Parallel Single-query Bi-directional Lazy collision checking planner. More...
#include <pSBL.h>
Classes | |
class | Motion |
struct | MotionInfo |
A struct containing an array of motions and a corresponding PDF element. More... | |
struct | MotionsToBeRemoved |
struct | PendingRemoveMotion |
struct | SolutionInfo |
struct | TreeData |
Public Member Functions | |
pSBL (const base::SpaceInformationPtr &si) | |
void | setProjectionEvaluator (const base::ProjectionEvaluatorPtr &projectionEvaluator) |
Set the projection evaluator. This class is able to compute the projection of a given state. | |
void | setProjectionEvaluator (const std::string &name) |
Set the projection evaluator (select one from the ones registered with the state space). | |
const base::ProjectionEvaluatorPtr & | getProjectionEvaluator (void) const |
Get the projection evaluator. | |
void | setRange (double distance) |
Set the range the planner is supposed to use. More... | |
double | getRange (void) const |
Get the range the planner is using. | |
void | setThreadCount (unsigned int nthreads) |
Set the number of threads the planner should use. Default is 2. | |
unsigned int | getThreadCount (void) const |
Get the thread count. | |
virtual void | setup (void) |
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. | |
virtual base::PlannerStatus | solve (const base::PlannerTerminationCondition &ptc) |
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). The function terminates if the call to ptc returns true. | |
virtual void | clear (void) |
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work. | |
virtual void | getPlannerData (base::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). | |
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Planner (const SpaceInformationPtr &si, const std::string &name) | |
Constructor. | |
virtual | ~Planner (void) |
Destructor. | |
template<class T > | |
T * | as (void) |
Cast this instance to a desired type. More... | |
template<class T > | |
const T * | as (void) const |
Cast this instance to a desired type. More... | |
const SpaceInformationPtr & | getSpaceInformation (void) const |
Get the space information this planner is using. | |
const ProblemDefinitionPtr & | getProblemDefinition (void) const |
Get the problem definition the planner is trying to solve. | |
const PlannerInputStates & | getPlannerInputStates (void) 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(). | |
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. | |
const std::string & | getName (void) const |
Get the name of the planner. | |
void | setName (const std::string &name) |
Set the name of the planner. | |
const PlannerSpecs & | getSpecs (void) const |
Return the specifications (capabilities of this planner) | |
virtual void | checkValidity (void) |
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 (void) const |
Check if setup() was called for this planner. | |
ParamSet & | params (void) |
Get the parameters for this planner. | |
const ParamSet & | params (void) const |
Get the parameters for this planner. | |
const PlannerProgressProperties & | getPlannerProgressProperties () 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 Types | |
typedef Grid< MotionInfo >::Cell | GridCell |
A grid cell. | |
typedef PDF< GridCell * > | CellPDF |
A PDF of grid cells. | |
Protected Member Functions | |
void | threadSolve (unsigned int tid, const base::PlannerTerminationCondition &ptc, SolutionInfo *sol) |
void | freeMemory (void) |
void | freeGridMotions (Grid< MotionInfo > &grid) |
void | addMotion (TreeData &tree, Motion *motion) |
Motion * | selectMotion (RNG &rng, TreeData &tree) |
void | removeMotion (TreeData &tree, Motion *motion, std::map< Motion *, bool > &seen) |
bool | isPathValid (TreeData &tree, Motion *motion) |
bool | checkSolution (RNG &rng, bool start, TreeData &tree, TreeData &otherTree, Motion *motion, std::vector< Motion * > &solution) |
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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::StateSamplerArray < base::ValidStateSampler > | samplerArray_ |
base::ProjectionEvaluatorPtr | projectionEvaluator_ |
TreeData | tStart_ |
TreeData | tGoal_ |
MotionsToBeRemoved | removeList_ |
boost::mutex | loopLock_ |
boost::mutex | loopLockCounter_ |
unsigned int | loopCounter_ |
double | maxDistance_ |
unsigned int | threadCount_ |
std::pair< base::State *, base::State * > | connectionPoint_ |
The pair of states in each tree connected during planning. Used for PlannerData computation. | |
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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. | |
Additional Inherited Members | |
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typedef boost::function < std::string()> | PlannerProgressProperty |
Definition of a function which returns a property about the planner's progress that can be queried by a benchmarking routine. | |
typedef std::map< std::string, PlannerProgressProperty > | PlannerProgressProperties |
A dictionary which maps the name of a progress property to the function to be used for querying that property. | |
Parallel Single-query Bi-directional Lazy collision checking planner.
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