ompl::geometric::LazyPRMstar Class Reference

PRM* planner. More...

`#include <ompl/geometric/planners/prm/LazyPRMstar.h>`

Inheritance diagram for ompl::geometric::LazyPRMstar:

## Public Member Functions | |

LazyPRMstar (const base::SpaceInformationPtr &si) | |

Constructor. | |

Public Member Functions inherited from ompl::geometric::LazyPRM | |

LazyPRM (const base::SpaceInformationPtr &si, bool starStrategy=false) | |

Constructor. | |

void | setRange (double distance) |

Set the maximum length of a motion to be added to the roadmap. | |

double | getRange () const |

Get the range the planner is using. | |

template<template< typename T > class NN> | |

void | setNearestNeighbors () |

Set a different nearest neighbors datastructure. | |

void | setProblemDefinition (const base::ProblemDefinitionPtr &pdef) override |

void | setConnectionStrategy (const ConnectionStrategy &connectionStrategy) |

Set the connection strategy function that specifies the milestones that connection attempts will be make to for a given milestone. More... | |

void | setDefaultConnectionStrategy () |

void | setMaxNearestNeighbors (unsigned int k) |

Convenience function that sets the connection strategy to the default one with k nearest neighbors. | |

void | setConnectionFilter (const ConnectionFilter &connectionFilter) |

Set the function that can reject a milestone connection. More... | |

unsigned long int | milestoneCount () const |

Return the number of milestones currently in the graph. | |

unsigned long int | edgeCount () const |

Return the number of edges currently in the graph. | |

void | getPlannerData (base::PlannerData &data) const override |

Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between). | |

void | setup () override |

Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceInformation::setup() if needed. This must be called before solving. | |

void | clear () override |

Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work. | |

void | clearQuery () override |

Clear the query previously loaded from the ProblemDefinition. Subsequent calls to solve() will reuse the previously computed roadmap, but will clear the set of input states constructed by the previous call to solve(). This enables multi-query functionality for LazyPRM. | |

base::PlannerStatus | solve (const base::PlannerTerminationCondition &ptc) override |

Function that can solve the motion planning problem. This function can be called multiple times on the same problem, without calling clear() in between. This allows the planner to continue work for more time on an unsolved problem, for example. If this option is used, it is assumed the problem definition is not changed (unpredictable results otherwise). The only change in the problem definition that is accounted for is the addition of starting or goal states (but not changing previously added start/goal states). If clearQuery() is called, the planner may retain prior datastructures generated from a previous query on a new problem definition. The function terminates if the call to ptc returns true. | |

Public Member Functions inherited from ompl::base::Planner | |

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. | |

ProblemDefinitionPtr & | getProblemDefinition () |

Get the problem definition the planner is trying to solve. | |

const PlannerInputStates & | getPlannerInputStates () const |

Get the planner input states. | |

virtual void | setProblemDefinition (const ProblemDefinitionPtr &pdef) |

Set the problem definition for the planner. 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() or clearQuery(). | |

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) | |

virtual void | checkValidity () |

Check to see if the planner is 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. | |

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. | |

## Additional Inherited Members | |

Public Types inherited from ompl::geometric::LazyPRM | |

using | Vertex = boost::adjacency_list_traits< boost::vecS, boost::listS, boost::undirectedS >::vertex_descriptor |

The type for a vertex in the roadmap. | |

using | Graph = boost::adjacency_list< boost::vecS, boost::listS, boost::undirectedS, boost::property< vertex_state_t, base::State *, boost::property< boost::vertex_index_t, unsigned long int, boost::property< vertex_flags_t, unsigned int, boost::property< vertex_component_t, unsigned long int, boost::property< boost::vertex_predecessor_t, Vertex, boost::property< boost::vertex_rank_t, unsigned long int > >> >> >, boost::property< boost::edge_weight_t, base::Cost, boost::property< edge_flags_t, unsigned int > >> |

The underlying roadmap graph. More... | |

using | Edge = boost::graph_traits< Graph >::edge_descriptor |

The type for an edge in the roadmap. | |

using | RoadmapNeighbors = std::shared_ptr< NearestNeighbors< Vertex > > |

A nearest neighbors data structure for roadmap vertices. | |

using | ConnectionStrategy = std::function< const std::vector< Vertex > &(const Vertex)> |

A function returning the milestones that should be attempted to connect to. | |

using | ConnectionFilter = std::function< bool(const Vertex &, const Vertex &)> |

A function that can reject connections. More... | |

Public Types inherited from ompl::base::Planner | |

using | PlannerProgressProperty = std::function< std::string()> |

Definition of a function which returns a property about the planner's progress that can be queried by a benchmarking routine. | |

using | PlannerProgressProperties = std::map< std::string, PlannerProgressProperty > |

A dictionary which maps the name of a progress property to the function to be used for querying that property. | |

Protected Member Functions inherited from ompl::geometric::LazyPRM | |

std::string | getIterationCount () const |

std::string | getBestCost () const |

std::string | getMilestoneCountString () const |

std::string | getEdgeCountString () const |

void | freeMemory () |

Free all the memory allocated by the planner. | |

Vertex | addMilestone (base::State *state) |

Construct a milestone for a given state (state), store it in the nearest neighbors data structure and then connect it to the roadmap in accordance to the connection strategy. | |

void | uniteComponents (Vertex a, Vertex b) |

void | markComponent (Vertex v, unsigned long int newComponent) |

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. | |

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 as the solution. | |

double | distanceFunction (const Vertex a, const Vertex b) const |

Compute distance between two milestones (this is simply distance between the states of the milestones) | |

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 OptimizationObjective::motionCostHeuristic. | |

Protected Member Functions inherited from ompl::base::Planner | |

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 inherited from ompl::geometric::LazyPRM | |

bool | starStrategy_ |

Flag indicating whether the default connection strategy is the Star strategy. | |

ConnectionStrategy | connectionStrategy_ |

Function that returns the milestones to attempt connections with. | |

ConnectionFilter | connectionFilter_ |

Function that can reject a milestone connection. | |

bool | userSetConnectionStrategy_ {false} |

Flag indicating whether the employed connection strategy was set by the user (or defaults are assumed) | |

double | maxDistance_ {0.} |

The maximum length of a motion to be added to a tree. | |

base::StateSamplerPtr | sampler_ |

Sampler user for generating random in the state space. | |

RoadmapNeighbors | nn_ |

Nearest neighbors data structure. | |

Graph | g_ |

Connectivity graph. | |

std::vector< Vertex > | startM_ |

Array of start milestones. | |

std::vector< Vertex > | goalM_ |

Array of goal milestones. | |

boost::property_map< Graph, boost::vertex_index_t >::type | indexProperty_ |

Access to the internal base::state at each Vertex. | |

boost::property_map< Graph, vertex_state_t >::type | stateProperty_ |

Access to the internal base::state at each Vertex. | |

boost::property_map< Graph, boost::edge_weight_t >::type | weightProperty_ |

Access to the weights of each Edge. | |

boost::property_map< Graph, vertex_component_t >::type | vertexComponentProperty_ |

Access the connected component of a vertex. | |

boost::property_map< Graph, vertex_flags_t >::type | vertexValidityProperty_ |

Access the validity state of a vertex. | |

boost::property_map< Graph, edge_flags_t >::type | edgeValidityProperty_ |

Access the validity state of an edge. | |

unsigned long int | componentCount_ {0} |

Number of connected components created so far. This is used as an ID only, does not represent the actual number of components currently in the graph. | |

std::map< unsigned long int, unsigned long int > | componentSize_ |

The number of elements in each component in the LazyPRM roadmap. | |

base::OptimizationObjectivePtr | opt_ |

Objective cost function for PRM graph edges. | |

base::Cost | bestCost_ {std::numeric_limits<double>::quiet_NaN()} |

unsigned long int | iterations_ {0} |

Protected Attributes inherited from ompl::base::Planner | |

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. | |

Static Protected Attributes inherited from ompl::geometric::LazyPRM | |

static const unsigned int | VALIDITY_UNKNOWN = 0 |

Flag indicating validity of an edge of a vertex. | |

static const unsigned int | VALIDITY_TRUE = 1 |

Flag indicating validity of an edge of a vertex. | |

## Detailed Description

PRM* planner.

Run LazyPRM with the "star strategy". Instead of setting the value "k" for how many neighbors to connect, automatically compute it based on the coverage of the space, guaranteeing optimality of solutions.

- Short description

- External documentation
- R. Bohlin and L.E. Kavraki Path Planning Using Lazy PRM
*IEEE International Conference on Robotics and Automation*, San Francisco, pp. 521–528, 2000. DOI: 10.1109/ROBOT.2000.844107

S. Karaman and E. Frazzoli, Sampling-based Algorithms for Optimal Motion Planning, International Journal of Robotics Research, vol. 30, no.7, pp. 846-894, 2011. DOI: 10.1177/0278364911406761

[more]

Definition at line 127 of file LazyPRMstar.h.

The documentation for this class was generated from the following files:

- ompl/geometric/planners/prm/LazyPRMstar.h
- ompl/geometric/planners/prm/src/LazyPRMstar.cpp