Program Listing for File LazyPRM.h
↰ Return to documentation for file (src/ompl/geometric/planners/prm/LazyPRM.h)
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2013, Rice University
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Rice University nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ioan Sucan, Henning Kayser */
#ifndef OMPL_GEOMETRIC_PLANNERS_PRM_LAZY_PRM_
#define OMPL_GEOMETRIC_PLANNERS_PRM_LAZY_PRM_
#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include <boost/graph/graph_traits.hpp>
#include <boost/graph/adjacency_list.hpp>
#include <utility>
#include <vector>
#include <map>
namespace ompl
{
namespace base
{
// Forward declare for use in implementation
OMPL_CLASS_FORWARD(OptimizationObjective);
}
namespace geometric
{
class LazyPRM : public base::Planner
{
public:
struct vertex_state_t
{
using kind = boost::vertex_property_tag;
};
struct vertex_flags_t
{
using kind = boost::vertex_property_tag;
};
struct vertex_component_t
{
using kind = boost::vertex_property_tag;
};
struct edge_flags_t
{
using kind = boost::edge_property_tag;
};
using Vertex =
boost::adjacency_list_traits<boost::vecS, boost::listS, boost::undirectedS>::vertex_descriptor;
using Graph = boost::adjacency_list<
boost::vecS, boost::listS, boost::undirectedS,
boost::property<
vertex_state_t, base::State *,
boost::property<
boost::vertex_index_t, unsigned long int,
boost::property<vertex_flags_t, unsigned int,
boost::property<vertex_component_t, unsigned long int,
boost::property<boost::vertex_predecessor_t, Vertex,
boost::property<boost::vertex_rank_t,
unsigned long int>>>>>>,
boost::property<boost::edge_weight_t, base::Cost, boost::property<edge_flags_t, unsigned int>>>;
using Edge = boost::graph_traits<Graph>::edge_descriptor;
using RoadmapNeighbors = std::shared_ptr<NearestNeighbors<Vertex> >;
using ConnectionStrategy = std::function<const std::vector<Vertex> &(const Vertex)>;
using ConnectionFilter = std::function<bool (const Vertex &, const Vertex &)>;
LazyPRM(const base::SpaceInformationPtr &si, bool starStrategy = false);
LazyPRM(const base::PlannerData &data, bool starStrategy = false);
~LazyPRM() override;
void setRange(double distance);
double getRange() const
{
return maxDistance_;
}
template <template <typename T> class NN>
void setNearestNeighbors()
{
if (nn_ && nn_->size() == 0)
OMPL_WARN("Calling setNearestNeighbors will clear all states.");
clear();
nn_ = std::make_shared<NN<Vertex>>();
if (!userSetConnectionStrategy_)
setDefaultConnectionStrategy();
if (isSetup())
setup();
}
void setProblemDefinition(const base::ProblemDefinitionPtr &pdef) override;
void setConnectionStrategy(const ConnectionStrategy &connectionStrategy)
{
connectionStrategy_ = connectionStrategy;
userSetConnectionStrategy_ = true;
}
void setDefaultConnectionStrategy();
void setMaxNearestNeighbors(unsigned int k);
void setConnectionFilter(const ConnectionFilter &connectionFilter)
{
connectionFilter_ = connectionFilter;
}
unsigned long int milestoneCount() const
{
return boost::num_vertices(g_);
}
unsigned long int edgeCount() const
{
return boost::num_edges(g_);
}
void getPlannerData(base::PlannerData &data) const override;
void setup() override;
void clear() override;
void clearQuery() override;
void clearValidity();
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
protected:
static const unsigned int VALIDITY_UNKNOWN = 0;
static const unsigned int VALIDITY_TRUE = 1;
// Planner progress property functions
std::string getIterationCount() const
{
return std::to_string(iterations_);
}
std::string getBestCost() const
{
return std::to_string(bestCost_.value());
}
std::string getMilestoneCountString() const
{
return std::to_string(milestoneCount());
}
std::string getEdgeCountString() const
{
return std::to_string(edgeCount());
}
void freeMemory();
Vertex addMilestone(base::State *state);
void uniteComponents(Vertex a, Vertex b);
void markComponent(Vertex v, unsigned long int newComponent);
long int solutionComponent(std::pair<std::size_t, std::size_t> *startGoalPair) const;
ompl::base::PathPtr constructSolution(const Vertex &start, const Vertex &goal);
double distanceFunction(const Vertex a, const Vertex b) const
{
return si_->distance(stateProperty_[a], stateProperty_[b]);
}
base::Cost costHeuristic(Vertex u, Vertex v) const;
bool starStrategy_;
ConnectionStrategy connectionStrategy_;
ConnectionFilter connectionFilter_;
bool userSetConnectionStrategy_{false};
double maxDistance_{0.};
base::StateSamplerPtr sampler_;
RoadmapNeighbors nn_;
Graph g_;
std::vector<Vertex> startM_;
std::vector<Vertex> goalM_;
boost::property_map<Graph, boost::vertex_index_t>::type indexProperty_;
boost::property_map<Graph, vertex_state_t>::type stateProperty_;
boost::property_map<Graph, boost::edge_weight_t>::type weightProperty_;
boost::property_map<Graph, vertex_component_t>::type vertexComponentProperty_;
boost::property_map<Graph, vertex_flags_t>::type vertexValidityProperty_;
boost::property_map<Graph, edge_flags_t>::type edgeValidityProperty_;
unsigned long int componentCount_{0};
std::map<unsigned long int, unsigned long int> componentSize_;
base::OptimizationObjectivePtr opt_;
base::Cost bestCost_{std::numeric_limits<double>::quiet_NaN()};
unsigned long int iterations_{0};
};
}
}
#endif