ompl::control::LTLPlanner Class Reference

A planner for generating system trajectories to satisfy a logical specification given by an automaton, the propositions of which are defined over a decomposition of the system's state space. More...

#include <ompl/control/planners/ltl/LTLPlanner.h>

Inheritance diagram for ompl::control::LTLPlanner:

## Classes

struct  Motion
Representation of a motion. More...

struct  ProductGraphStateInfo
A structure to hold measurement information for a high-level state, as well as the set of tree motions belonging to that high-level state. Exactly one ProductGraphStateInfo will exist for each ProductGraph::State. More...

## Public Member Functions

LTLPlanner (const LTLSpaceInformationPtr &si, ProductGraphPtr a, double exploreTime=0.5)
Create an LTLPlanner with a given space and product graph. Accepts an optional third parameter to control how much time is spent promoting low-level tree exploration along a given high-level lead.

~LTLPlanner () override
Clears all memory belonging to this LTLPlanner .

void getTree (std::vector< base::State * > &tree) const
Helper debug method to access this planner's underlying tree of states.

std::vector< ProductGraph::State * > getHighLevelPath (const std::vector< base::State * > &path, ProductGraph::State *start=nullptr) const
Helper debug method to return the sequence of high-level product graph states corresponding to a sequence of low-level continous system states, beginning from an optional initial high-level state.

ompl::base::Planner Interface
void setup () override
Initializes LTLPlanner data structures.

void clear () override
Clears all datastructures belonging to this LTLPlanner.

base::PlannerStatus solve (const base::PlannerTerminationCondition &ptc) override
Continues solving until a solution is found or a given planner termination condition is met. Returns true if a solution was found.

Public Member Functions inherited from ompl::base::Planner
Planner (const Planner &)=delete

Planneroperator= (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 SpaceInformationPtrgetSpaceInformation () const
Get the space information this planner is using.

const ProblemDefinitionPtrgetProblemDefinition () const
Get the problem definition the planner is trying to solve.

ProblemDefinitionPtrgetProblemDefinition ()
Get the problem definition the planner is trying to solve.

const PlannerInputStatesgetPlannerInputStates () 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.

virtual void clearQuery ()
Clears internal datastructures of any query-specific information from the previous query. Planner settings are not affected. The planner, if able, should retain all datastructures generated from previous queries that can be used to help solve the next query. Note that clear() should also clear all query-specific information along with all other datastructures in the planner. By default clearQuery() calls clear().

virtual void getPlannerData (PlannerData &data) const
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).

const std::string & getName () const
Get the name of the planner.

void setName (const std::string &name)
Set the name of the planner.

const PlannerSpecsgetSpecs () 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.

ParamSetparams ()
Get the parameters for this planner.

const ParamSetparams () const
Get the parameters for this planner.

const PlannerProgressPropertiesgetPlannerProgressProperties () 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.

## Protected Member Functions

virtual double updateWeight (ProductGraph::State *as)
Updates and returns the weight of an abstraction state.

virtual void initAbstractInfo (ProductGraph::State *as)
Initializes the info object for a new high-level state.

virtual void buildAvail (const std::vector< ProductGraph::State * > &lead)
Compute a set of high-level states along a lead to be considered for expansion.

virtual bool explore (const std::vector< ProductGraph::State * > &lead, Motion *&soln, double duration)
Expand the tree of motions along a given lead for a given duration of time. Returns true if a solution was found, in which case the endpoint of the solution trajectory will be stored in the given Motion pointer. Otherwise, returns false.

virtual double abstractEdgeWeight (ProductGraph::State *a, ProductGraph::State *b) const
Returns the weight of an edge between two given high-level states, which we compute as the product of the reciprocals of the weights of the two states.

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

base::StateSamplerPtr sampler_
State sampler.

ControlSamplerPtr controlSampler_
Control sampler.

const LTLSpaceInformationltlsi_
Handle to the control::SpaceInformation object.

ProductGraphPtr abstraction_
The high level abstaction used to grow the tree structure.

PDF< ProductGraph::State * > availDist_
Used to sample nonempty regions in which to promote expansion.

RNG rng_
A random number generator.

std::vector< Motion * > motions_
Set of all motions.

ProductGraph::StateprodStart_ {nullptr}
Start state in product graph.

double exploreTime_
Time to spend exploring each lead.

std::unordered_map< ProductGraph::State *, ProductGraphStateInfoabstractInfo_
Map of abstraction states to their details.

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.

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.

## Detailed Description

A planner for generating system trajectories to satisfy a logical specification given by an automaton, the propositions of which are defined over a decomposition of the system's state space.

Todo:
cite papers

Definition at line 119 of file LTLPlanner.h.

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