ImplicitGraph.h
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34 
35 // Authors: Marlin Strub
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_IMPLICITGRAPH_
38 #define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_IMPLICITGRAPH_
39 
40 #include <memory>
41 
42 #include "ompl/base/samplers/InformedStateSampler.h"
43 #include "ompl/base/SpaceInformation.h"
44 #include "ompl/base/ProblemDefinition.h"
45 #include "ompl/base/PlannerTerminationCondition.h"
46 #include "ompl/base/Planner.h"
47 
48 #include "ompl/datastructures/NearestNeighborsGNATNoThreadSafety.h"
49 
50 #include "ompl/geometric/planners/informedtrees/aitstar/Vertex.h"
51 
52 namespace ompl
53 {
54  namespace geometric
55  {
56  namespace aitstar
57  {
59  {
60  public:
62  ImplicitGraph(const ompl::base::Cost &solutionCost);
63 
65  virtual ~ImplicitGraph() = default;
66 
68  void setup(const ompl::base::SpaceInformationPtr &spaceInformation,
69  const ompl::base::ProblemDefinitionPtr &problemDefinition,
70  ompl::base::PlannerInputStates *inputStates);
71 
73  void clear();
74 
76  void setRewireFactor(double rewireFactor);
77 
79  double getRewireFactor() const;
80 
82  void setUseKNearest(bool useKNearest);
83 
85  bool getUseKNearest() const;
86 
88  void setTrackApproximateSolution(bool track);
89 
91  std::vector<std::shared_ptr<Vertex>> addSamples(std::size_t numNewSamples);
92 
94  std::size_t getNumVertices() const;
95 
97  double getConnectionRadius() const;
98 
100  void registerStartState(const ompl::base::State *const startState);
101 
103  void registerGoalState(const ompl::base::State *const goalState);
104 
106  bool hasAStartState() const;
107 
109  bool hasAGoalState() const;
110 
113  void updateStartAndGoalStates(const ompl::base::PlannerTerminationCondition &terminationCondition,
114  ompl::base::PlannerInputStates *inputStates);
115 
117  std::vector<std::shared_ptr<Vertex>> getNeighbors(const std::shared_ptr<Vertex> &vertex) const;
118 
120  bool isStart(const std::shared_ptr<Vertex> &vertex) const;
121 
123  bool isGoal(const std::shared_ptr<Vertex> &vertex) const;
124 
126  const std::vector<std::shared_ptr<Vertex>> &getStartVertices() const;
127 
129  const std::vector<std::shared_ptr<Vertex>> &getGoalVertices() const;
130 
132  std::vector<std::shared_ptr<Vertex>> getVertices() const;
133 
135  void prune();
136 
138  std::size_t getNumberOfSampledStates() const;
139 
141  std::size_t getNumberOfValidSamples() const;
142 
144  std::size_t getNumberOfStateCollisionChecks() const;
145 
147  std::size_t getNumberOfNearestNeighborCalls() const;
148 
149  private:
151  std::size_t computeNumberOfSamplesInInformedSet() const;
152 
154  double computeConnectionRadius(std::size_t numSamples) const;
155 
157  std::size_t computeNumberOfNeighbors(std::size_t numSamples) const;
158 
160  bool canPossiblyImproveSolution(const std::shared_ptr<Vertex> &vertex) const;
161 
163  ompl::base::SpaceInformationPtr spaceInformation_;
164 
166  ompl::base::ProblemDefinitionPtr problemDefinition_;
167 
170 
172  std::size_t batchId_;
173 
175  double rewireFactor_{1.0};
176 
178  bool trackApproximateSolution_{false};
179 
181  std::shared_ptr<Vertex> bestApproximateGoal_;
182 
184  bool useKNearest_{true};
185 
187  double radius_{std::numeric_limits<double>::infinity()};
188 
191  std::size_t numNeighbors_{std::numeric_limits<std::size_t>::max()};
192 
194  std::size_t k_rgg_{std::numeric_limits<std::size_t>::max()};
195 
197  const ompl::base::Cost &solutionCost_;
198 
200  ompl::base::InformedSamplerPtr sampler_;
201 
204 
206  std::vector<std::shared_ptr<Vertex>> startVertices_;
207 
209  std::vector<std::shared_ptr<Vertex>> goalVertices_;
210 
214  std::vector<std::shared_ptr<Vertex>> prunedStartVertices_;
215 
219  std::vector<std::shared_ptr<Vertex>> prunedGoalVertices_;
220 
222  mutable std::size_t numValidSamples_{0u};
223 
225  mutable std::size_t numSampledStates_{0u};
226 
228  mutable std::size_t numNearestNeighborsCalls_{0u};
229  };
230 
231  } // namespace aitstar
232 
233  } // namespace geometric
234 
235 } // namespace ompl
236 
237 #endif // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_IMPLICITGRAPH_
Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search.
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
A shared pointer wrapper for ompl::base::OptimizationObjective.
Helper class to extract valid start & goal states. Usually used internally by planners.
Definition: Planner.h:78
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
A shared pointer wrapper for ompl::base::ProblemDefinition.
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50
bool isStart(const std::shared_ptr< Vertex > &vertex) const
Checks whether the vertex is a start vertex.
bool hasAStartState() const
Returns whether the graph has a goal state.
std::size_t getNumberOfNearestNeighborCalls() const
Get the number of nearest neighbor calls.
const std::vector< std::shared_ptr< Vertex > > & getStartVertices() const
Get the start vertices.
std::vector< std::shared_ptr< Vertex > > getVertices() const
Get all vertices.
bool isGoal(const std::shared_ptr< Vertex > &vertex) const
Checks whether the vertex is a goal vertex.
double getRewireFactor() const
Get the reqire factor of the RGG.
std::size_t getNumberOfStateCollisionChecks() const
Get the number of state collision checks.
std::size_t getNumberOfValidSamples() const
Returns the total number of valid samples found.
void prune()
Prune all samples that can not contribute to a solution better than the current one.
void updateStartAndGoalStates(const ompl::base::PlannerTerminationCondition &terminationCondition, ompl::base::PlannerInputStates *inputStates)
Adds new start and goals to the graph if avavilable and creates a new informed sampler if necessary.
std::vector< std::shared_ptr< Vertex > > addSamples(std::size_t numNewSamples)
Adds a batch of samples and returns the samples it has added.
void registerStartState(const ompl::base::State *const startState)
Registers a state as a start state.
void clear()
Resets the graph to its construction state, without resetting options.
void registerGoalState(const ompl::base::State *const goalState)
Registers a state as a goal state.
const std::vector< std::shared_ptr< Vertex > > & getGoalVertices() const
Get the goal vertices.
double getConnectionRadius() const
Gets the RGG connection radius.
void setup(const ompl::base::SpaceInformationPtr &spaceInformation, const ompl::base::ProblemDefinitionPtr &problemDefinition, ompl::base::PlannerInputStates *inputStates)
The setup method for the graph. Needed to have it on the stack.
ImplicitGraph(const ompl::base::Cost &solutionCost)
Constructs an implicit graph.
virtual ~ImplicitGraph()=default
Destructs an implicit graph.
std::vector< std::shared_ptr< Vertex > > getNeighbors(const std::shared_ptr< Vertex > &vertex) const
Get neighbors of a vertex.
std::size_t getNumVertices() const
Gets the number of samples in the graph.
bool hasAGoalState() const
Returns whether the graph has a goal state.
bool getUseKNearest() const
Whether the graph uses a k-nearest connection model. If false, it uses an r-disc model.
std::size_t getNumberOfSampledStates() const
Returns the total number of sampled states.
void setRewireFactor(double rewireFactor)
Set the rewire factor of the RGG.
void setTrackApproximateSolution(bool track)
Sets whether to track approximate solutions or not.
void setUseKNearest(bool useKNearest)
Whether to use a k-nearest connection model. If false, it uses an r-disc model.
Main namespace. Contains everything in this library.