ProblemDefinition.h
144 typedef std::function<void(const Planner *, const std::vector<const base::State *> &, const Cost)>
252 void setGoalState(const State *goal, double threshold = std::numeric_limits<double>::epsilon());
const SolutionNonExistenceProofPtr & getSolutionNonExistenceProof() const
Retrieve a pointer to the SolutionNonExistenceProof instance for this problem definition.
Definition: ProblemDefinition.cpp:490
PlannerSolution(const PathPtr &path)
Construct a solution that consists of a path and its attributes (whether it is approximate and the di...
Definition: ProblemDefinition.h:73
void setApproximate(double difference)
Specify that the solution is approximate and set the difference to the goal.
Definition: ProblemDefinition.h:89
void print(std::ostream &out=std::cout) const
Print information about the start and goal states and the optimization objective. ...
Definition: ProblemDefinition.cpp:461
bool hasApproximateSolution() const
Return true if the top found solution is approximate (does not actually reach the desired goal...
Definition: ProblemDefinition.cpp:436
bool optimized_
True if the solution was optimized to meet the specified optimization criterion.
Definition: ProblemDefinition.h:127
void setOptimizationObjective(const OptimizationObjectivePtr &optimizationObjective)
Set the optimization objective to be considered during planning.
Definition: ProblemDefinition.h:281
Representation of a solution to a planning problem.
Definition: ProblemDefinition.h:69
void clearSolutionNonExistenceProof()
Removes any existing instance of SolutionNonExistenceProof.
Definition: ProblemDefinition.cpp:485
State * getStartState(unsigned int index)
Returns a specific start state.
Definition: ProblemDefinition.h:211
A shared pointer wrapper for ompl::base::SolutionNonExistenceProof.
ReportIntermediateSolutionFn intermediateSolutionCallback_
Callback function which is called when a new intermediate solution has been found.
Definition: ProblemDefinition.h:419
bool hasOptimizedSolution() const
Return true if the top found solution is optimized (satisfies the specified optimization objective) ...
Definition: ProblemDefinition.cpp:441
bool hasStartState(const State *state, unsigned int *startIndex=nullptr) const
Check whether a specified starting state is already included in the problem definition and optionally...
Definition: ProblemDefinition.cpp:184
void addSolutionPath(const PathPtr &path, bool approximate=false, double difference=-1.0, const std::string &plannerName="Unknown") const
Add a solution path in a thread-safe manner. Multiple solutions can be set for a goal. If a solution does not reach the desired goal it is considered approximate. Optionally, the distance between the desired goal and the one actually achieved is set by difference. Optionally, the name of the planner that generated the solution.
Definition: ProblemDefinition.cpp:419
STL namespace.
bool hasSolutionNonExistenceProof() const
Returns true if the problem definition has a proof of non existence for a solution.
Definition: ProblemDefinition.cpp:480
void addStartState(const ScopedState<> &state)
Add a start state. The state is copied.
Definition: ProblemDefinition.h:180
SolutionNonExistenceProofPtr nonExistenceProof_
A Representation of a proof of non-existence of a solution for this problem definition.
Definition: ProblemDefinition.h:413
bool approximate_
True if goal was not achieved, but an approximate solution was found.
Definition: ProblemDefinition.h:121
void setStartAndGoalStates(const ScopedState<> &start, const ScopedState<> &goal, const double threshold=std::numeric_limits< double >::epsilon())
In the simplest case possible, we have a single starting state and a single goal state.
Definition: ProblemDefinition.h:255
bool hasExactSolution() const
Returns true if an exact solution path has been found. Specifically returns hasSolution && !hasApprox...
Definition: ProblemDefinition.h:333
bool operator==(const PlannerSolution &p) const
Return true if two solutions are the same.
Definition: ProblemDefinition.h:80
PathPtr getSolutionPath() const
Return the top solution path, if one is found. The top path is the shortest one that was found...
Definition: ProblemDefinition.cpp:409
std::vector< PlannerSolution > getSolutions() const
Get all the solution paths available for this goal.
Definition: ProblemDefinition.cpp:451
void setSolutionNonExistenceProof(const SolutionNonExistenceProofPtr &nonExistenceProof)
Set the instance of SolutionNonExistenceProof for this problem definition.
Definition: ProblemDefinition.cpp:495
void setGoalState(const ScopedState<> &goal, const double threshold=std::numeric_limits< double >::epsilon())
A simple form of setting the goal. This is called by setStartAndGoalStates(). A more general form is ...
Definition: ProblemDefinition.h:262
OptimizationObjectivePtr optimizationObjective_
The objective to be optimized while solving the planning problem.
Definition: ProblemDefinition.h:416
const State * getStartState(unsigned int index) const
Returns a specific start state.
Definition: ProblemDefinition.h:205
int index_
When multiple solutions are found, each is given a number starting at 0, so that the order in which t...
Definition: ProblemDefinition.h:112
PathPtr isStraightLinePathValid() const
Check if a straight line path is valid. If it is, return an instance of a path that represents the st...
Definition: ProblemDefinition.cpp:277
bool fixInvalidInputStates(double distStart, double distGoal, unsigned int attempts)
Many times the start or goal state will barely touch an obstacle. In this case, we may want to automa...
Definition: ProblemDefinition.cpp:232
void clearSolutionPaths() const
Forget the solution paths (thread safe). Memory is freed.
Definition: ProblemDefinition.cpp:456
A shared pointer wrapper for ompl::base::SpaceInformation.
Cost cost_
The cost of this solution path, with respect to the optimization objective.
Definition: ProblemDefinition.h:133
Abstract definition of optimization objectives.
Definition: OptimizationObjective.h:70
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 setStartAndGoalStates(const State *start, const State *goal, double threshold=std::numeric_limits< double >::epsilon())
In the simplest case possible, we have a single starting state and a single goal state.
Definition: ProblemDefinition.cpp:168
bool fixInvalidInputState(State *state, double dist, bool start, unsigned int attempts)
Helper function for fixInvalidInputStates(). Attempts to fix an individual state. ...
Definition: ProblemDefinition.cpp:196
Definition of a problem to be solved. This includes the start state(s) for the system and a goal spec...
Definition: ProblemDefinition.h:152
A shared pointer wrapper for ompl::base::OptimizationObjective.
OptimizationObjectivePtr opt_
Optimization objective that was used to optimize this solution.
Definition: ProblemDefinition.h:130
std::function< void(const Planner *, const std::vector< const base::State * > &, const Cost)> ReportIntermediateSolutionFn
When a planner has an intermediate solution (e.g., optimizing planners), a function with this signatu...
Definition: ProblemDefinition.h:139
std::size_t getSolutionCount() const
Get the number of solutions already found.
Definition: ProblemDefinition.cpp:404
std::string plannerName_
Name of planner type that generated this solution, as received from Planner::getName() ...
Definition: ProblemDefinition.h:136
bool operator<(const PlannerSolution &b) const
Define a ranking for solutions.
Definition: ProblemDefinition.cpp:148
SpaceInformationPtr si_
The space information this problem definition is for.
Definition: ProblemDefinition.h:404
bool getSolution(PlannerSolution &solution) const
Return true if a top solution is found, with the top solution passed by reference in the function hea...
Definition: ProblemDefinition.cpp:414
void getInputStates(std::vector< const State *> &states) const
Get all the input states. This includes start states and states that are part of goal regions that ca...
Definition: ProblemDefinition.cpp:261
bool isTrivial(unsigned int *startIndex=nullptr, double *distance=nullptr) const
A problem is trivial if a given starting state already in the goal region, so we need no motion plann...
Definition: ProblemDefinition.cpp:367
void addStartState(const State *state)
Add a start state. The state is copied.
Definition: ProblemDefinition.h:174
A shared pointer wrapper for ompl::base::Goal.
bool hasSolution() const
Returns true if a solution path has been found (could be approximate)
Definition: ProblemDefinition.cpp:399
const SpaceInformationPtr & getSpaceInformation() const
Get the space information this problem definition is for.
Definition: ProblemDefinition.h:168
double getSolutionDifference() const
Get the distance to the desired goal for the top solution. Return -1.0 if there are no solutions avai...
Definition: ProblemDefinition.cpp:446
double difference_
The achieved difference between the found solution and the desired goal.
Definition: ProblemDefinition.h:124
bool hasOptimizationObjective() const
Check if an optimization objective was defined for planning.
Definition: ProblemDefinition.h:269
void setGoalState(const State *goal, double threshold=std::numeric_limits< double >::epsilon())
A simple form of setting the goal. This is called by setStartAndGoalStates(). A more general form is ...
Definition: ProblemDefinition.cpp:175
unsigned int getStartStateCount() const
Returns the number of start states.
Definition: ProblemDefinition.h:199
double length_
For efficiency reasons, keep the length of the path as well.
Definition: ProblemDefinition.h:118
const OptimizationObjectivePtr & getOptimizationObjective() const
Get the optimization objective to be considered during planning.
Definition: ProblemDefinition.h:275
void setIntermediateSolutionCallback(const ReportIntermediateSolutionFn &callback)
Set the callback to be called by planners that can compute intermediate solutions.
Definition: ProblemDefinition.h:294
const ReportIntermediateSolutionFn & getIntermediateSolutionCallback() const
When this function returns a valid function pointer, that function should be called by planners that ...
Definition: ProblemDefinition.h:288
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.