEAREST_NEIGHBORS_LAZY
The number of nearest neighbors to consider by default in the construction of the PRM roadmap...
Definition: LazyPRM.cpp:58
void setPlannerName(const std::string &name)
Set the name of the planner used to compute this solution.
Definition: ProblemDefinition.h:105
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
A shared pointer wrapper for ompl::base::Path.
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible...
Definition: GoalTypes.h:56