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KrisLibrary
1.0.0
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A planner that minimizes the the number of violated constraints using a RRT-like strategy. More...
#include <MCRPlannerGoalSet.h>
Classes | |
| struct | Edge |
| struct | Milestone |
| struct | Mode |
| struct | Transition |
Public Types | |
| typedef Graph::UndirectedGraph< Milestone, Edge > | Roadmap |
| typedef Graph::UndirectedGraph< Mode, Transition > | ModeGraph |
Public Member Functions | |
| MCRPlannerGoalSet (CSpace *space) | |
| void | Init (const Config &start, CSet *goal) |
| void | Expand (Real maxExplanationCost, std::vector< int > &newNodes) |
| Performs one iteration of planning given a limit on the explanation size. | |
| void | Expand2 (Real maxExplanationCost, std::vector< int > &newNodes) |
| void | Plan (int initialLimit, const std::vector< int > &expansionSchedule, std::vector< int > &bestPath, Subset &cover) |
| Performs bottom-up planning according to a given limit expansion schedule. | |
| void | BuildRoadmap (Real maxExplanationCost, RoadmapPlanner &prm) |
| Outputs the graph with the given explanation limit. | |
| void | BuildCCGraph (Graph::UndirectedGraph< Subset, int > &G) |
| bool | CoveragePath (int s, int t, const Subset &cover, std::vector< int > &path, Subset &pathCover) |
| A search that finds a path subject to a coverage constraint. | |
| bool | GreedyPath (int s, int t, std::vector< int > &path, Subset &pathCover) |
| A greedy heuristic that performs smallest cover given predecessor. | |
| bool | OptimalPath (int s, int t, std::vector< int > &path, Subset &pathCover) |
| An optimal search. | |
| bool | GreedyPath (std::vector< int > &path, Subset &pathCover) |
| Returns the best GreedyPath out of any start->goal path. | |
| bool | OptimalPath (std::vector< int > &path, Subset &pathCover) |
| Returns the best OptimalPath out of any start->goal path. | |
| Real | Cost (const Subset &s) const |
| int | AddNode (const Config &q, int parent=-1) |
| int | AddNode (const Config &q, const Subset &subset, int parent=-1) |
| bool | AddEdge (int i, int j, int depth=0) |
| int | AddEdge (int i, const Config &q, Real maxExplanationCost) |
| void | AddEdgeRaw (int i, int j) |
| int | ExtendToward (int i, const Config &qdest, Real maxExplanationCost) |
| void | KNN (const Config &q, int k, std::vector< int > &neighbors, std::vector< Real > &distances) |
| void | KNN (const Config &q, Real maxExplanationCost, int k, std::vector< int > &neighbors, std::vector< Real > &distances) |
| void | UpdatePathsGreedy () |
| void | UpdatePathsComplete () |
| void | UpdatePathsGreedy2 (int nstart=-1) |
| void | UpdatePathsComplete2 (int nstart=-1) |
| bool | CanImproveConnectivity (const Mode &ma, const Mode &mb, Real maxExplanationCost) |
| void | UpdateMinCost (Mode &m) |
| bool | ExceedsCostLimit (const Config &q, Real limit, Subset &violations) |
| bool | ExceedsCostLimit (const Config &a, const Config &b, Real limit, Subset &violations) |
| void | GetCover (const std::vector< int > &path, Subset &cover) const |
| Computes the cover of the path. | |
| Real | GetLength (const std::vector< int > &path) const |
| Computes the length of the path. | |
| void | GetMilestonePath (const std::vector< int > &path, MilestonePath &mpath) const |
| Returns the MilestonePath. | |
Public Attributes | |
| Config | start |
| CSpace * | space |
| CSet * | goalSet |
| Optimization::NonlinearProgram * | goalNumeric |
| std::vector< int > | goalNodes |
| std::vector< Real > | obstacleWeights |
| int | numConnections |
| Real | connectThreshold |
| Real | expandDistance |
| Real | goalConnectThreshold |
| Real | goalBiasProbability |
| bool | bidirectional |
| bool | updatePathsComplete |
| bool | updatePathsDynamic |
| int | updatePathsMax |
| For complete planning, keep at most this number of covers. | |
| Roadmap | roadmap |
| ModeGraph | modeGraph |
| int | numExpands |
| int | numRefinementAttempts |
| int | numRefinementSuccesses |
| int | numExplorationAttempts |
| int | numEdgeChecks |
| int | numConfigChecks |
| int | numUpdatePaths |
| int | numUpdatePathsIterations |
| double | timeNearestNeighbors |
| double | timeRefine |
| double | timeExplore |
| double | timeUpdatePaths |
| double | timeOverhead |
A planner that minimizes the the number of violated constraints using a RRT-like strategy.
Usage: //first, set up CSpace cspace. MCRPlannerGoalSet planner(&cspace); planner.Init(start,goal);
//do planning with a given expansion schedule vector<int> schedule; schedule.push_back(limit1); ... schedule.push_back(limitN); Subset cover; vector<int> bestPlan; planner.Plan(0,schedule,bestPlan,cover);
//output best path MilestonePath path; planner.GetMilestonePath(bestPlan,path);
| void MCRPlannerGoalSet::BuildCCGraph | ( | Graph::UndirectedGraph< Subset, int > & | G | ) |
Outputs the CC graph. Each node is a connected component of the roadmap within the same subset.
References Graph::Graph< Node, Edge >::AddNode().
| bool MCRPlannerGoalSet::updatePathsComplete |
If true: use the slower complete, exact cover update. If false: use the faster greedy one.
| bool MCRPlannerGoalSet::updatePathsDynamic |
If true: do dynamic shortest paths update If false: do batch updates when needed
1.8.11