BasicPRM< MPTraits > Class Template Reference

Classes
struct	SamplerSetting
	Settings for a specific sampler. More...

Public Member Functions
Construction
	BasicPRM ()
	BasicPRM (XMLNode &_node)
virtual	~BasicPRM ()=default
MPBaseObject Overrides
virtual void	Print (std::ostream &_os) const override
Interface
void	operator() ()
	Execute the strategy by calling Initialize, Run, and Finalize.
void	EnableOutputFiles (const bool _enable=true)
Name and Label Accessors
const std::string &	GetName () const
	Get the class name for this object.
const std::string &	GetLabel () const
	Get the unique label for this object.
std::string	GetNameAndLabel () const
	Get the unique string identifier for this object "m_name::m_label".
void	SetLabel (const std::string &)
	Set the unique label for this object.
MPLibrary Accessors
void	SetMPLibrary (MPLibrary *) noexcept
	Set the owning MPLibrary.
MPLibrary *	GetMPLibrary () const noexcept
	Get the owning MPLibrary.
bool	IsRunning () const noexcept
	Check the library's running flag.
DistanceMetricPointer	GetDistanceMetric (const std::string &) const noexcept
	Get a distance metric by label from the owning MPLibrary.
ValidityCheckerPointer	GetValidityChecker (const std::string &) const noexcept
	Get a validity checker by label from the owning MPLibrary.
NeighborhoodFinderPointer	GetNeighborhoodFinder (const std::string &) const noexcept
	Get a neighborhood finder by label from the owning MPLibrary.
SamplerPointer	GetSampler (const std::string &) const noexcept
	Get a sampler by label from the owning MPLibrary.
LocalPlannerPointer	GetLocalPlanner (const std::string &) const noexcept
	Get a local planner by label from the owning MPLibrary.
ExtenderPointer	GetExtender (const std::string &) const noexcept
	Get an extender by label from the owning MPLibrary.
PathModifierPointer	GetPathModifier (const std::string &) const noexcept
	Get a path modifier by label from the owning MPLibrary.
ConnectorPointer	GetConnector (const std::string &) const noexcept
	Get a connector by label from the owning MPLibrary.
MetricPointer	GetMetric (const std::string &) const noexcept
	Get a metric by label from the owning MPLibrary.
MapEvaluatorPointer	GetMapEvaluator (const std::string &) const noexcept
	Get a map evaluator by label from the owning MPLibrary.
MPStrategyPointer	GetMPStrategy (const std::string &) const noexcept
	Get a strategy by label from the owning MPLibrary.
MPTraits::MPTools *	GetMPTools () const noexcept
	Get the MPTools container from the owning MPLibrary.
Problem Accessors
MPProblem *	GetMPProblem () const noexcept
	Get the library's current MPProblem.
Environment *	GetEnvironment () const noexcept
	Get the current environment.
MPTask *	GetTask () const noexcept
	Get the current task.
GroupTask *	GetGroupTask () const noexcept
	Get the current group task.
Solution Accessors
MPSolution *	GetMPSolution () const noexcept
RoadmapType *	GetRoadmap (Robot *const _r=nullptr) const noexcept
	Get the current free-space roadmap.
GroupRoadmapType *	GetGroupRoadmap (RobotGroup *const _g=nullptr) const noexcept
	Get the current free-space group roadmap.
RoadmapType *	GetBlockRoadmap (Robot *const _r=nullptr) const noexcept
	Get the current obstacle-space roadmap.
Path *	GetPath (Robot *const _r=nullptr) const noexcept
	Get the current best path.
GroupPath *	GetGroupPath (RobotGroup *const _g=nullptr) const noexcept
	Get the current best group path.
StatClass *	GetStatClass () const noexcept
	Get the current StatClass.
LocalObstacleMap *	GetLocalObstacleMap () const noexcept
	Get the local obstacle map.
GoalTracker *	GetGoalTracker () const noexcept
	Get the goal tracker.

Public Types
Motion Planning Types
typedef MPTraits::CfgType	CfgType
typedef MPTraits::RoadmapType	RoadmapType
typedef RoadmapType::VID	VID
Local Types
typedef MPTraits::GroupRoadmapType	GroupRoadmapType
typedef MPTraits::LocalObstacleMap	LocalObstacleMap
typedef MPTraits::Path	Path
typedef MPTraits::GroupPathType	GroupPath
typedef MPTraits::MPLibrary	MPLibrary
typedef MPTraits::MPSolution	MPSolution
typedef MPTraits::GoalTracker	GoalTracker
typedef MPLibrary::SamplerPointer	SamplerPointer
typedef MPLibrary::LocalPlannerPointer	LocalPlannerPointer
typedef MPLibrary::ExtenderPointer	ExtenderPointer
typedef MPLibrary::PathModifierPointer	PathModifierPointer
typedef MPLibrary::ConnectorPointer	ConnectorPointer
typedef MPLibrary::MetricPointer	MetricPointer
typedef MPLibrary::MapEvaluatorPointer	MapEvaluatorPointer
typedef MPLibrary::MPStrategyPointer	MPStrategyPointer
typedef MPLibrary::DistanceMetricPointer	DistanceMetricPointer
typedef MPLibrary::ValidityCheckerPointer	ValidityCheckerPointer
typedef MPLibrary::NeighborhoodFinderPointer	NeighborhoodFinderPointer

Protected Member Functions
void	SetName (const std::string &_s)
const std::string &	GetBaseFilename () const
MPStrategyMethod Overrides
virtual void	Initialize () override
virtual void	Iterate () override
	Execute one iteration of the strategy. More...
Helpers
std::vector< VID >	Sample ()
void	Connect (const std::vector< VID > &_vids)
Helpers
virtual void	Run ()
	Call Iterate until EvaluateMap is true. More...
virtual bool	EvaluateMap ()
	Check if we satisfied all map evaluators.
virtual void	Finalize ()
	Clean-up and output results. More...
virtual void	ClearRoadmap ()
	Pre-clear the roadmap(s) if requested.
Start/Goal Generation
virtual size_t	GenerateStart (const std::string &_samplerLabel="")
virtual std::vector< size_t >	GenerateGoals (const std::string &_samplerLabel="")

Protected Attributes
bool	m_debug
	Print debug info?
Internal State
std::vector< SamplerSetting >	m_samplers
	Sampler labels with number and attempts of sampler.
std::vector< std::string >	m_connectorLabels
	Connector labels for node-to-node.
std::string	m_inputMapFilename
	Input roadmap to initialize map.
Fix-base hacks
To be removed when we properly implement path constraints or perhaps a sampler-method option.
bool	m_fixBase {false}
std::unique_ptr< Boundary >	m_samplingBoundary
	An optional sampling boundary for fixing the base.
Internal State
std::string	m_querySampler
	Sampler for generating start/goal.
std::vector< std::string >	m_meLabels
	The list of map evaluators to use.
size_t	m_iterations {0}
	The number of executed iterations.
bool	m_writeOutput {true}
	Write output at the end?
bool	m_clearMap {false}
	Clear the roadmap(s) before run?

Detailed Description

template<typename MPTraits>
class BasicPRM< MPTraits >

Basic PRM algorithm.

Reference: Lydia E. Kavraki and Petr Svestka and Jean-Claude Latombe and Mark H. Overmars. "Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces". TRO 1996.

Member Function Documentation

Print()

template<typename MPTraits >

void BasicPRM< MPTraits >::Print ( std::ostream &  _os ) const

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from MPStrategyMethod< MPTraits >.

Reimplemented in TogglePRMStrategy< MPTraits >.

Initialize()

template<typename MPTraits >

void BasicPRM< MPTraits >::Initialize

overrideprotectedvirtual

Initialize this object for the current MPProblem. This should reset any internal state of the algorithms so that they are ready for execution. It is also the place to initialize any state that depends on the current problem.

Warning

This member will be called for every compiled algorithm in the planning library - even those that will not be used. If an algorithm needs to do expenisve setup, then this method should only set a flag that tells it to do so on first use. The only exceptions are the MPStrategies, which will only have their initialize called on first use.

Reimplemented from MPBaseObject< MPTraits >.

Reimplemented in TogglePRMStrategy< MPTraits >.

Iterate()

template<typename MPTraits >

void BasicPRM< MPTraits >::Iterate

overrideprotectedvirtual

Execute one iteration of the strategy.

Reimplemented from MPStrategyMethod< MPTraits >.

Reimplemented in TogglePRMStrategy< MPTraits >.

Sample()

template<typename MPTraits >

std::vector< typename MPTraits::RoadmapType::VID > BasicPRM< MPTraits >::Sample

protected

Sample and add configurations to the roadmap.

Returns

The generated VIDs for the successful samples.

Connect()

template<typename MPTraits >

void BasicPRM< MPTraits >::Connect ( const std::vector< VID > &  _vids )

protected

Connect nodes in the roadmap.

Parameters

_vids

A set of node VIDs to connect to the rest of the roadmap.

EnableOutputFiles()

template<typename MPTraits >

void MPStrategyMethod< MPTraits >::EnableOutputFiles ( const bool  _enable = true )

inherited

Set output file writing to on or off (on by default). This is used to suppress generation of roadmap, path, and stat files.

Parameters

_enable

True to enable, false to disable.

Run()

template<typename MPTraits >

void MPStrategyMethod< MPTraits >::Run

protectedvirtualinherited

Call Iterate until EvaluateMap is true.

Reimplemented in ValidationStrategy< MPTraits >.

Finalize()

template<typename MPTraits >

void MPStrategyMethod< MPTraits >::Finalize

protectedvirtualinherited

Clean-up and output results.

Reimplemented in GroupDecoupledStrategy< MPTraits >, GroupStrategyMethod< MPTraits >, and ValidationStrategy< MPTraits >.

GenerateStart()

template<typename MPTraits >

size_t MPStrategyMethod< MPTraits >::GenerateStart ( const std::string &  _samplerLabel = "" )

protectedvirtualinherited

Generate a 'start' node for the task and add it to the roadmap.

Parameters

_samplerLabel

The label for the sampler to use if no query sampler was provided, or empty to require a query sampler.

Returns

The VID of the generated configuration.

Note

This returns size_t so that it will work for both individual and group strategies (all VID types are typedefs for size_t).

Reimplemented in GroupStrategyMethod< MPTraits >.

GenerateGoals()

template<typename MPTraits >

std::vector< size_t > MPStrategyMethod< MPTraits >::GenerateGoals ( const std::string &  _samplerLabel = "" )

protectedvirtualinherited

Generate 'goal' node(s) for the task and add it(them) to the roadmap.

Parameters

_samplerLabel

The label for the sampler to use if no query sampler was provided, or empty to require a query sampler.

Returns

The VIDs of the generated configurations.

Note

This returns size_t so that it will work for both individual and group strategies (all VID types are typedefs for size_t).

Reimplemented in GroupStrategyMethod< MPTraits >.

SetName()

template<typename MPTraits >

void MPBaseObject< MPTraits >::SetName ( const std::string &  _s )

protectedinherited

Parameters

_s	Class name

GetBaseFilename()

template<typename MPTraits >

const std::string & MPBaseObject< MPTraits >::GetBaseFilename ( ) const

protectedinherited

Returns

base file name from MPProblem

Member Data Documentation

m_fixBase

template<typename MPTraits >

bool BasicPRM< MPTraits >::m_fixBase {false}

protected

Keep the base fixed to the start cfg?

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

• BasicPRM.h