batching_pomp::batching::BatchingManager< Graph, VStateMap, StateCon, EDistance > Class Template Reference

Abstract class that represents the batching strategy used for the planning algorithm. More...

#include <BatchingManager.hpp>

Inherited by batching_pomp::batching::EdgeBatching< Graph, VStateMap, StateCon, EDistance >, batching_pomp::batching::HybridBatching< Graph, VStateMap, StateCon, EDistance >, batching_pomp::batching::SingleBatching< Graph, VStateMap, StateCon, EDistance >, and batching_pomp::batching::VertexBatching< Graph, VStateMap, StateCon, EDistance >.

Public Member Functions
	BatchingManager (const ompl::base::StateSpacePtr _space, VStateMap _stateMap, std::string _roadmapFileName, Graph &_fullRoadmap, Graph &_currentRoadmap)
	BatchingManager (const ompl::base::StateSpacePtr _space, VStateMap _stateMap, EDistance _distanceMap, std::string _roadmapFileName, Graph &_fullRoadmap, Graph &_currentRoadmap)
unsigned int	getNumBatches () const
unsigned int	getNumVertices () const
bool	isExhausted () const
double	getCurrentRadius () const
const ompl::base::State *	getVertexState (const Vertex &v) const
void	pruneVertices (const std::function< bool(const ompl::base::State *)> &_pruneFunction, ompl::NearestNeighbors< Vertex > &_vertexNN)
virtual void	updateWithNewSolutionCost (double _newSolnCost)=0
virtual void	nextBatch (const std::function< bool(const ompl::base::State *)> &_pruneFunction, ompl::NearestNeighbors< Vertex > &_vertexNN)=0

Protected Attributes
Graph &	mFullRoadmap
	The entire roadmap that will be used for planning.
Graph &	mCurrentRoadmap
	The roadmap currently being searched by the planner.
unsigned int	mNumBatches
	The number of batches added till now.
unsigned int	mNumVertices
	The number of vertices in the entire roadmap.
bool	mExhausted
	The flag that maintains whether the complete roadmap has been fully searched or not.
double	mCurrRadius
	The radius of connectivity for the current batch.

Detailed Description

template<class Graph, class VStateMap, class StateCon, class EDistance>
class batching_pomp::batching::BatchingManager< Graph, VStateMap, StateCon, EDistance >

Abstract class that represents the batching strategy used for the planning algorithm.

The batching manager maintains responsibility for the complete roadmap and periodically adds batches to the roadmap of the planner. This decoupling allows the complete roadmap to be loaded separately before the planning query arrives.

Template Parameters

Graph	The type of boost graph used for the roadmaps
VStateMap	The type of boost property map for vertex states
StateCon	The wrapper type for an ompl state
EDistance	The type of property map for edge lengths

Constructor & Destructor Documentation

BatchingManager() [1/2]

template<class Graph, class VStateMap, class StateCon, class EDistance>

batching_pomp::batching::BatchingManager< Graph, VStateMap, StateCon, EDistance >::BatchingManager ( const ompl::base::StateSpacePtr  _space, VStateMap  _stateMap, std::string  _roadmapFileName, Graph &  _fullRoadmap, Graph &  _currentRoadmap  )

inline

Parameters

[in]	_space	The state space of the planner
[in]	_stateMap	The property map for states of vertices
[in]	_roadmapFileName	The full path to roadmap .graphml file
[in]	_fullRoadmap	The complete roadmap loaded by the batching manager
[in]	_currentRoadmap	The roadmap that the planner is currently searching

BatchingManager() [2/2]

template<class Graph, class VStateMap, class StateCon, class EDistance>

batching_pomp::batching::BatchingManager< Graph, VStateMap, StateCon, EDistance >::BatchingManager ( const ompl::base::StateSpacePtr  _space, VStateMap  _stateMap, EDistance  _distanceMap, std::string  _roadmapFileName, Graph &  _fullRoadmap, Graph &  _currentRoadmap  )

inline

Corresponding constructor for single batching strategy

Parameters

[in]	_space	The state space of the planner
[in]	_stateMap	The property map for states of vertices
[in]	_distanceMap	The property map for the distance of edges
[in]	_roadmapFileName	The full path to roadmap .graphml file
[in]	_fullRoadmap	The complete roadmap loaded by the batching manager
[in]	_currentRoadmap	The roadmap that the planner is currently searching

Member Function Documentation

nextBatch()

template<class Graph, class VStateMap, class StateCon, class EDistance>

virtual void batching_pomp::batching::BatchingManager< Graph, VStateMap, StateCon, EDistance >::nextBatch ( const std::function< bool(const ompl::base::State *)> &  _pruneFunction, ompl::NearestNeighbors< Vertex > &  _vertexNN  )

pure virtual

Generate the next batch and update the current roadmap with it

Parameters

[in]	_pruneFunction	The rejection sampling checker for new samples
[in]	_vertexNN	The nearest neighbour manager for roadmap vertices that is updated with the latest batch of samples

Implemented in batching_pomp::batching::HybridBatching< Graph, VStateMap, StateCon, EDistance >, batching_pomp::batching::EdgeBatching< Graph, VStateMap, StateCon, EDistance >, batching_pomp::batching::VertexBatching< Graph, VStateMap, StateCon, EDistance >, and batching_pomp::batching::SingleBatching< Graph, VStateMap, StateCon, EDistance >.

pruneVertices()

template<class Graph, class VStateMap, class StateCon, class EDistance>

void batching_pomp::batching::BatchingManager< Graph, VStateMap, StateCon, EDistance >::pruneVertices ( const std::function< bool(const ompl::base::State *)> &  _pruneFunction, ompl::NearestNeighbors< Vertex > &  _vertexNN  )

inline

Implements the removal of all vertices, from the current roadmap, that satisfy a given pruning condition. Vertices are also removed from the nearest neighbour structure that maintains them.

Parameters

[in]	_pruneFunction	The function pointer that has the pruning condition
[in]	_vertexNN	The nearest neighbour structure for vertices

updateWithNewSolutionCost()

template<class Graph, class VStateMap, class StateCon, class EDistance>

virtual void batching_pomp::batching::BatchingManager< Graph, VStateMap, StateCon, EDistance >::updateWithNewSolutionCost ( double  _newSolnCost )

pure virtual

Make any updates to batching manager with newest solution cost

Parameters

[in]

_newSolnCost

The current best solution cost with which to update the batching manager parameters

Implemented in batching_pomp::batching::HybridBatching< Graph, VStateMap, StateCon, EDistance >, batching_pomp::batching::EdgeBatching< Graph, VStateMap, StateCon, EDistance >, batching_pomp::batching::VertexBatching< Graph, VStateMap, StateCon, EDistance >, and batching_pomp::batching::SingleBatching< Graph, VStateMap, StateCon, EDistance >.

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

• include/batching_pomp/batching/BatchingManager.hpp