SPARS.h
118 typedef boost::unordered_map<VertexIndexType, std::set<VertexIndexType>, boost::hash<VertexIndexType> > InterfaceHash;
124 // GCC 4.6 with Boost 1.48. An implicit assignment operator overload does not compile with these
129 InterfaceHashStruct& operator=(const InterfaceHashStruct &rhs) { interfaceHash = rhs.interfaceHash; return *this; }
398 bool checkAddConnectivity(const base::State *lastState, const std::vector<SparseVertex> &neigh);
401 bool checkAddInterface(const std::vector<DenseVertex>& graphNeighborhood, const std::vector<DenseVertex>& visibleNeighborhood, DenseVertex q);
419 void addToRepresentatives( DenseVertex q, SparseVertex rep, const std::set<SparseVertex>& oreps );
437 bool haveSolution(const std::vector<DenseVertex> &start, const std::vector<DenseVertex> &goal, base::PathPtr &solution);
455 void filterVisibleNeighbors(base::State *inState, const std::vector<SparseVertex> &graphNeighborhood, std::vector<SparseVertex> &visibleNeighborhood) const;
458 void getInterfaceNeighborRepresentatives(DenseVertex q, std::set<SparseVertex> &interfaceRepresentatives);
double stretchFactor_
The stretch factor in terms of graph spanners for SPARS to check against.
Definition: SPARS.h:545
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: SPARS.cpp:157
bool reachedTerminationCriterion() const
Returns true if we have reached the iteration failures limit, maxFailures_ or if a solution was added...
Definition: SPARS.cpp:276
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
base::StateSamplerPtr simpleSampler_
Sampler user for generating random in the state space.
Definition: SPARS.h:479
void clearQuery()
Clear the query previously loaded from the ProblemDefinition. Subsequent calls to solve() will reuse ...
Definition: SPARS.cpp:150
unsigned long int VertexIndexType
The type used internally for representing vertex IDs.
Definition: SPARS.h:115
base::ValidStateSamplerPtr sampler_
Sampler user for generating valid samples in the state space.
Definition: SPARS.h:476
boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, boost::property< vertex_state_t, base::State *, boost::property< boost::vertex_predecessor_t, VertexIndexType, boost::property< boost::vertex_rank_t, VertexIndexType, boost::property< vertex_representative_t, SparseVertex > > > >, boost::property< boost::edge_weight_t, double > > DenseGraph
The underlying roadmap graph.
Definition: SPARS.h:187
A boost shared pointer wrapper for ompl::base::ProblemDefinition.
virtual void getPlannerData(base::PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: SPARS.cpp:1016
PathSimplifierPtr psimp_
A path simplifier used to simplify dense paths added to S.
Definition: SPARS.h:527
A boost shared pointer wrapper for ompl::base::ValidStateSampler.
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SPARS.cpp:101
long unsigned int iterations_
A counter for the number of iterations of the algorithm.
Definition: SPARS.h:580
boost::property_map< SpannerGraph, vertex_interface_list_t >::type interfaceListsProperty_
Access to the interface-supporting vertice hashes of the sparse nodes.
Definition: SPARS.h:524
DenseVertex getInterfaceNeighbor(DenseVertex q, SparseVertex rep)
Get the first neighbor of q who has representative rep and is within denseDelta_. ...
Definition: SPARS.cpp:755
A boost shared pointer wrapper for ompl::base::StateSampler.
double denseDeltaFraction_
SPARS parameter for dense graph connection distance as a fraction of max. extent. ...
Definition: SPARS.h:554
virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc)
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: SPARS.cpp:303
void setDenseDeltaFraction(double d)
Set the delta fraction for interface detection. If two nodes in the dense graph are more than a delta...
Definition: SPARS.h:274
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
bool checkAddPath(DenseVertex q, const std::vector< DenseVertex > &neigh)
Checks for adding an entire dense path to the Sparse Roadmap.
Definition: SPARS.cpp:602
boost::graph_traits< SpannerGraph >::edge_descriptor SparseEdge
An edge in the sparse roadmap that is constructed.
Definition: SPARS.h:160
void printDebug(std::ostream &out=std::cout) const
Print debug information about planner.
Definition: SPARS.cpp:719
void removeFromRepresentatives(DenseVertex q, SparseVertex rep)
Removes the node from its representative's lists.
Definition: SPARS.cpp:882
void getInterfaceNeighborRepresentatives(DenseVertex q, std::set< SparseVertex > &interfaceRepresentatives)
Gets the representatives of all interfaces that q supports.
Definition: SPARS.cpp:913
double getStretchFactor() const
Retrieve the spanner's set stretch factor.
Definition: SPARS.h:319
void constructRoadmap(const base::PlannerTerminationCondition &ptc)
While the termination condition permits, construct the spanner graph.
Definition: SPARS.cpp:390
void computeVPP(DenseVertex v, DenseVertex vp, std::vector< SparseVertex > &VPPs)
Computes all nodes which qualify as a candidate v" for v and vp.
Definition: SPARS.cpp:895
unsigned int maxFailures_
The maximum number of failures before terminating the algorithm.
Definition: SPARS.h:548
Definition: SPARS.h:94
boost::property_map< SpannerGraph, vertex_list_t >::type nonInterfaceListsProperty_
Access to all non-interface supporting vertices of the sparse nodes.
Definition: SPARS.h:521
bool checkAddCoverage(const base::State *lastState, const std::vector< SparseVertex > &neigh)
Checks the latest dense sample for the coverage property, and adds appropriately. ...
Definition: SPARS.cpp:525
void filterVisibleNeighbors(base::State *inState, const std::vector< SparseVertex > &graphNeighborhood, std::vector< SparseVertex > &visibleNeighborhood) const
Get the visible neighbors.
Definition: SPARS.cpp:745
void setMaxFailures(unsigned int m)
Set the maximum consecutive failures to augment the spanner before termination. In general...
Definition: SPARS.h:266
void calculateRepresentative(DenseVertex q)
Calculates the representative for a dense sample.
Definition: SPARS.cpp:840
void updateRepresentatives(SparseVertex v)
Automatically updates the representatives of all dense samplse within sparseDelta_ of v...
Definition: SPARS.cpp:805
void setStretchFactor(double t)
Set the roadmap spanner stretch factor. This value represents a multiplicative upper bound on path qu...
Definition: SPARS.h:295
void addToRepresentatives(DenseVertex q, SparseVertex rep, const std::set< SparseVertex > &oreps)
Adds a dense sample to the appropriate lists of its representative.
Definition: SPARS.cpp:857
boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, boost::property< vertex_state_t, base::State *, boost::property< boost::vertex_predecessor_t, VertexIndexType, boost::property< boost::vertex_rank_t, VertexIndexType, boost::property< vertex_color_t, GuardType, boost::property< vertex_list_t, std::set< VertexIndexType >, boost::property< vertex_interface_list_t, InterfaceHashStruct > > > > > >, boost::property< boost::edge_weight_t, base::Cost > > SpannerGraph
The constructed roadmap spanner.
Definition: SPARS.h:154
double getSparseDeltaFraction() const
Retrieve the sparse graph visibility range delta fraction.
Definition: SPARS.h:313
DenseVertex addMilestone(base::State *state)
Construct a milestone for a given state (state) and store it in the nearest neighbors data structure...
Definition: SPARS.cpp:451
double sparseDistanceFunction(const SparseVertex a, const SparseVertex b) const
Compute distance between two nodes in the sparse roadmap spanner.
Definition: SPARS.h:470
double getDenseDeltaFraction() const
Retrieve the dense graph interface support delta fraction.
Definition: SPARS.h:307
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:54
void getInterfaceNeighborhood(DenseVertex q, std::vector< DenseVertex > &interfaceNeighborhood)
Gets the neighbors of q who help it support an interface.
Definition: SPARS.cpp:933
boost::graph_traits< SpannerGraph >::vertex_descriptor SparseVertex
A vertex in the sparse roadmap that is constructed.
Definition: SPARS.h:157
boost::disjoint_sets< boost::property_map< SpannerGraph, boost::vertex_rank_t >::type, boost::property_map< SpannerGraph, boost::vertex_predecessor_t >::type > sparseDJSets_
Data structure that maintains the connected components of S.
Definition: SPARS.h:536
boost::property_map< DenseGraph, vertex_state_t >::type stateProperty_
Access to the internal base::state at each DenseVertex.
Definition: SPARS.h:509
boost::graph_traits< DenseGraph >::edge_descriptor DenseEdge
An edge in DenseGraph.
Definition: SPARS.h:193
boost::property_map< SpannerGraph, vertex_state_t >::type sparseStateProperty_
Access to the internal base::State for each SparseVertex of S.
Definition: SPARS.h:512
boost::shared_ptr< NearestNeighbors< DenseVertex > > DenseNeighbors
Nearest neighbor structure which works over the DenseGraph.
Definition: SPARS.h:196
void connectDensePoints(DenseVertex v, DenseVertex vp)
Connects points in the dense graph.
Definition: SPARS.cpp:517
boost::graph_traits< DenseGraph >::vertex_descriptor DenseVertex
A vertex in DenseGraph.
Definition: SPARS.h:190
void setDenseNeighbors()
Set a different nearest neighbors datastructure for the roadmap graph. This nearest neighbor structur...
Definition: SPARS.h:242
double sparseDeltaFraction_
SPARS parameter for Sparse Roadmap connection distance as a fraction of max. extent.
Definition: SPARS.h:557
boost::unordered_map< VertexIndexType, std::set< VertexIndexType >, boost::hash< VertexIndexType > > InterfaceHash
Hash for storing interface information.
Definition: SPARS.h:118
void computeDensePath(const DenseVertex start, const DenseVertex goal, DensePath &path) const
Constructs the dense path between the start and goal vertices (if connected)
Definition: SPARS.cpp:989
Definition: SPARS.h:106
boost::property_map< SpannerGraph, vertex_color_t >::type sparseColorProperty_
Access to draw colors for the SparseVertexs of S, to indicate addition type.
Definition: SPARS.h:515
void computeX(DenseVertex v, DenseVertex vp, DenseVertex vpp, std::vector< SparseVertex > &Xs)
Computes all nodes which qualify as a candidate x for v, v', and v".
Definition: SPARS.cpp:903
bool haveSolution(const std::vector< DenseVertex > &start, const std::vector< DenseVertex > &goal, base::PathPtr &solution)
Check if there exists a solution, i.e., there exists a pair of milestones such that the first is in s...
Definition: SPARS.cpp:236
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A boost shared pointer wrapper for ompl::base::SpaceInformation.
boost::shared_ptr< NearestNeighbors< SparseVertex > > SparseNeighbors
Nearest neighbor structure which works over the SpannerGraph.
Definition: SPARS.h:163
base::Cost costHeuristic(SparseVertex u, SparseVertex v) const
Given two vertices, returns a heuristic on the cost of the path connecting them. This method wraps Op...
Definition: SPARS.cpp:1046
DenseVertex sparseQueryVertex_
DenseVertex for performing nearest neighbor queries on the SPARSE roadmap.
Definition: SPARS.h:500
const DenseGraph & getDenseGraph() const
Retrieve the underlying dense graph structure. This is built as a PRM* and asymptotically approximate...
Definition: SPARS.h:327
A boost shared pointer wrapper for ompl::geometric::PathSimplifier.
unsigned int consecutiveFailures_
A counter for the number of consecutive failed iterations of the algorithm.
Definition: SPARS.h:542
A boost shared pointer wrapper for ompl::base::OptimizationObjective.
virtual void setProblemDefinition(const base::ProblemDefinitionPtr &pdef)
Set the problem definition for the planner. The problem needs to be set before calling solve()...
Definition: SPARS.cpp:139
DenseVertex queryVertex_
Vertex for performing nearest neighbor queries on the DENSE graph.
Definition: SPARS.h:503
bool checkAddInterface(const std::vector< DenseVertex > &graphNeighborhood, const std::vector< DenseVertex > &visibleNeighborhood, DenseVertex q)
Checks the latest dense sample for bridging an edge-less interface.
Definition: SPARS.cpp:570
double averageValence() const
Returns the average valence of the spanner graph.
Definition: SPARS.cpp:710
bool reachedFailureLimit() const
Returns true if we have reached the iteration failures limit, maxFailures_.
Definition: SPARS.cpp:281
boost::function< const std::vector< DenseVertex > &(const DenseVertex)> connectionStrategy_
Function that returns the milestones to attempt connections with.
Definition: SPARS.h:539
void checkForSolution(const base::PlannerTerminationCondition &ptc, base::PathPtr &solution)
Definition: SPARS.cpp:212
bool addedSolution_
A flag indicating that a solution has been added during solve()
Definition: SPARS.h:551
bool checkAddConnectivity(const base::State *lastState, const std::vector< SparseVertex > &neigh)
Checks the latest dense sample for connectivity, and adds appropriately.
Definition: SPARS.cpp:538
base::OptimizationObjectivePtr opt_
Objective cost function for PRM graph edges.
Definition: SPARS.h:572
void connectSparsePoints(SparseVertex v, SparseVertex vp)
Convenience function for creating an edge in the Spanner Roadmap.
Definition: SPARS.cpp:508
void getSparseNeighbors(base::State *inState, std::vector< SparseVertex > &graphNeighborhood)
Get all nodes in the sparse graph which are within sparseDelta_ of the given state.
Definition: SPARS.cpp:735
void setSparseNeighbors()
Set a different nearest neighbors datastructure for the spanner graph. This structure is stores only ...
Definition: SPARS.h:255
void checkQueryStateInitialization()
Check that the query vertex is initialized (used for internal nearest neighbor searches) ...
Definition: SPARS.cpp:286
const SpannerGraph & getRoadmap() const
Retrieve the sparse roadmap structure. This is the structure which answers given queries, and has the desired property of asymptotic near-optimality.
Definition: SPARS.h:334
boost::property_map< DenseGraph, boost::edge_weight_t >::type weightProperty_
Access to the weights of each DenseEdge.
Definition: SPARS.h:530
SparseVertex addGuard(base::State *state, GuardType type)
Construct a node with the given state (state) for the spanner and store it in the nn structure...
Definition: SPARS.cpp:491
unsigned int milestoneCount() const
Returns the number of milestones added to D.
Definition: SPARS.h:340
PathGeometric geomPath_
Geometric Path variable used for smoothing out paths.
Definition: SPARS.h:506
bool addPathToSpanner(const DensePath &p, SparseVertex vp, SparseVertex vpp)
Method for actually adding a dense path to the Roadmap Spanner, S.
Definition: SPARS.cpp:764
boost::property_map< DenseGraph, vertex_representative_t >::type representativesProperty_
Access to the representatives of the Dense vertices.
Definition: SPARS.h:518
std::deque< base::State * > DensePath
Internal representation of a dense path.
Definition: SPARS.h:121
GuardType
Enumeration which specifies the reason a guard is added to the spanner.
Definition: SPARS.h:84
void setSparseDeltaFraction(double d)
Set the delta fraction for connection distance on the sparse spanner. This value represents the visib...
Definition: SPARS.h:285
base::PathPtr constructSolution(const SparseVertex start, const SparseVertex goal) const
Given two milestones from the same connected component, construct a path connecting them and set it a...
Definition: SPARS.cpp:950
DenseVertex addSample(base::State *workState, const base::PlannerTerminationCondition &ptc)
Attempt to add a single sample to the roadmap.
Definition: SPARS.cpp:191
bool sameComponent(SparseVertex m1, SparseVertex m2)
Check that two vertices are in the same connected component.
Definition: SPARS.cpp:298
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
unsigned getMaxFailures() const
Retrieve the maximum consecutive failure limit.
Definition: SPARS.h:301
A boost shared pointer wrapper for ompl::base::Path.
double distanceFunction(const DenseVertex a, const DenseVertex b) const
Compute distance between two milestones (this is simply distance between the states of the milestones...
Definition: SPARS.h:464