PRM.h
305 void expandRoadmap(const base::PlannerTerminationCondition &ptc, std::vector<base::State *> &workStates);
313 bool maybeConstructSolution(const std::vector<Vertex> &starts, const std::vector<Vertex> &goals,
378 boost::property_map<Graph, vertex_total_connection_attempts_t>::type totalConnectionAttemptsProperty_;
unsigned long int milestoneCount() const
Return the number of milestones currently in the graph.
Definition: PRM.h:264
double distanceFunction(const Vertex a, const Vertex b) const
Compute distance between two milestones (this is simply distance between the states of the milestones...
Definition: PRM.h:329
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:174
void clearQuery()
Clear the query previously loaded from the ProblemDefinition. Subsequent calls to solve() will reuse ...
Definition: PRM.cpp:192
void checkForSolution(const base::PlannerTerminationCondition &ptc, base::PathPtr &solution)
Definition: PRM.cpp:341
base::ValidStateSamplerPtr sampler_
Sampler user for generating valid samples in the state space.
Definition: PRM.h:357
A shared pointer wrapper for ompl::base::ProblemDefinition.
boost::disjoint_sets< boost::property_map< Graph, boost::vertex_rank_t >::type, boost::property_map< Graph, boost::vertex_predecessor_t >::type > disjointSets_
Data structure that maintains the connected components.
Definition: PRM.h:389
A shared pointer wrapper for ompl::base::ValidStateSampler.
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: PRM.cpp:634
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. Grows a roadmap using constructRoadmap()....
Definition: PRM.cpp:408
A shared pointer wrapper for ompl::base::StateSampler.
void expandRoadmap(double expandTime)
Attempt to connect disjoint components in the roadmap using random bouncing motions (the PRM expansio...
Definition: PRM.cpp:220
ConnectionStrategy connectionStrategy_
Function that returns the milestones to attempt connections with.
Definition: PRM.h:392
bool sameComponent(Vertex m1, Vertex m2)
Check if two milestones (m1 and m2) are part of the same connected component. This is not a const fun...
Definition: PRM.cpp:558
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: PRM.cpp:112
void setConnectionFilter(const ConnectionFilter &connectionFilter)
Set the function that can reject a milestone connection.
Definition: PRM.h:187
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
Definition: PRM.h:83
void growRoadmap(double growTime)
If the user desires, the roadmap can be improved for the given time (seconds). The solve() method wil...
Definition: PRM.cpp:301
bool addedNewSolution_
A flag indicating that a solution has been added during solve()
Definition: PRM.h:405
boost::property_map< Graph, boost::edge_weight_t >::type weightProperty_
Access to the weights of each Edge.
Definition: PRM.h:385
std::shared_ptr< NearestNeighbors< Vertex > > RoadmapNeighbors
A nearest neighbors data structure for roadmap vertices.
Definition: PRM.h:131
std::function< bool(const Vertex &, const Vertex &)> ConnectionFilter
A function that can reject connections.
Definition: PRM.h:142
boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, boost::property< vertex_state_t, base::State *, boost::property< vertex_total_connection_attempts_t, unsigned long int, boost::property< vertex_successful_connection_attempts_t, unsigned long int, boost::property< boost::vertex_predecessor_t, unsigned long int, boost::property< boost::vertex_rank_t, unsigned long int > > > > >, boost::property< boost::edge_weight_t, base::Cost > > Graph
The underlying roadmap graph.
Definition: PRM.h:123
bool addedNewSolution() const
Returns the value of the addedNewSolution_ member.
Definition: PRM.cpp:403
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: PRM.cpp:605
boost::property_map< Graph, vertex_successful_connection_attempts_t >::type successfulConnectionAttemptsProperty_
Access to the number of successful connection attempts for a vertex.
Definition: PRM.h:382
boost::graph_traits< Graph >::edge_descriptor Edge
The type for an edge in the roadmap.
Definition: PRM.h:128
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
bool starStrategy_
Flag indicating whether the default connection strategy is the Star strategy.
Definition: PRM.h:354
Vertex addMilestone(base::State *state)
Construct a milestone for a given state (state), store it in the nearest neighbors data structure and...
Definition: PRM.cpp:517
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: PRM.cpp:563
std::function< const std::vector< Vertex > &(const Vertex)> ConnectionStrategy
A function returning the milestones that should be attempted to connect to.
Definition: PRM.h:135
base::StateSamplerPtr simpleSampler_
Sampler user for generating random in the state space.
Definition: PRM.h:360
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A shared pointer wrapper for ompl::base::SpaceInformation.
void setConnectionStrategy(const ConnectionStrategy &connectionStrategy)
Set the connection strategy function that specifies the milestones that connection attempts will be m...
Definition: PRM.h:164
boost::property_map< Graph, vertex_state_t >::type stateProperty_
Access to the internal base::state at each Vertex.
Definition: PRM.h:375
bool userSetConnectionStrategy_
Flag indicating whether the employed connection strategy was set by the user (or defaults are assumed...
Definition: PRM.h:399
void setProblemDefinition(const base::ProblemDefinitionPtr &pdef) override
Set the problem definition for the planner. The problem needs to be set before calling solve()....
Definition: PRM.cpp:186
A shared pointer wrapper for ompl::base::OptimizationObjective.
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: PRM.cpp:199
void uniteComponents(Vertex m1, Vertex m2)
Make two milestones (m1 and m2) be part of the same connected component. The component with fewer ele...
Definition: PRM.cpp:553
ConnectionFilter connectionFilter_
Function that can reject a milestone connection.
Definition: PRM.h:395
void setMaxNearestNeighbors(unsigned int k)
Convenience function that sets the connection strategy to the default one with k nearest neighbors.
Definition: PRM.cpp:166
base::OptimizationObjectivePtr opt_
Objective cost function for PRM graph edges.
Definition: PRM.h:411
bool maybeConstructSolution(const std::vector< Vertex > &starts, const std::vector< Vertex > &goals, base::PathPtr &solution)
Check if there exists a solution, i.e., there exists a pair of milestones such that the first is in s...
Definition: PRM.cpp:362
boost::graph_traits< Graph >::vertex_descriptor Vertex
The type for a vertex in the roadmap.
Definition: PRM.h:126
unsigned long int edgeCount() const
Return the number of edges currently in the graph.
Definition: PRM.h:270
void constructRoadmap(const base::PlannerTerminationCondition &ptc)
While the termination condition allows, this function will construct the roadmap (using growRoadmap()...
Definition: PRM.cpp:485
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
A shared pointer wrapper for ompl::base::Path.
boost::property_map< Graph, vertex_total_connection_attempts_t >::type totalConnectionAttemptsProperty_
Access to the number of total connection attempts for a vertex.
Definition: PRM.h:378