ompl::control::Syclop Class Referenceabstract

Synergistic Combination of Layers of Planning. More...

#include <ompl/control/planners/syclop/Syclop.h>

Inheritance diagram for ompl::control::Syclop:

## Classes

Representation of an adjacency (a directed edge) between two regions in the Decomposition assigned to Syclop. More...

struct  Defaults
Contains default values for Syclop parameters. More...

class  Motion
Representation of a motion. More...

class  Region
Representation of a region in the Decomposition assigned to Syclop. More...

## Public Types

using EdgeCostFactorFn = std::function< double(int, int)>
Each edge weight between two adjacent regions in the Decomposition is defined as a product of edge cost factors. By default, given adjacent regions $$r$$ and $$s$$, Syclop uses the sole edge cost factor. More...

using LeadComputeFn = std::function< void(int, int, std::vector< int > &)>
Leads should consist of a path of adjacent regions in the decomposition that start with the start region and end at the end region. Default is $$A^\ast$$ search.

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.

## Public Member Functions

Syclop (const SpaceInformationPtr &si, DecompositionPtr d, const std::string &plannerName)
Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.

ompl::base::Planner Interface
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.

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 solution was found.

Tunable parameters
Allows the user to override the lead computation function.

Adds an edge cost factor to be used for edge weights between adjacent regions.

void clearEdgeCostFactors ()
Clears all edge cost factors, making all edge weights equivalent to 1.

int getNumFreeVolumeSamples () const
Get the number of states to sample when estimating free volume in the Decomposition.

void setNumFreeVolumeSamples (int numSamples)
Set the number of states to sample when estimating free volume in the Decomposition.

Get the probability [0,1] that a lead will be computed as a shortest-path instead of a random-DFS.

Set the probability [0,1] that a lead will be computed as a shortest-path instead of a random-DFS.

Get the probability [0,1] that the set of available regions will be augmented.

Set the probability [0,1] that the set of available regions will be augmented.

int getNumRegionExpansions () const
Get the number of times a new region will be chosen and promoted for expansion from a given lead.

void setNumRegionExpansions (int regionExpansions)
Set the number of times a new region will be chosen and promoted for expansion from a given lead.

int getNumTreeExpansions () const
Get the number of calls to selectAndExtend() in the low-level tree planner for a given lead and region.

void setNumTreeExpansions (int treeExpansions)
Set the number of calls to selectAndExtend() in the low-level tree planner for a given lead and region.

Get the probability [0,1] that a lead will be abandoned early, before a new region is chosen for expansion.

The probability that a lead will be abandoned early, before a new region is chosen for expansion.

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

Add State s as a new root in the low-level tree, and return the Motion corresponding to s.

virtual void selectAndExtend (Region &region, std::vector< Motion * > &newMotions)=0
Select a Motion from the given Region, and extend the tree from the Motion. Add any new motions created to newMotions.

const RegiongetRegionFromIndex (const int rid) const
Returns a reference to the Region object with the given index. Assumes the index is valid.

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

int numFreeVolSamples_ {Defaults::NUM_FREEVOL_SAMPLES}
The number of states to sample to estimate free volume in the Decomposition.

double probShortestPath_ {Defaults::PROB_SHORTEST_PATH}
The probability that a lead will be computed as a shortest-path instead of a random-DFS.

The probability that the set of available regions will be augmented.

int numRegionExpansions_ {Defaults::NUM_REGION_EXPANSIONS}
The number of times a new region will be chosen and promoted for expansion from a given lead.

int numTreeSelections_ {Defaults::NUM_TREE_SELECTIONS}
The number of calls to selectAndExtend() in the low-level tree planner for a given lead and region.

The probability that a lead will be abandoned early, before a new region is chosen for expansion.

const SpaceInformationsiC_
Handle to the control::SpaceInformation object.

DecompositionPtr decomp_
The high level decomposition used to focus tree expansion.

RNG rng_
Random number generator.

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.

## Detailed Description

Synergistic Combination of Layers of Planning.

Short description
Syclop is a multi-layered planner that guides a low-level sampling-based tree planner through a sequence of sequence of discrete workspace regions from start to goal. Syclop is defined as an abstract base class whose pure virtual methods are defined by the chosen low-level sampling-based tree planner.
External documentation
E. Plaku, L.E. Kavraki, and M.Y. Vardi, Motion Planning with Dynamics by a Synergistic Combination of Layers of Planning, in IEEE Transactions on Robotics, 2010. DOI: 10.1109/TRO.2010.2047820

Definition at line 134 of file Syclop.h.

## ◆ EdgeCostFactorFn

 using ompl::control::Syclop::EdgeCostFactorFn = std::function

Each edge weight between two adjacent regions in the Decomposition is defined as a product of edge cost factors. By default, given adjacent regions $$r$$ and $$s$$, Syclop uses the sole edge cost factor.

$\frac{1 + \mbox{sel}^2(r,s)}{1 + \mbox{conn}^2(r,s)} \alpha(r) \alpha(s),$

where for any region $$t$$,

$\alpha(t) = \frac{1}{\left(1 + \mbox{cov}(t)\right) \mbox{freeVol}^4(t)},$

$$\mbox{sel}(r,s)$$ is the number of times $$r$$ and $$s$$ have been part of a lead or selected for exploration, $$\mbox{conn}(r,s)$$ estimates the progress made by the low-level planner in extending the tree from $$r$$ to $$s$$, $$\mbox{cov}(t)$$ estimates the tree coverage of the region $$t$$, and $$\mbox{freeVol}(t)$$ estimates the free volume of $$t$$. Additional edge cost factors can be added with the addEdgeCostFactor() function, and Syclop's list of edge cost factors can be cleared using clearEdgeCostFactors() .

Definition at line 188 of file Syclop.h.

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