LazyPRM.cpp
81 Planner::declareParam<double>("range", this, &LazyPRM::setRange, &LazyPRM::getRange, "0.:1.:10000.");
83 Planner::declareParam<unsigned int>("max_nearest_neighbors", this, &LazyPRM::setMaxNearestNeighbors,
130 connectionStrategy_ = KBoundedStrategy<Vertex>(magic::DEFAULT_NEAREST_NEIGHBORS_LAZY, maxDistance_, nn_);
156 OMPL_INFORM("%s: problem definition is not set, deferring setup completion...", getName().c_str());
249 ompl::base::PlannerStatus ompl::geometric::LazyPRM::solve(const base::PlannerTerminationCondition &ptc)
291 OMPL_INFORM("%s: Starting planning with %lu states already in datastructure", getName().c_str(), nrStartStates);
363 OMPL_INFORM("%s: Created %u states", getName().c_str(), boost::num_vertices(g_) - nrStartStates);
405 long int ompl::geometric::LazyPRM::solutionComponent(std::pair<std::size_t, std::size_t> *startGoalPair) const
423 ompl::base::PathPtr ompl::geometric::LazyPRM::constructSolution(const Vertex &start, const Vertex &goal)
519 std::vector<const base::State *>::const_iterator prevState = states.begin(), state = prevState + 1;
545 for (std::vector<const base::State *>::const_reverse_iterator st = states.rbegin(); st != states.rend(); ++st)
572 data.addEdge(base::PlannerDataVertex(stateProperty_[v1]), base::PlannerDataVertex(stateProperty_[v2]));
575 data.addEdge(base::PlannerDataVertex(stateProperty_[v2]), base::PlannerDataVertex(stateProperty_[v1]));
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: LazyPRM.cpp:203
@ UNRECOGNIZED_GOAL_TYPE
The goal is of a type that a planner does not recognize.
Definition: PlannerStatus.h:188
A shared pointer wrapper for ompl::base::Path.
Vertex addMilestone(base::State *state)
Construct a milestone for a given state (state), store it in the nearest neighbors data structure and...
Definition: LazyPRM.cpp:223
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:225
void setMaxNearestNeighbors(unsigned int k)
Convenience function that sets the connection strategy to the default one with k nearest neighbors.
Definition: LazyPRM.cpp:172
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: LazyPRM.cpp:106
LazyPRM(const base::SpaceInformationPtr &si, bool starStrategy=false)
Constructor.
Definition: LazyPRM.cpp:67
void addPlannerProgressProperty(const std::string &progressPropertyName, const PlannerProgressProperty &prop)
Add a planner progress property called progressPropertyName with a property querying function prop to...
Definition: Planner.h:463
This class contains methods that automatically configure various parameters for motion planning....
Definition: SelfConfig.h:123
void setRange(double distance)
Set the maximum length of a motion to be added to the roadmap.
Definition: LazyPRM.cpp:163
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: LazyPRM.cpp:249
Representation of a solution to a planning problem.
Definition: ProblemDefinition.h:133
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:111
bool tagState(const State *st, int tag)
Set the integer tag associated with the given state. If the given state does not exist in a vertex,...
Definition: PlannerData.cpp:569
Make the minimal number of connections required to ensure asymptotic optimality.
Definition: ConnectionStrategy.h:184
static const unsigned int MIN_ADDED_SEGMENTS_FOR_LAZY_OPTIMIZATION
When optimizing solutions with lazy planners, this is the minimum number of path segments to add befo...
Definition: LazyPRM.cpp:63
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:127
bool optimizingPaths
Flag indicating whether the planner attempts to optimize the path and reduce its length until the max...
Definition: Planner.h:271
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:112
static const unsigned int DEFAULT_NEAREST_NEIGHBORS_LAZY
The number of nearest neighbors to consider by default in the construction of the PRM roadmap.
Definition: LazyPRM.cpp:58
boost::graph_traits< Graph >::edge_descriptor Edge
The type for an edge in the roadmap.
Definition: LazyPRM.h:163
Return at most k neighbors, as long as they are also within a specified bound.
Definition: ConnectionStrategy.h:221
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....
Definition: LazyPRM.cpp:405
@ GOAL_SAMPLEABLE_REGION
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible.
Definition: GoalTypes.h:152
std::function< const std::vector< Vertex > &(const Vertex)> ConnectionStrategy
A function returning the milestones that should be attempted to connect to.
Definition: LazyPRM.h:170
void setOptimized(const OptimizationObjectivePtr &opt, Cost cost, bool meetsObjective)
Set the optimization objective used to optimize this solution, the cost of the solution and whether i...
Definition: ProblemDefinition.h:161
unsigned int addStartVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
Definition: PlannerData.cpp:413
bool approximateSolutions
Flag indicating whether the planner is able to compute approximate solutions.
Definition: Planner.h:267
boost::adjacency_list_traits< boost::vecS, boost::listS, boost::undirectedS >::vertex_descriptor Vertex
The type for a vertex in the roadmap.
Definition: LazyPRM.h:130
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 a...
Definition: LazyPRM.cpp:423
void clearQuery()
Clear the query previously loaded from the ProblemDefinition. Subsequent calls to solve() will reuse ...
Definition: LazyPRM.cpp:196
void setPlannerName(const std::string &name)
Set the name of the planner used to compute this solution.
Definition: ProblemDefinition.h:169
virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0))
Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...
Definition: PlannerData.cpp:432
unsigned int addGoalVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
Definition: PlannerData.cpp:422
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:111
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: LazyPRM.cpp:555
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:122
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: LazyPRM.cpp:550
Main namespace. Contains everything in this library.
Definition: ConstrainedSpaceInformation.h:52
bool starStrategy_
Flag indicating whether the default connection strategy is the Star strategy.
Definition: LazyPRM.h:335