ompl::geometric::ThunderRetrieveRepair Class Reference

The Thunder Framework's Retrieve-Repair component. More...

#include <ompl/geometric/planners/experience/ThunderRetrieveRepair.h>

Inheritance diagram for ompl::geometric::ThunderRetrieveRepair:

## Public Member Functions

ThunderRetrieveRepair (const base::SpaceInformationPtr &si, tools::ThunderDBPtr experienceDB)
Constructor.

void getPlannerData (base::PlannerData &data) const override
Get information about the exploration data structure the planning from scratch motion planner used.

const std::vector< PathGeometric > & getLastRecalledNearestPaths () const
Get debug information about the top recalled paths that were chosen for further filtering. More...

std::size_t getLastRecalledNearestPathChosen () const
Get debug information about the top recalled paths that were chosen for further filtering. More...

const PathGeometricgetChosenRecallPath () const
Get the chosen path used from database for repair. More...

void getRepairPlannerDatas (std::vector< base::PlannerDataPtr > &data) const
Get information about the exploration data structure the repair motion planner used each call.

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.

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

void setExperienceDB (const tools::ThunderDBPtr &experienceDB)
Pass a pointer of the database from the thunder framework.

void setRepairPlanner (const base::PlannerPtr &planner)
Set the planner that will be used for repairing invalid paths recalled from experience.

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.

bool repairPath (const base::PlannerTerminationCondition &ptc, PathGeometric &primaryPath)
Repairs a path to be valid in the current planning environment. More...

bool replan (const base::State *start, const base::State *goal, PathGeometric &newPathSegment, const base::PlannerTerminationCondition &ptc)
Use our secondary planner to find a valid path between start and goal, and return that path. More...

int getNearestK () const
Getter for number of 'k' close solutions to choose from database for further filtering.

void setNearestK (int nearestK)
Setter for number of 'k' close solutions to choose from database for further filtering.

void enableSmoothing (bool enable)
Optionally smooth retrieved and repaired paths from database.

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().

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

std::size_t checkMotionScore (const base::State *s1, const base::State *s2) const
Count the number of states along the discretized path that are in collision Note: This is kind of an ill-defined score though. It depends on the resolution of collision checking. I am more inclined to try to compute the percent of the length of the motion that is valid. That could go in SpaceInformation, as a utility function.

void freeMemory ()
Free the memory allocated by this planner.

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

tools::ThunderDBPtr experienceDB_
The database of motions to search through.

std::vector< PathGeometricnearestPaths_
Recall the nearest paths and store this in planner data for introspection later.

std::size_t nearestPathsChosenID_
the ID within nearestPaths_ of the path that was chosen for repair

base::PlannerPtr repairPlanner_
A secondary planner for replanning.

base::ProblemDefinitionPtr repairProblemDef_
A secondary problem definition for the repair planner to use.

std::vector< base::PlannerDataPtr > repairPlannerDatas_
Debug the repair planner by saving its planner data each time it is used.

PathSimplifierPtr path_simplifier_
The instance of the path simplifier.

int nearestK_
Number of 'k' close solutions to choose from database for further filtering.

bool smoothingEnabled_
Optionally smooth retrieved and repaired paths from database.

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

The Thunder Framework's Retrieve-Repair component.

Short description
Thunder is an experience-based planning framework that learns to reduce computation time required to solve high-dimensional planning problems in varying environments.
External documentation
Berenson, Dmitry, Pieter Abbeel, and Ken Goldberg: A robot path planning framework that learns from experience, in Robotics and Automation (ICRA), 2012 IEEE International Conference on. IEEE, 2012. David Coleman, Ioan A. Sucan, Mark Moll, Kei Okada, Nikolaus Correll, "Experience-Based Planning with Sparse Roadmap Spanners" [PDF]

Definition at line 106 of file ThunderRetrieveRepair.h.

## ◆ getChosenRecallPath()

 const PathGeometric & ompl::geometric::ThunderRetrieveRepair::getChosenRecallPath ( ) const

Get the chosen path used from database for repair.

Returns
PlannerData of chosen path

Definition at line 468 of file ThunderRetrieveRepair.cpp.

## ◆ getLastRecalledNearestPathChosen()

 std::size_t ompl::geometric::ThunderRetrieveRepair::getLastRecalledNearestPathChosen ( ) const

Get debug information about the top recalled paths that were chosen for further filtering.

Returns
chosenID - the index of the PlannerData object that was chosen for repair

Definition at line 463 of file ThunderRetrieveRepair.cpp.

## ◆ getLastRecalledNearestPaths()

 const std::vector< PathGeometric > & ompl::geometric::ThunderRetrieveRepair::getLastRecalledNearestPaths ( ) const

Get debug information about the top recalled paths that were chosen for further filtering.

Returns
data - vector of PlannerData objects that each hold a single path

Definition at line 458 of file ThunderRetrieveRepair.cpp.

## ◆ repairPath()

 bool ompl::geometric::ThunderRetrieveRepair::repairPath ( const base::PlannerTerminationCondition & ptc, PathGeometric & primaryPath )

Repairs a path to be valid in the current planning environment.

Parameters
 oldPath - from experience
Returns
true if no error

Definition at line 250 of file ThunderRetrieveRepair.cpp.

## ◆ replan()

 bool ompl::geometric::ThunderRetrieveRepair::replan ( const base::State * start, const base::State * goal, PathGeometric & newPathSegment, const base::PlannerTerminationCondition & ptc )

Use our secondary planner to find a valid path between start and goal, and return that path.

Parameters
 start - begining state goal - ending state newPathSegment - the solution
Returns
true if path found

Definition at line 368 of file ThunderRetrieveRepair.cpp.

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