The OMPL Planner class that implements the algorithm. More...

#include <BatchingPOMP.hpp>

Inherits Planner.

Classes
struct	EProps
	Properties associated with each roadmap edge. More...

struct	VProps
	Properties associated with each roadmap vertex. More...

Public Types
typedef boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, VProps, EProps >	Graph

typedef boost::graph_traits< Graph >::vertex_descriptor	Vertex

typedef boost::graph_traits< Graph >::vertex_iterator	VertexIter

typedef boost::graph_traits< Graph >::edge_descriptor	Edge

typedef boost::graph_traits< Graph >::edge_iterator	EdgeIter

typedef boost::graph_traits< Graph >::out_edge_iterator	OutEdgeIter

typedef boost::property_map< Graph, StateConPtr VProps::* >::type	VPStateMap

typedef boost::property_map< Graph, double EProps::* >::type	EPDistanceMap

typedef boost::property_map< Graph, boost::vertex_index_t >::type	VertexIndexMap

Public Member Functions
	BatchingPOMP (const ompl::base::SpaceInformationPtr &si)

	BatchingPOMP (const ompl::base::SpaceInformationPtr &si, std::shared_ptr< batching::BatchingManager< Graph, VPStateMap, StateCon, EPDistanceMap > > _batchingPtr, std::shared_ptr< cspacebelief::Model< cspacebelief::BeliefPoint > > _beliefModel, std::unique_ptr< util::Selector< Graph > > _selector, const std::string &_roadmapFileName, double _startGoalRadius, double _increment=0.2, double _pruneThreshold=0.05)

double	getCurrentAlpha () const
	Current value of alpha being used by POMP.

double	getCurrentBestCost () const
	Cost of current best solution to goal.

Vertex	getStartVertex () const
	The ID of the start vertex.

Vertex	getGoalVertex () const
	The ID of the goal vertex.

bool	isInitSearchBatch () const
	Whether the current POMP search is the first of that batch (alpha = 0)

double	getIncrement () const
	The value with which alpha is incremented.

void	setIncrement (double _decrement)

double	getStartGoalRadius () const

void	setStartGoalRadius (double _startGoalRadius)

double	getPruneThreshold () const

void	setPruneThreshold (double _pruneThreshold)

std::string	getGraphType () const
	The kind of sequence used to generate samples ("halton" or "rgg")

void	setGraphType (const std::string &_graphType)

std::string	getBatchingType () const

void	setBatchingType (const std::string &_selectorType)

std::string	getSelectorType () const

void	setSelectorType (const std::string &_selectorType)

std::string	getRoadmapFileName () const

void	setRoadmapFileName (const std::string &_roadmapFileName)

unsigned int	getNumEdgeChecks ()
	Number of edges evaluated thus far.

unsigned int	getNumCollChecks ()
	Number of calls to collision checker made thus far.

unsigned int	getNumSearches ()
	Number of roadmap searches done thus far.

unsigned int	getNumLookups ()
	Number of model lookups made thus far.

double	getLookupTime ()
	Total time spent doing model lookups.

double	getSearchTime ()
	Total time spent doing searches.

double	getCollCheckTime ()
	Total time spent doing collision checks.

void	setProblemDefinition (const ompl::base::ProblemDefinitionPtr &pdef)

ompl::base::PlannerStatus	solve (const ompl::base::PlannerTerminationCondition &ptc)

void	setup ()

double	vertexDistFun (const Vertex &u, const Vertex &v) const

void	initializeEdgePoints (const Edge &e)

double	computeAndSetEdgeFreeProbability (const Edge &e)

bool	checkAndSetEdgeBlocked (const Edge &e)

Public Attributes
const ompl::base::StateSpacePtr	mSpace
	The pointer to the OMPL state space.

std::shared_ptr< batching::BatchingManager< Graph, VPStateMap, StateCon, EPDistanceMap > >	mBatchingPtr
	The pointer to the batching manager instance to be used by the planner.

std::shared_ptr< cspacebelief::Model< cspacebelief::BeliefPoint > >	mBeliefModel
	The pointer to the C-space belief model instance to be used by the planner.

Graph	g
	The roadmap that will be continuously searched and updated.

Graph	full_g
	The large, dense roadmap that remains unchanged after being loaded once.

Static Public Attributes
static const int	FREE {1}
	The edge is known to be collision-free.

static const int	BLOCKED {-1}
	The edge is known to be in collision.

static const int	UNKNOWN {0}
	The collision status of the edge is unknown.

Detailed Description

The OMPL Planner class that implements the algorithm.

Constructor & Destructor Documentation

◆ BatchingPOMP()

batching_pomp::BatchingPOMP::BatchingPOMP	(	const ompl::base::SpaceInformationPtr &	si,
		std::shared_ptr< batching::BatchingManager< Graph, VPStateMap, StateCon, EPDistanceMap > >	_batchingPtr,
		std::shared_ptr< cspacebelief::Model< cspacebelief::BeliefPoint > >	_beliefModel,
		std::unique_ptr< util::Selector< Graph > >	_selector,
		const std::string &	_roadmapFileName,
		double	_startGoalRadius,
		double	_increment = `0.2`,
		double	_pruneThreshold = `0.05`
	)

Parameters

[in]	si	The OMPL space information manager
[in]	_batchingPtr	The pointer to the constructed batching manager that the planner should use
[in]	_beliefModel	The pointer to the constructed C-space belief model that the planner should use
[in]	_selector	The pointer to the constructed edge selector that the planner should use.
[in]	_roadmapFileName	The path to the .graphml file that encodes the roadmap vertices
[in]	_startGoalRadius	(Only for Single Batching) The radius to connect start and goal vertices to the roadmap
[in]	_increment	The increment in the value of alpha after each POMP search
[in]	_pruneThreshold	The fractional change in cost above which pruning of samples should be done

Member Function Documentation

◆ checkAndSetEdgeBlocked()

bool batching_pomp::BatchingPOMP::checkAndSetEdgeBlocked ( const Edge & e )

Evaluate an edge to determine its collision status and assign it to the underlying property of the edge.

Parameters

[in] The edge ID to check for

Returns: True or False depending on if the edge is in collision or not

◆ computeAndSetEdgeFreeProbability()

double batching_pomp::BatchingPOMP::computeAndSetEdgeFreeProbability ( const Edge & e )

Compute the collision measure of an edge and assign it to the underlying property of the edge. Also return the value to the caller.

Parameters

[in] e The edge ID

Returns: The computed collision measure of e as per the current model

◆ initializeEdgePoints()

void batching_pomp::BatchingPOMP::initializeEdgePoints ( const Edge & e )

Given a new edge, initialize the embedded configurations along the edge using the resolution of the underlying space. This is a separate method so that it is called only when a new edge is created, i.e. just-in-time.

Parameters

[in] e The edge ID to initialize with configurations

◆ vertexDistFun()

double batching_pomp::BatchingPOMP::vertexDistFun	(	const Vertex &	u,
		const Vertex &	v
	)		const

The distance function between roadmap vertices to be used by the nearest neighbour manager for vertices. Typically returns the distance between the underlying states of the space.

Parameters

[in] u,v The end-point vertices of the edge

Returns: The distance between vertices

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

include/batching_pomp/BatchingPOMP.hpp
src/BatchingPOMP.cpp

Classes

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BatchingPOMP()

Member Function Documentation

◆ checkAndSetEdgeBlocked()

◆ computeAndSetEdgeFreeProbability()

◆ initializeEdgePoints()

◆ vertexDistFun()