ThunderRetrieveRepair.h
std::vector< base::PlannerDataPtr > repairPlannerDatas_
Debug the repair planner by saving its planner data each time it is used.
Definition: ThunderRetrieveRepair.h:187
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
tools::ThunderDBPtr experienceDB_
The database of motions to search through.
Definition: ThunderRetrieveRepair.h:172
A shared pointer wrapper for ompl::base::ProblemDefinition.
void freeMemory()
Free the memory allocated by this planner.
Definition: ThunderRetrieveRepair.cpp:122
base::ProblemDefinitionPtr repairProblemDef_
A secondary problem definition for the repair planner to use.
Definition: ThunderRetrieveRepair.h:184
void getRepairPlannerDatas(std::vector< base::PlannerDataPtr > &data) const
Get information about the exploration data structure the repair motion planner used each call...
Definition: ThunderRetrieveRepair.cpp:412
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
The Thunder Framework's Retrieve-Repair component.
Definition: ThunderRetrieveRepair.h:76
const PathGeometric & getChosenRecallPath() const
Get the chosen path used from database for repair.
Definition: ThunderRetrieveRepair.cpp:407
void setExperienceDB(const tools::ThunderDBPtr &experienceDB)
Pass a pointer of the database from the thunder framework.
Definition: ThunderRetrieveRepair.cpp:86
std::size_t checkMotionScore(const base::State *s1, const base::State *s2) const
Count the number of states along the discretized path that are in collision Note: This is kind of an ...
Definition: ThunderRetrieveRepair.cpp:417
std::size_t nearestPathsChosenID_
the ID within nearestPaths_ of the path that was chosen for repair
Definition: ThunderRetrieveRepair.h:178
A shared pointer wrapper for ompl::base::Planner.
std::size_t getLastRecalledNearestPathChosen() const
Get debug information about the top recalled paths that were chosen for further filtering.
Definition: ThunderRetrieveRepair.cpp:402
base::PlannerPtr repairPlanner_
A secondary planner for replanning.
Definition: ThunderRetrieveRepair.h:181
bool repairPath(const base::PlannerTerminationCondition &ptc, PathGeometric &primaryPath)
Repairs a path to be valid in the current planning environment.
Definition: ThunderRetrieveRepair.cpp:189
bool smoothingEnabled_
Optionally smooth retrieved and repaired paths from database.
Definition: ThunderRetrieveRepair.h:196
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: ThunderRetrieveRepair.cpp:99
int nearestK_
Number of 'k' close solutions to choose from database for further filtering.
Definition: ThunderRetrieveRepair.h:193
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A shared pointer wrapper for ompl::base::SpaceInformation.
A shared pointer wrapper for ompl::geometric::PathSimplifier.
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: ThunderRetrieveRepair.cpp:76
const std::vector< PathGeometric > & getLastRecalledNearestPaths() const
Get debug information about the top recalled paths that were chosen for further filtering.
Definition: ThunderRetrieveRepair.cpp:397
std::vector< PathGeometric > nearestPaths_
Recall the nearest paths and store this in planner data for introspection later.
Definition: ThunderRetrieveRepair.h:175
void setRepairPlanner(const base::PlannerPtr &planner)
Set the planner that will be used for repairing invalid paths recalled from experience.
Definition: ThunderRetrieveRepair.cpp:91
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: ThunderRetrieveRepair.cpp:126
PathSimplifierPtr path_simplifier_
The instance of the path simplifier.
Definition: ThunderRetrieveRepair.h:190
ThunderRetrieveRepair(const base::SpaceInformationPtr &si, tools::ThunderDBPtr experienceDB)
Constructor.
Definition: ThunderRetrieveRepair.cpp:55
void enableSmoothing(bool enable)
Optionally smooth retrieved and repaired paths from database.
Definition: ThunderRetrieveRepair.h:153
bool replan(const base::State *start, const base::State *goal, PathGeometric &newPathSegment, const base::PlannerTerminationCondition &ptc)
Use our secondary planner to find a valid path between start and goal, and return that path...
Definition: ThunderRetrieveRepair.cpp:307
void getPlannerData(base::PlannerData &data) const override
Get information about the exploration data structure the planning from scratch motion planner used...
Definition: ThunderRetrieveRepair.cpp:382
void setNearestK(int nearestK)
Setter for number of 'k' close solutions to choose from database for further filtering.
Definition: ThunderRetrieveRepair.h:147
int getNearestK() const
Getter for number of 'k' close solutions to choose from database for further filtering.
Definition: ThunderRetrieveRepair.h:141