PRM.h
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34 
35 /* Author: Ioan Sucan, James D. Marble, Ryan Luna */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_PRM_PRM_
38 #define OMPL_GEOMETRIC_PLANNERS_PRM_PRM_
39 
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include "ompl/datastructures/NearestNeighbors.h"
42 #include <boost/graph/graph_traits.hpp>
43 #include <boost/graph/adjacency_list.hpp>
44 #include <boost/pending/disjoint_sets.hpp>
45 #include <mutex>
46 #include <utility>
47 #include <vector>
48 #include <map>
49 
50 namespace ompl
51 {
52  namespace base
53  {
54  // Forward declare for use in implementation
55  OMPL_CLASS_FORWARD(OptimizationObjective);
56  }
57 
58  namespace geometric
59  {
80  class PRM : public base::Planner
81  {
82  public:
83  struct vertex_state_t
84  {
85  using kind = boost::vertex_property_tag;
86  };
87 
88  struct vertex_total_connection_attempts_t
89  {
90  using kind = boost::vertex_property_tag;
91  };
92 
93  struct vertex_successful_connection_attempts_t
94  {
95  using kind = boost::vertex_property_tag;
96  };
97 
113  using Graph = boost::adjacency_list<
114  boost::vecS, boost::vecS, boost::undirectedS,
115  boost::property<
117  boost::property<
119  boost::property<vertex_successful_connection_attempts_t, unsigned long int,
120  boost::property<boost::vertex_predecessor_t, unsigned long int,
121  boost::property<boost::vertex_rank_t, unsigned long int>>>>>,
122  boost::property<boost::edge_weight_t, base::Cost>>;
123 
125  using Vertex = boost::graph_traits<Graph>::vertex_descriptor;
127  using Edge = boost::graph_traits<Graph>::edge_descriptor;
128 
130  using RoadmapNeighbors = std::shared_ptr<NearestNeighbors<Vertex>>;
131 
134  using ConnectionStrategy = std::function<const std::vector<Vertex> &(const Vertex)>;
135 
141  using ConnectionFilter = std::function<bool(const Vertex &, const Vertex &)>;
142 
144  PRM(const base::SpaceInformationPtr &si, bool starStrategy = false);
145 
146  ~PRM() override;
147 
148  void setProblemDefinition(const base::ProblemDefinitionPtr &pdef) override;
149 
163  void setConnectionStrategy(const ConnectionStrategy &connectionStrategy)
164  {
165  connectionStrategy_ = connectionStrategy;
167  }
170 
174  void setMaxNearestNeighbors(unsigned int k);
175 
180  unsigned int getMaxNearestNeighbors() const;
181 
182 
196  void setConnectionFilter(const ConnectionFilter &connectionFilter)
197  {
198  connectionFilter_ = connectionFilter;
199  }
200 
201  void getPlannerData(base::PlannerData &data) const override;
202 
207 
211  void growRoadmap(double growTime);
212 
217 
221  void expandRoadmap(double expandTime);
222 
227 
242 
247  void clearQuery() override;
248 
249  void clear() override;
250 
252  template <template <typename T> class NN>
253  void setNearestNeighbors()
254  {
255  if (nn_ && nn_->size() == 0)
256  OMPL_WARN("Calling setNearestNeighbors will clear all states.");
257  clear();
258  nn_ = std::make_shared<NN<Vertex>>();
261  if (isSetup())
262  setup();
263  }
264 
265  void setup() override;
266 
267  const Graph &getRoadmap() const
268  {
269  return g_;
270  }
271 
273  unsigned long int milestoneCount() const
274  {
275  return boost::num_vertices(g_);
276  }
277 
279  unsigned long int edgeCount() const
280  {
281  return boost::num_edges(g_);
282  }
283 
284  const RoadmapNeighbors &getNearestNeighbors()
285  {
286  return nn_;
287  }
288 
289  protected:
291  void freeMemory();
292 
296  Vertex addMilestone(base::State *state);
297 
300  void uniteComponents(Vertex m1, Vertex m2);
301 
304  bool sameComponent(Vertex m1, Vertex m2);
305 
310 
314  void expandRoadmap(const base::PlannerTerminationCondition &ptc, std::vector<base::State *> &workStates);
315 
317  void checkForSolution(const base::PlannerTerminationCondition &ptc, base::PathPtr &solution);
318 
322  bool maybeConstructSolution(const std::vector<Vertex> &starts, const std::vector<Vertex> &goals,
323  base::PathPtr &solution);
324 
327  ompl::base::Cost constructApproximateSolution(const std::vector<Vertex> &starts, const std::vector<Vertex> &goals, base::PathPtr &solution);
328 
330  bool addedNewSolution() const;
331 
334  base::PathPtr constructSolution(const Vertex &start, const Vertex &goal);
335 
339 
342  double distanceFunction(const Vertex a, const Vertex b) const
343  {
344  return si_->distance(stateProperty_[a], stateProperty_[b]);
345  }
346 
348  // Planner progress property functions
349  std::string getIterationCount() const
350  {
351  return std::to_string(iterations_);
352  }
353  std::string getBestCost() const
354  {
355  return std::to_string(bestCost_.value());
356  }
357  std::string getMilestoneCountString() const
358  {
359  return std::to_string(milestoneCount());
360  }
361  std::string getEdgeCountString() const
362  {
363  return std::to_string(edgeCount());
364  }
365 
367  bool starStrategy_;
368 
370  base::ValidStateSamplerPtr sampler_;
371 
373  base::StateSamplerPtr simpleSampler_;
374 
377 
379  Graph g_;
380 
382  std::vector<Vertex> startM_;
383 
385  std::vector<Vertex> goalM_;
386 
388  boost::property_map<Graph, vertex_state_t>::type stateProperty_;
389 
391  boost::property_map<Graph, vertex_total_connection_attempts_t>::type totalConnectionAttemptsProperty_;
392 
394  boost::property_map<Graph, vertex_successful_connection_attempts_t>::type
396 
398  boost::property_map<Graph, boost::edge_weight_t>::type weightProperty_;
399 
401  boost::disjoint_sets<boost::property_map<Graph, boost::vertex_rank_t>::type,
402  boost::property_map<Graph, boost::vertex_predecessor_t>::type> disjointSets_;
403 
406 
409 
413 
416 
418  bool addedNewSolution_{false};
419 
421  mutable std::mutex graphMutex_;
422 
424  base::OptimizationObjectivePtr opt_;
425 
427  // Planner progress properties
429  unsigned long int iterations_{0};
431  base::Cost bestCost_{std::numeric_limits<double>::quiet_NaN()};
432  };
433  }
434 }
435 
436 #endif
std::mutex graphMutex_
Mutex to guard access to the Graph member (g_)
Definition: PRM.h:451
ompl::base::Cost constructApproximateSolution(const std::vector< Vertex > &starts, const std::vector< Vertex > &goals, base::PathPtr &solution)
(Assuming that there is always an approximate solution), finds an approximate solution.
Definition: PRM.cpp:553
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:86
base::StateSamplerPtr simpleSampler_
Sampler user for generating random in the state space.
Definition: PRM.h:403
boost::property_map< Graph, vertex_state_t >::type stateProperty_
Access to the internal base::state at each Vertex.
Definition: PRM.h:418
void setConnectionFilter(const ConnectionFilter &connectionFilter)
Set the function that can reject a milestone connection.
Definition: PRM.h:226
unsigned long int edgeCount() const
Return the number of edges currently in the graph.
Definition: PRM.h:309
void growRoadmap(double growTime)
If the user desires, the roadmap can be improved for the given time (seconds). The solve() method wil...
Definition: PRM.cpp:284
ConnectionStrategy connectionStrategy_
Function that returns the milestones to attempt connections with.
Definition: PRM.h:435
void setDefaultConnectionStrategy()
Definition: PRM.cpp:161
void setNearestNeighbors()
Set a different nearest neighbors datastructure.
Definition: PRM.h:283
double distanceFunction(const Vertex a, const Vertex b) const
Compute distance between two milestones (this is simply distance between the states of the milestones...
Definition: PRM.h:372
Definition of an abstract state.
Definition: State.h:110
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: PRM.cpp:633
std::vector< Vertex > startM_
Array of start milestones.
Definition: PRM.h:412
void checkForSolution(const base::PlannerTerminationCondition &ptc, base::PathPtr &solution)
Definition: PRM.cpp:324
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: PRM.cpp:666
boost::disjoint_sets< boost::property_map< Graph, boost::vertex_rank_t >::type, boost::property_map< Graph, boost::vertex_predecessor_t >::type > disjointSets_
Data structure that maintains the connected components.
Definition: PRM.h:432
void setMaxNearestNeighbors(unsigned int k)
Convenience function that sets the connection strategy to the default one with k nearest neighbors.
Definition: PRM.cpp:138
double value() const
The value of the cost.
Definition: Cost.h:148
base::ValidStateSamplerPtr sampler_
Sampler user for generating valid samples in the state space.
Definition: PRM.h:400
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:108
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: PRM.cpp:100
void expandRoadmap(double expandTime)
Attempt to connect disjoint components in the roadmap using random bouncing motions (the PRM expansio...
Definition: PRM.cpp:203
RNG rng_
Random number generator.
Definition: PRM.h:445
bool addedNewSolution_
A flag indicating that a solution has been added during solve()
Definition: PRM.h:448
unsigned int getMaxNearestNeighbors() const
return the maximum number of nearest neighbors to connect a sample to
Definition: PRM.cpp:155
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:235
Vertex addMilestone(base::State *state)
Construct a milestone for a given state (state), store it in the nearest neighbors data structure and...
Definition: PRM.cpp:507
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. Grows a roadmap using constructRoadmap()....
Definition: PRM.cpp:391
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
base::OptimizationObjectivePtr opt_
Objective cost function for PRM graph edges.
Definition: PRM.h:454
bool userSetConnectionStrategy_
Flag indicating whether the employed connection strategy was set by the user (or defaults are assumed...
Definition: PRM.h:442
bool maybeConstructSolution(const std::vector< Vertex > &starts, const std::vector< Vertex > &goals, base::PathPtr &solution)
Check if there exists a solution, i.e., there exists a pair of milestones such that the first is in s...
Definition: PRM.cpp:345
std::shared_ptr< NearestNeighbors< Vertex > > RoadmapNeighbors
A nearest neighbors data structure for roadmap vertices.
Definition: PRM.h:160
A class to store the exit status of Planner::solve()
boost::graph_traits< Graph >::edge_descriptor Edge
The type for an edge in the roadmap.
Definition: PRM.h:157
bool addedNewSolution() const
Returns the value of the addedNewSolution_ member.
Definition: PRM.cpp:386
boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, boost::property< vertex_state_t, base::State *, boost::property< vertex_total_connection_attempts_t, unsigned long int, boost::property< vertex_successful_connection_attempts_t, unsigned long int, boost::property< boost::vertex_predecessor_t, unsigned long int, boost::property< boost::vertex_rank_t, unsigned long int > >> >>, boost::property< boost::edge_weight_t, base::Cost > > Graph
The underlying roadmap graph.
Definition: PRM.h:152
void constructRoadmap(const base::PlannerTerminationCondition &ptc)
While the termination condition allows, this function will construct the roadmap (using growRoadmap()...
Definition: PRM.cpp:475
void freeMemory()
Free all the memory allocated by the planner.
Definition: PRM.cpp:196
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition: Console.h:65
boost::property_map< Graph, vertex_successful_connection_attempts_t >::type successfulConnectionAttemptsProperty_
Access to the number of successful connection attempts for a vertex.
Definition: PRM.h:425
std::function< const std::vector< Vertex > &(const Vertex)> ConnectionStrategy
A function returning the milestones that should be attempted to connect to.
Definition: PRM.h:164
bool starStrategy_
Flag indicating whether the default connection strategy is the Star strategy.
Definition: PRM.h:397
bool isSetup() const
Check if setup() was called for this planner.
Definition: Planner.cpp:112
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:479
PRM(const base::SpaceInformationPtr &si, bool starStrategy=false)
Constructor.
Definition: PRM.cpp:71
RoadmapNeighbors nn_
Nearest neighbors data structure.
Definition: PRM.h:406
std::vector< Vertex > goalM_
Array of goal milestones.
Definition: PRM.h:415
void clearQuery() override
Clear the query previously loaded from the ProblemDefinition. Subsequent calls to solve() will reuse ...
Definition: PRM.cpp:175
boost::graph_traits< Graph >::vertex_descriptor Vertex
The type for a vertex in the roadmap.
Definition: PRM.h:155
unsigned long int iterations_
Number of iterations the algorithm performed.
Definition: PRM.h:459
boost::property_map< Graph, vertex_total_connection_attempts_t >::type totalConnectionAttemptsProperty_
Access to the number of total connection attempts for a vertex.
Definition: PRM.h:421
unsigned long int milestoneCount() const
Return the number of milestones currently in the graph.
Definition: PRM.h:303
void uniteComponents(Vertex m1, Vertex m2)
Make two milestones (m1 and m2) be part of the same connected component. The component with fewer ele...
Definition: PRM.cpp:543
ConnectionFilter connectionFilter_
Function that can reject a milestone connection.
Definition: PRM.h:438
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: PRM.cpp:695
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: PRM.cpp:182
Graph g_
Connectivity graph.
Definition: PRM.h:409
Probabilistic RoadMap planner.
Definition: PRM.h:110
boost::property_map< Graph, boost::edge_weight_t >::type weightProperty_
Access to the weights of each Edge.
Definition: PRM.h:428
void setConnectionStrategy(const ConnectionStrategy &connectionStrategy)
Set the connection strategy function that specifies the milestones that connection attempts will be m...
Definition: PRM.h:193
bool sameComponent(Vertex m1, Vertex m2)
Check if two milestones (m1 and m2) are part of the same connected component. This is not a const fun...
Definition: PRM.cpp:548
std::function< bool(const Vertex &, const Vertex &)> ConnectionFilter
A function that can reject connections.
Definition: PRM.h:171
Main namespace. Contains everything in this library.
Definition: AppBase.h:20
base::Cost bestCost_
Best cost found so far by algorithm.
Definition: PRM.h:461