ImplicitGraph.cpp
96 // Store that I am setup so that any debug-level tests will pass. This requires assuring that this function
135 // Add any start and goals vertices that exist to the queue, but do NOT wait for any more goals:
145 // A not horrible place to start would be hypercube proportional to the distance between the start and
146 // goal. It's not *great*, but at least it sort of captures the order-of-magnitude of the problem.
160 throw ompl::Exception("For unbounded planning problems, at least one start and one goal must exist "
168 // The scale on the maximum distance, i.e. the width of the hypercube is equal to this value times the
178 maxDist = std::max(maxDist, si_->distance(startVertex->stateConst(), goalVertex->stateConst()));
200 // Reset everything to the state of construction OTHER than planner name and settings/parameters
271 double BITstar::ImplicitGraph::distanceFunction(const VertexConstPtr &a, const VertexConstPtr &b) const
286 // Using RRTstar as an example, this order gives us the distance FROM the queried state TO the other
292 void BITstar::ImplicitGraph::nearestSamples(const VertexPtr &vertex, VertexPtrVector *neighbourSamples)
312 void BITstar::ImplicitGraph::nearestVertices(const VertexPtr &vertex, VertexPtrVector *neighbourVertices)
409 // Whether we have to rebuid the queue, i.e.. whether we've called updateStartAndGoalStates before
413 Add the new starts and goals to the vectors of said vertices. Do goals first, as they are only added as
414 samples. We do this as nested conditions so we always call nextGoal(ptc) at least once (regardless of
415 whether there are moreGoalStates or not) in case we have been given a non trivial PTC that wants us to wait,
416 but do *not* call it again if there are no more goals (as in the nontrivial PTC case, doing so would cause
449 And then do the same for starts. We do this last as the starts are added to the queue, which uses a cost-to-go
452 There is no need to rebuild the queue when we add start vertices, as the queue is ordered on current
485 // The end point of the vector to consider. We will delete by swapping elements to the end, moving this
543 // Similarly, if we added a goal and have previously pruned starts, we will have to do the same on those
549 // The end point of the vector to consider. We will delete by swapping elements to the end, moving this
640 // Iterate through the existing vertices and find the current best approximate solution (if enabled)
648 // Make sure that if we have a goal, we also have a start, since there's no way to wait for more *starts*
651 OMPL_WARN("%s (ImplicitGraph): The problem has a goal but not a start. BIT* cannot find a solution "
700 // We don't add actual *new* samples until the next time "nearestSamples" is called. This is to support JIT sampling.
753 // The use count of the passed shared pointer. Used in debug mode to assert that we took ownership of our own copy.
756 // A copy of the sample pointer to be removed so we can't delete it out from under ourselves (occurs when
819 // The use count of the passed shared pointer. Used in debug mode to assert that we took ownership of our own copy.
822 // A copy of the vertex pointer to be removed so we can't delete it out from under ourselves (occurs when
845 // Yes, the vertex is still useful as a sample. Track as recycled so they are reused as samples in the
854 // No, the vertex is not useful anymore. Mark as pruned. This functions as a lock to prevent accessing
911 // Check if we need to generate new samples inorder to completely cover the neighbourhood of the vertex
927 // Calculate the sample density given the number of samples per batch and the measure of this batch
937 // And the fractional part represents the probability of one more sample. I like being pedantic.
1017 // The end point of the vector to consider. We will delete by swapping elements to the end, moving this
1027 // It has, remove the start vertex DO NOT consider it as a sample. It is marked as a root node,
1028 // so having it as a sample would cause all kinds of problems, also it shouldn't be possible for
1029 // it to ever be useful as a sample anyway, unless there is a very weird cost function in play.
1078 // The end point of the vector to consider. We will delete by swapping elements to the end, moving this
1142 // We don't need to update our approximate solution (if we're providing one) as we will only prune once a
1222 // We are, return the maximum heuristic cost that represents a sample in the neighbourhood of the given
1224 // There is no point generating samples worse the best solution (maxCost_) even if those samples are in
1253 // If this is the first batch, we will be calculating the connection limits from only the starts and goals
1254 // for an RGG with m samples. That will be a complex graph. In this case, let us calculate the connection
1255 // limits considering the samples about to be generated. Doing so is equivalent to setting an upper-bound on
1282 return rewireFactor_ * this->minimumRggR() * std::pow(std::log(cardDbl) / cardDbl, 1 / dimDbl);
1361 BITstar::VertexPtrVector::const_iterator BITstar::ImplicitGraph::startVerticesBeginConst() const
1371 BITstar::VertexPtrVector::const_iterator BITstar::ImplicitGraph::goalVerticesBeginConst() const
1463 OMPL_WARN("%s (ImplicitGraph): The k-nearest variant of BIT* cannot be used with JIT sampling, "
1491 OMPL_WARN("%s (ImplicitGraph): Just-in-time sampling cannot be used with the k-nearest variant of "
1503 OMPL_INFORM("%s (ImplicitGraph): Just-in-time sampling is currently only implemented for problems "
1574 // Check if the problem is already setup, if so, the NN structs have data in them and you can't really
1578 OMPL_WARN("%s (ImplicitGraph): The nearest neighbour datastructures cannot be changed once the problem "
void nearestSamples(const VertexPtr &vertex, VertexPtrVector *neighbourSamples)
Get the nearest unconnected samples using the appropriate "near" definition (i.e.,...
Definition: ImplicitGraph.cpp:292
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:88
PlannerTerminationCondition plannerAlwaysTerminatingCondition()
Simple termination condition that always returns true. The termination condition will always be met.
Definition: PlannerTerminationCondition.cpp:189
void addVertex(const VertexPtr &newVertex, bool removeFromFree)
Add a vertex to the tree, optionally moving it from the set of unconnected samples.
Definition: ImplicitGraph.cpp:780
bool haveMoreStartStates() const
Check if there are more potential start states.
Definition: Planner.cpp:335
std::function< std::string()> NameFunc
A utility functor for ImplicitGraph and SearchQueue.
Definition: BITstar.h:243
void setDropSamplesOnPrune(bool dropSamples)
Set whether unconnected samples are dropped on pruning.
Definition: ImplicitGraph.cpp:1516
unsigned int numStatesGenerated() const
The total number of states generated (numSamples_).
Definition: ImplicitGraph.cpp:1600
void setRewireFactor(double rewireFactor)
Set the rewiring scale factor, s, such that r_rrg = s \times r_rrg*.
Definition: ImplicitGraph.cpp:1440
void updateStartAndGoalStates(ompl::base::PlannerInputStates &pis, const base::PlannerTerminationCondition &ptc)
Adds any new goals or starts that have appeared in the problem definition to the vector of vertices a...
Definition: ImplicitGraph.cpp:400
bool hasAStart() const
Gets whether the graph contains a start or not.
Definition: ImplicitGraph.cpp:1351
void setTrackApproximateSolutions(bool findApproximate)
Set whether to track approximate solutions during the search.
Definition: ImplicitGraph.cpp:1537
A shared pointer wrapper for ompl::base::SpaceInformation.
Helper class to extract valid start & goal states. Usually used internally by planners.
Definition: Planner.h:142
VertexPtrVector::const_iterator goalVerticesBeginConst() const
Returns a const-iterator to the front of the goal-vertex vector.
Definition: ImplicitGraph.cpp:1371
VertexPtrVector::const_iterator goalVerticesEndConst() const
Returns a const-iterator to the end of the goal-vertex vector.
Definition: ImplicitGraph.cpp:1376
unsigned int removeVertex(const VertexPtr &oldSample, bool moveToFree)
Remove a vertex from the tree, can optionally be allowed to move it to the set of unconnected samples...
Definition: ImplicitGraph.cpp:813
A queue of edges to be processed that integrates both the expansion of Vertices and the ordering of t...
Definition: SearchQueue.h:156
unsigned int numConnectedVertices() const
The number of vertices in the tree (Size of vertexNN_).
Definition: ImplicitGraph.cpp:1595
bool hasAGoal() const
Gets whether the graph contains a goal or not.
Definition: ImplicitGraph.cpp:1356
void setUseKNearest(bool useKNearest)
Enable a k-nearest search for instead of an r-disc search.
Definition: ImplicitGraph.cpp:1458
void getGraphAsPlannerData(ompl::base::PlannerData &data) const
Adds the graph to the given PlannerData struct.
Definition: ImplicitGraph.cpp:329
bool getUseKNearest() const
Get whether a k-nearest search is being used.
Definition: ImplicitGraph.cpp:1481
void log(const char *file, int line, LogLevel level, const char *m,...)
Root level logging function. This should not be invoked directly, but rather used via a logging macro...
Definition: Console.cpp:120
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:111
VertexPtrVector::const_iterator startVerticesEndConst() const
Returns a const-iterator to the end of the start-vertex vector.
Definition: ImplicitGraph.cpp:1366
unsigned int numVerticesDisconnected() const
The number of tree vertices disconnected (numVerticesDisconnected_).
Definition: ImplicitGraph.cpp:1615
A helper class to handle the various heuristic functions in one place.
Definition: CostHelper.h:133
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
double unitNBallMeasure(unsigned int N)
The Lebesgue measure (i.e., "volume") of an n-dimensional ball with a unit radius.
Definition: GeometricEquations.cpp:55
double getInformedMeasure(const ompl::base::Cost &cost) const
Query the underlying state sampler for the informed measure of the problem.
Definition: ImplicitGraph.cpp:1391
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:127
const State * nextStart()
Return the next valid start state or nullptr if no more valid start states are available.
Definition: Planner.cpp:227
void hasSolution(const ompl::base::Cost &solnCost)
Mark that a solution has been found and that the graph should be limited to the given heuristic value...
Definition: ImplicitGraph.cpp:385
void nearestVertices(const VertexPtr &vertex, VertexPtrVector *neighbourVertices)
Get the nearest samples from the vertexNN_ using the appropriate "near" definition (i....
Definition: ImplicitGraph.cpp:312
double distanceFunction(const VertexConstPtr &a, const VertexConstPtr &b) const
The distance function. Calculates the distance directionally from the given state to all the other st...
Definition: ImplicitGraph.cpp:271
unsigned int numVerticesConnected() const
The total number of vertices added to the graph (numVertices_).
Definition: ImplicitGraph.cpp:1605
const State * nextGoal(const PlannerTerminationCondition &ptc)
Return the next valid goal state or nullptr if no more valid goal states are available....
Definition: Planner.cpp:264
Abstract representation of a container that can perform nearest neighbors queries.
Definition: NearestNeighbors.h:79
void setup(const ompl::base::SpaceInformationPtr &si, const ompl::base::ProblemDefinitionPtr &pdef, CostHelper *costHelper, SearchQueue *searchQueue, const ompl::base::Planner *plannerPtr, ompl::base::PlannerInputStates &pis)
Setup the ImplicitGraph, must be called before use. Does not take a copy of the PlannerInputStates,...
Definition: ImplicitGraph.cpp:91
VertexConstPtr closestVertexToGoal() const
IF BEING TRACKED, returns the closest vertex in the tree to the goal.
Definition: ImplicitGraph.cpp:1396
A shared pointer wrapper for ompl::base::ProblemDefinition.
unsigned int numStateCollisionChecks() const
The number of state collision checks (numStateCollisionChecks_).
Definition: ImplicitGraph.cpp:1625
unsigned int numFreeSamples() const
The number of free samples (size of freeStateNN_).
Definition: ImplicitGraph.cpp:1590
unsigned int numFreeStatesPruned() const
The number of states pruned (numFreeStatesPruned_).
Definition: ImplicitGraph.cpp:1610
unsigned int numNearestLookups() const
The number of nearest neighbour calls (numNearestNeighbours_).
Definition: ImplicitGraph.cpp:1620
bool hasInformedMeasure() const
Query whether the underlying state sampler can provide an informed measure.
Definition: ImplicitGraph.cpp:1386
void reset()
Reset the queue, clearing all the edge containers and moving the vertex expansion token to the start....
Definition: SearchQueue.cpp:661
unsigned int addVertex(const PlannerDataVertex &st)
Adds the given vertex to the graph data. The vertex index is returned. Duplicates are not added....
Definition: PlannerData.cpp:391
bool getJustInTimeSampling() const
Get whether we're using just-in-time sampling.
Definition: ImplicitGraph.cpp:1511
double smallestDistanceToGoal() const
IF BEING TRACKED, returns the how close vertices in the tree are to the goal.
Definition: ImplicitGraph.cpp:1407
bool getTrackApproximateSolutions() const
Get whether approximate solutions are tracked during the search.
Definition: ImplicitGraph.cpp:1566
ompl::base::Cost minCost() const
Get the minimum cost solution possible for this problem.
Definition: ImplicitGraph.cpp:1381
bool getDropSamplesOnPrune() const
Get whether unconnected samples are dropped on pruning.
Definition: ImplicitGraph.cpp:1532
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 haveMoreGoalStates() const
Check if there are more potential goal states.
Definition: Planner.cpp:342
std::shared_ptr< const Vertex > VertexConstPtr
A constant vertex shared pointer.
Definition: BITstar.h:222
void setNearestNeighbors()
Set a different nearest neighbours datastructure.
Definition: ImplicitGraph.cpp:1572
unsigned int getConnectivityK() const
Get the k of this k-nearest RGG.
Definition: ImplicitGraph.cpp:1418
void addSample(const VertexPtr &newSample)
Add an unconnected sample.
Definition: ImplicitGraph.cpp:729
std::pair< unsigned int, unsigned int > prune(double prunedMeasure)
Prune the samples to the subproblem of the given measure. Pruning is performed by using the prune con...
Definition: ImplicitGraph.cpp:703
void removeSample(const VertexPtr &oldSample)
Remove an unconnected sample.
Definition: ImplicitGraph.cpp:747
VertexPtrVector::const_iterator startVerticesBeginConst() const
Returns a const-iterator to the front of the start-vertex vector.
Definition: ImplicitGraph.cpp:1361
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
void setJustInTimeSampling(bool useJit)
Definition: ImplicitGraph.cpp:1486
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:122
Main namespace. Contains everything in this library.
Definition: ConstrainedSpaceInformation.h:52
virtual void setDistanceFunction(const DistanceFunction &distFun)
Set the distance function to use.
Definition: NearestNeighbors.h:122
void addNewSamples(const unsigned int &numSamples)
Increase the resolution of the graph-based approximation of the continuous search domain by adding a ...
Definition: ImplicitGraph.cpp:658