An abstract class for a sample-based motion planner. More...

#include <AnyMotionPlanner.h>

Inheritance diagram for MotionPlannerInterface:

Public Types
typedef Graph::UndirectedGraph< Config, std::shared_ptr< EdgePlanner > >	Roadmap

Public Member Functions
virtual std::string	Plan (MilestonePath &path, const HaltingCondition &cond)

virtual int	PlanMore ()=0
	Performs a planning unit and returns the added milestone.

virtual void	PlanMore (int numIters)
	Performs numIters planning units.

virtual int	NumIterations () const =0
	Returns the number of elaped planning units.

virtual int	NumMilestones () const =0
	Returns the number of milestones stored by the planner.

virtual int	NumComponents () const =0
	Returns the number of connected components stored by the planner.

virtual bool	CanAddMilestone () const
	Returns true if a milestone can currently be added.

virtual int	AddMilestone (const Config &q)=0
	Adds a milestone, if possible. Returns an id of the milestone.

virtual void	GetMilestone (int, Config &q)=0
	For the id of a milestone previously added, returns its configuration.

virtual void	ConnectHint (int m)
	Manual indication that the milestone is a good candidate for connecting.

virtual bool	ConnectHint (int ma, int mb)
	Manual indication that the milestones are good candidates for connecting.

virtual bool	IsConnected (int ma, int mb) const =0
	Returns true if the two milestones are connected with a feasible path.

virtual bool	IsPointToPoint () const

virtual bool	IsOptimizing () const
	Returns true if this planner can optimize the path after the first solution.

virtual bool	CanUseObjective () const

virtual void	SetObjective (std::shared_ptr< ObjectiveFunctionalBase > obj)
	Must be implemented if CanUseObjective() = true.

virtual bool	IsLazy () const
	Returns true if this planner has lazy semantics.

virtual bool	IsLazyConnected (int ma, int mb) const

virtual bool	CheckPath (int ma, int mb)

virtual int	GetClosestMilestone (const Config &q)
	Retrieve the index of a close milestone.

virtual void	GetPath (int ma, int mb, MilestonePath &path)=0

virtual Real	GetOptimalPath (int ma, const std::vector< int > &mb, MilestonePath &path)

virtual bool	IsSolved ()
	For single-query planners, returns true if the start and goal are connected.

virtual void	GetSolution (MilestonePath &path)

virtual void	GetRoadmap (Roadmap &roadmap) const
	Returns a full-blown roadmap representation of the roadmap.

virtual void	GetStats (PropertyMap &stats) const
	Returns some named statistics about the planner, implementation-dependent.

Detailed Description

An abstract class for a sample-based motion planner.

Standard single-query, feasible motion planning usage is to create a MotionPlannerInterface using a MotionPlannerFactory, then add the start and goal milestones (which have id's 0 and 1, respectively). Then, Plan(path,cond) is called, with an appropriate termination condition.

Execution can be controlled manually, e.g., call PlanMore() until IsSolved() returns true, at which point the path is retrieved using GetSolution(p).

Single-query, optimal motion planning usage is the same as Plan(), except the halting condition must be changed:

HaltingCondition.foundSolution must be set to false
Set a termination criterion to the desired number of iterations (HaltingCondition.maxIters), time limit (HaltingCondition.timeLimit), or cost improvement (HaltingCondition.costThreshold or costImprovementPeriod and costImprovementThreshold).

Member Function Documentation

virtual bool MotionPlannerInterface::CanUseObjective ( ) const

inlinevirtual

Returns true if this planner can handle an objective function (in SetObjective and GetOptimalPath)

Reimplemented in PRMStarInterface, RRTInterface, RoadmapPlannerInterface, ShortcutMotionPlanner, RestartMotionPlanner, PointToSetMotionPlannerAdaptor, and PiggybackMotionPlanner.

Referenced by MotionPlannerFactory::ApplyModifiers().

virtual bool MotionPlannerInterface::CheckPath	(	int	ma,
		int	mb
	)

inlinevirtual

If lazy semantics are used, this will check for a feasible path between two lazy-connected milestones

Must be implemented if IsLazy()=true

Reimplemented in PointToSetMotionPlannerAdaptor, and PiggybackMotionPlanner.

virtual Real MotionPlannerInterface::GetOptimalPath	(	int	ma,
		const std::vector< int > &	mb,
		MilestonePath &	path
	)

inlinevirtual

Calculates a feasible, minimum cost path, starting at ma and terminating at some node in the mb set. If SetObjective was called before, the objective function is used as the cost. Otherwise, the cost is up to the planner, but is typically path length. The cost is returned.

Must be implemented if CanUseObjective() = true.

Reimplemented in PRMStarInterface, RRTInterface, RoadmapPlannerInterface, PointToSetMotionPlannerAdaptor, and PiggybackMotionPlanner.

virtual void MotionPlannerInterface::GetPath	(	int	ma,
		int	mb,
		MilestonePath &	path
	)

pure virtual

Returns a feasible path between two connected milestones. If IsConnected(ma,mb)=false, this will abort.

Must be implemented if IsLazy()=true

Implemented in FMMInterface, PRMStarInterface, SBLPRTInterface, SBLInterface, BiRRTInterface, RRTInterface, RoadmapPlannerInterface, RestartMotionPlanner, PointToSetMotionPlannerAdaptor, and PiggybackMotionPlanner.

virtual void MotionPlannerInterface::GetSolution ( MilestonePath & path )

inlinevirtual

For single-query planners (IsPointToPoint()=true), returns the solution path.

For multi-query planners, returns the optimal solution path.

Reimplemented in PRMStarInterface, SBLPRTInterface, RRTInterface, RoadmapPlannerInterface, ShortcutMotionPlanner, RestartMotionPlanner, PointToSetMotionPlannerAdaptor, PointToSetMotionPlanner, and PiggybackMotionPlanner.

virtual bool MotionPlannerInterface::IsLazyConnected	(	int	ma,
		int	mb
	)		const

inlinevirtual

If lazy semantics are used, returns true if the two milestones are connected by a likely feasible path

Must be implemented if IsLazy()=true

Reimplemented in PointToSetMotionPlannerAdaptor, and PiggybackMotionPlanner.

virtual bool MotionPlannerInterface::IsPointToPoint ( ) const

inlinevirtual

Returns true if this planner is exclusively point-to-point, i.e., cannot accept additional goal nodes via AddMilestone()

Reimplemented in SBLPRTInterface, RoadmapPlannerInterface, PointToSetMotionPlannerAdaptor, PointToSetMotionPlanner, and PiggybackMotionPlanner.

std::string MotionPlannerInterface::Plan	(	MilestonePath &	path,
		const HaltingCondition &	cond
	)

virtual

Plans until a given termination condition holds true, returns the reason for termination. The return string will be the attribute of HaltingCondition that caused termination.

Reimplemented in ShortcutMotionPlanner, RestartShortcutMotionPlanner, RestartMotionPlanner, and PointToSetMotionPlanner.

References HaltingCondition::costImprovementPeriod, HaltingCondition::costThreshold, HaltingCondition::foundSolution, HaltingCondition::maxIters, and HaltingCondition::timeLimit.

Referenced by ShortcutMotionPlanner::CanUseObjective(), RestartMotionPlanner::IsOptimizing(), RestartShortcutMotionPlanner::IsOptimizing(), and PointToSetMotionPlanner::Plan().

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

AnyMotionPlanner.h
AnyMotionPlanner.cpp

Public Types

Public Member Functions

Detailed Description

Member Function Documentation