Derived class of BatchingManager that implements Hybrid Batching. More...

#include <HybridBatching.hpp>

Inherits batching_pomp::batching::BatchingManager< Graph, VStateMap, StateCon, EDistance >.

Public Member Functions
	HybridBatching (const ompl::base::StateSpacePtr _space, VStateMap _stateMap, std::string _roadmapFileName, Graph &_fullRoadmap, Graph &_currentRoadmap, unsigned int _initNumVertices, double _vertInflFactor, double _radiusInflFactor, const std::function< double(unsigned int)> &_initRadiusFn, double _maxRadius)

void	setVertexInflationFactor (double _vertInflFactor)
	Setters and Getters.

double	getVertexInflationFactor () const

void	setRadiusInflationFactor (unsigned int _radiusInflFactor)

double	getRadiusInflationFactor () const

void	setInitRadius (double _initRadius)

double	getInitRadius () const

void	setMaxRadius (double _maxRadius)

double	getMaxRadius () const

bool	isInEdgeBatchingMode () const

void	updateWithNewSolutionCost (double _newSolnCost) override
	Overriden methods.

void	nextBatch (const std::function< bool(const ompl::base::State *)> &_pruneFunction, ompl::NearestNeighbors< Vertex > &_vertexNN) override

Public Member Functions inherited from batching_pomp::batching::BatchingManager< Graph, VStateMap, StateCon, EDistance >
	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)

Additional Inherited Members
Protected Attributes inherited from batching_pomp::batching::BatchingManager< Graph, VStateMap, StateCon, EDistance >
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::HybridBatching< Graph, VStateMap, StateCon, EDistance >

Derived class of BatchingManager that implements Hybrid Batching.

Implements Hybrid Batching, which proceeds in two phases. Initially, batches of vertices are added, and the r-disk shrinks (as per a function connecting vertices to radius) to maintain a specific relationship between edges and vertices. Once all vertices are added, batches of edges are added based on an increasing radius of connectivity (similar to Edge Batching)

Constructor & Destructor Documentation

◆ HybridBatching()

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

batching_pomp::batching::HybridBatching< Graph, VStateMap, StateCon, EDistance >::HybridBatching	(	const ompl::base::StateSpacePtr	_space,
		VStateMap	_stateMap,
		std::string	_roadmapFileName,
		Graph &	_fullRoadmap,
		Graph &	_currentRoadmap,
		unsigned int	_initNumVertices,
		double	_vertInflFactor,
		double	_radiusInflFactor,
		const std::function< double(unsigned int)> &	_initRadiusFn,
		double	_maxRadius
	)

inline

Parameters

[in]	_initNumVertices	The initial number of vertices to begin with
[in]	_vertInflFactor	The factor by which to increase the number of vertices in each batch in the first phase
[in]	_radiusInflFactor	The value by which to increase the radius for each new batch in the second phase
[in]	_initRadiusFn	The function which generates the radius based on the number of vertices
[in]	_maxRadius	The maximum meaningful radius for edge batching. It is a function of the space bounds and the current solution quality.

Member Function Documentation

◆ nextBatch()

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

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

inlineoverridevirtual

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

Implements batching_pomp::batching::BatchingManager< Graph, VStateMap, StateCon, EDistance >.

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

include/batching_pomp/batching/HybridBatching.hpp

Public Member Functions