SamplerMethod< MPTraits > Class Template Reference

Public Member Functions
Construction
	SamplerMethod ()=default
	SamplerMethod (XMLNode &_node)
virtual	~SamplerMethod ()=0
Individual Configuration Sampling
virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid, OutputIterator _invalid)
virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid)
virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _robotBoundary, const Boundary *const _eeBoundary, OutputIterator _valid, OutputIterator _invalid)
virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _robotBoundary, const Boundary *const _eeBoundary, OutputIterator _valid)
virtual void	Filter (InputIterator _first, InputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid, OutputIterator _invalid)
void	Filter (InputIterator _first, InputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid)
Group Configuration Sampling
virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid, GroupOutputIterator _invalid)
virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid)
virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const BoundaryMap &_boundary, GroupOutputIterator _valid, GroupOutputIterator _invalid)
virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const BoundaryMap &_boundary, GroupOutputIterator _valid)
virtual void	Filter (GroupInputIterator _first, GroupInputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid, GroupOutputIterator _invalid)
void	Filter (GroupInputIterator _first, GroupInputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid)
I/O
virtual void	Print (std::ostream &_os) const
Initialization
virtual void	Initialize ()
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::GroupCfgType	GroupCfgType
Local Types
typedef std::vector< CfgType >::iterator	InputIterator
typedef std::back_insert_iterator< std::vector< CfgType > >	OutputIterator
typedef std::vector< GroupCfgType >::iterator	GroupInputIterator
typedef std::back_insert_iterator< std::vector< GroupCfgType > >	GroupOutputIterator
typedef std::map< Robot *, const Boundary * >	BoundaryMap
	A map from robots to sampling boundaries.
Local Types
typedef MPTraits::RoadmapType	RoadmapType
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
Sampler Rule
The default implementations of these throw exceptions so that derived classes can avoid implementing unsupported functions (as opposed to making these pure virtual).
virtual bool	Sampler (CfgType &_cfg, const Boundary *const _boundary, std::vector< CfgType > &_valid, std::vector< CfgType > &_invalid)
virtual bool	Sampler (CfgType &_cfg, const Boundary *const _robotBoundary, const Boundary *const _eeBoundary, std::vector< CfgType > &_valid, std::vector< CfgType > &_invalid)
virtual bool	Sampler (GroupCfgType &_cfg, const Boundary *const _boundary, std::vector< GroupCfgType > &_valid, std::vector< GroupCfgType > &_invalid)
virtual bool	Sampler (GroupCfgType &_cfg, const BoundaryMap &_boundaryMap, std::vector< GroupCfgType > &_valid, std::vector< GroupCfgType > &_invalid)

Protected Attributes
bool	m_debug
	Print debug info?

Friends
class	MixSampler< MPTraits >

Detailed Description

template<typename MPTraits>
class SamplerMethod< MPTraits >

Base algorithm abstraction for Samplers.

SamplerMethod has three sets of important functions. The first two are the various public methods in the base class, Sample and Filter, and third is the private virtual function which the derived classes overload, Sampler.

Sample is called in various ways but they break down into two forms: desired number and input configurations. When specifying a desired number n of configurations the sampler attempts a attempts per desired sample. The output is placed on an output iterator.

Usage:\n

size_t num, attempts;
Boundary* bounds;
std::vector<CfgType> valid;
auto s = this->GetSampler(m_sLabel);
s->Sample(num, attempts, bounds, std::back_inserter(valid));

Filter sends a list of input configurations to apply the sampler rule to.

Usage:\n

std::vector<CfgType> input, valid;
size_t attempts;
Boundary* bounds;
auto s = this->GetSampler(m_sLabel);
s->Filter(input.begin(), input.end(), attempts, bounds,
    std::back_inserter(valid));

Todo:

The present implementation of Sample temporarily saves invalid configurations whether we will use them or not. Avoiding this extraneous retention will likely have good performance benefits in sampling-intensive applications such as proteins and manipulators where the success rate is very low.

Todo:

The present layout of this class is confusing since the base method is actually generating uniform random samples which are filtered by the derived class. This does not work for many derived classes as evidenced by their overriding of Sample rather than Sampler: we should rework the design so that derived classes generate and filter their own samples. The base class can then implement its functions in terms of the generate and filter helpers.

Member Function Documentation

Sample() [1/8]

template<typename MPTraits >

void SamplerMethod< MPTraits >::Sample ( size_t  _numNodes, size_t  _maxAttempts, const Boundary *const  _boundary, OutputIterator  _valid, OutputIterator  _invalid  )

virtual

Try to sample a set number of new configurations from a given boundary.

Parameters

_numNodes	The number of samples desired.
_maxAttempts	The maximum number of attempts for each sample.
_boundary	The boundary to sample from.
_valid	An iterator to storage for the new configurations.
_invalid	An (optional) iterator to storage for failed attempts.

Sample() [2/8]

template<typename MPTraits >

void SamplerMethod< MPTraits >::Sample ( size_t  _numNodes, size_t  _maxAttempts, const Boundary *const  _boundary, OutputIterator  _valid  )

virtual

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Sample() [3/8]

template<typename MPTraits >

void SamplerMethod< MPTraits >::Sample ( size_t  _numNodes, size_t  _maxAttempts, const Boundary *const  _robotBoundary, const Boundary *const  _eeBoundary, OutputIterator  _valid, OutputIterator  _invalid  )

virtual

Try to sample a set number of new configurations from a given boundary (for the entire robot), and additionally satisfying a constraint boundary for the end-effector (robot is presumed to have only one EE).

Parameters

_robotBoundary	The boundary for the entire robot.
_eeBoundary	The boundary for the end-effector.

Sample() [4/8]

template<typename MPTraits >

void SamplerMethod< MPTraits >::Sample ( size_t  _numNodes, size_t  _maxAttempts, const Boundary *const  _robotBoundary, const Boundary *const  _eeBoundary, OutputIterator  _valid  )

virtual

This version does not return invalid samples. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Filter() [1/4]

template<typename MPTraits >

void SamplerMethod< MPTraits >::Filter ( InputIterator  _first, InputIterator  _last, size_t  _maxAttempts, const Boundary *const  _boundary, OutputIterator  _valid, OutputIterator  _invalid  )

virtual

Apply the sampler rule to a set of existing configurations. The output will generally be a filtered or perturbed version of the input set.

Parameters

_first	An iterator to the beginning of a list of input configurations.
_last	An iterator to the end of a list of input configurations.
_maxAttempts	The maximum number of attempts to successfully apply the sampler rule to each input.
_boundary	The sampling boundary to use.
_valid	An iterator to storage for the output configurations.
_invalid	An (optional) iterator to storage for failed attempts.

Filter() [2/4]

template<typename MPTraits >

void SamplerMethod< MPTraits >::Filter	(	InputIterator	_first,
		InputIterator	_last,
		size_t	_maxAttempts,
		const Boundary *const	_boundary,
		OutputIterator	_valid
	)

This version does not return invalid samples. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Sample() [5/8]

template<typename MPTraits >

void SamplerMethod< MPTraits >::Sample ( size_t  _numNodes, size_t  _maxAttempts, const Boundary *const  _boundary, GroupOutputIterator  _valid, GroupOutputIterator  _invalid  )

virtual

Try to sample a set number of new configurations from a single boundary.

Parameters

_numNodes	The number of samples desired.
_maxAttempts	The maximum number of attempts for each sample.
_boundary	The boundary to sample from.
_valid	An iterator to storage for the new configurations.
_invalid	An (optional) iterator to storage for failed attempts.

Sample() [6/8]

template<typename MPTraits >

void SamplerMethod< MPTraits >::Sample ( size_t  _numNodes, size_t  _maxAttempts, const Boundary *const  _boundary, GroupOutputIterator  _valid  )

virtual

This version does not return invalid samples. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Sample() [7/8]

template<typename MPTraits >

void SamplerMethod< MPTraits >::Sample ( size_t  _numNodes, size_t  _maxAttempts, const BoundaryMap &  _boundary, GroupOutputIterator  _valid, GroupOutputIterator  _invalid  )

virtual

Try to sample a set number of new configurations from a boundary for each robot.

Parameters

_numNodes	The number of samples desired.
_maxAttempts	The maximum number of attempts for each sample.
_boundaryMap	A map from robot to sampling boundary. Any robots which are not found in the map will use the environment boundary.
_valid	An iterator to storage for the new configurations.
_invalid	An (optional) iterator to storage for failed attempts.

Sample() [8/8]

template<typename MPTraits >

void SamplerMethod< MPTraits >::Sample ( size_t  _numNodes, size_t  _maxAttempts, const BoundaryMap &  _boundary, GroupOutputIterator  _valid  )

virtual

This version does not return invalid samples. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Filter() [3/4]

template<typename MPTraits >

void SamplerMethod< MPTraits >::Filter ( GroupInputIterator  _first, GroupInputIterator  _last, size_t  _maxAttempts, const Boundary *const  _boundary, GroupOutputIterator  _valid, GroupOutputIterator  _invalid  )

virtual

Apply the sampler rule to a set of existing configurations. The output will generally be a filtered or perturbed version of the input set.

Parameters

_first	An iterator to the beginning of a list of input configurations.
_last	An iterator to the end of a list of input configurations.
_maxAttempts	The maximum number of attempts to successfully apply the sampler rule to each input.
_boundary	The sampling boundary to use.
_valid	An iterator to storage for the output configurations.
_invalid	An (optional) iterator to storage for failed attempts.

Filter() [4/4]

template<typename MPTraits >

void SamplerMethod< MPTraits >::Filter	(	GroupInputIterator	_first,
		GroupInputIterator	_last,
		size_t	_maxAttempts,
		const Boundary *const	_boundary,
		GroupOutputIterator	_valid
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Sampler() [1/4]

template<typename MPTraits >

bool SamplerMethod< MPTraits >::Sampler ( CfgType &  _cfg, const Boundary *const  _boundary, std::vector< CfgType > &  _valid, std::vector< CfgType > &  _invalid  )

protectedvirtual

Takes a single input configuration and applies the sampler rule to generate one or more output configurations.

Parameters

_cfg	The input configuration.
_boundary	The sampling boundary.
_valid	The resulting output configurations.
_invalid	The (optional) return for failed attempts.

Returns

True if a valid configuration was generated, false otherwise.

Reimplemented in UniformRandomSampler< MPTraits >.

Sampler() [2/4]

template<typename MPTraits >

bool SamplerMethod< MPTraits >::Sampler ( CfgType &  _cfg, const Boundary *const  _robotBoundary, const Boundary *const  _eeBoundary, std::vector< CfgType > &  _valid, std::vector< CfgType > &  _invalid  )

protectedvirtual

This version also specifies a boundary for the end-effector. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Sampler() [3/4]

template<typename MPTraits >

bool SamplerMethod< MPTraits >::Sampler ( GroupCfgType &  _cfg, const Boundary *const  _boundary, std::vector< GroupCfgType > &  _valid, std::vector< GroupCfgType > &  _invalid  )

protectedvirtual

Takes a single input configuration and applies the sampler rule to generate one or more output configurations.

Parameters

_cfg	The input group configuration.
_boundary	The sampling boundary.
_valid	The resulting output configurations.
_invalid	The (optional) return for failed attempts.

Returns

True if a valid configuration was generated, false otherwise.

Reimplemented in UniformRandomSampler< MPTraits >.

Sampler() [4/4]

template<typename MPTraits >

bool SamplerMethod< MPTraits >::Sampler ( GroupCfgType &  _cfg, const BoundaryMap &  _boundaryMap, std::vector< GroupCfgType > &  _valid, std::vector< GroupCfgType > &  _invalid  )

protectedvirtual

This version specifies a (possibly different) boundary for each robot. Robots which are not in the boundary map will use the environment boundary. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Reimplemented in UniformRandomSampler< MPTraits >.

Print()

template<typename MPTraits >

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

virtualinherited

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented in ConditionalEvaluator< MPTraits >, PrintMapEvaluation< MPTraits >, MinkowskiDistance< MPTraits >, AdaptiveRRT< MPTraits >, BasicRRTStrategy< MPTraits >, CCsConnector< MPTraits >, ConnectorMethod< MPTraits >, NeighborhoodConnector< MPTraits >, BasicExtender< MPTraits >, ExtenderMethod< MPTraits >, LocalPlannerMethod< MPTraits >, StraightLine< MPTraits >, ComposeEvaluator< MPTraits >, LazyQuery< MPTraits >, QueryMethod< MPTraits >, SIPPMethod< MPTraits >, BasicPRM< MPTraits >, GroupDecoupledStrategy< MPTraits >, MPStrategyMethod< MPTraits >, TogglePRMStrategy< MPTraits >, BruteForceNF< MPTraits >, NeighborhoodFinderMethod< MPTraits >, and UniformRandomSampler< MPTraits >.

Initialize()

template<typename MPTraits >

virtual void MPBaseObject< MPTraits >::Initialize ( )

virtualinherited

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 in ConnectorMethod< MPTraits >, CBSQuery< MPTraits >, ComposeEvaluator< MPTraits >, LazyQuery< MPTraits >, QueryMethod< MPTraits >, SIPPMethod< MPTraits >, TimeEvaluator< MPTraits >, TimeMetric< MPTraits >, AdaptiveRRT< MPTraits >, BasicPRM< MPTraits >, BasicRRTStrategy< MPTraits >, TogglePRMStrategy< MPTraits >, ValidationStrategy< MPTraits >, LKHSearch< MPTraits >, ClearanceUtility< MPTraits >, ReachabilityUtil< MPTraits >, SafeIntervalTool< MPTraits >, and TopologicalMap< 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

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

• SamplerMethod.h