KrisLibrary  1.0.0
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PointToSetMotionPlanner Class Reference

Tries to produce a path between a start node and a goal space. Does so via goal sampling. NOTE: only works on base motion planners that accept dynamic goal insertion, such as PRM or SBLPRT. For other motion planners, need to use the PointToSetMotionPlannerAdaptor. More...

Inheritance diagram for PointToSetMotionPlanner:
PiggybackMotionPlanner MotionPlannerInterface

Public Member Functions

 PointToSetMotionPlanner (const shared_ptr< MotionPlannerInterface > &mp, const Config &qstart, CSet *goalSpace)
 
virtual std::string Plan (MilestonePath &path, const HaltingCondition &cond)
 
virtual int PlanMore ()
 Performs a planning unit and returns the added milestone.
 
virtual bool IsSolved ()
 For single-query planners, returns true if the start and goal are connected.
 
virtual void SetObjective (shared_ptr< ObjectiveFunctionalBase > obj)
 
virtual void GetSolution (MilestonePath &path)
 
virtual bool SampleGoal (Config &q)
 
virtual bool IsPointToPoint () const
 
virtual int AddMilestone (const Config &q)
 User can add goal nodes manually via this method.
 
- Public Member Functions inherited from PiggybackMotionPlanner
 PiggybackMotionPlanner (const shared_ptr< MotionPlannerInterface > &mp)
 
virtual void PlanMore (int numIters)
 Performs numIters planning units.
 
virtual int NumIterations () const
 Returns the number of elaped planning units.
 
virtual int NumMilestones () const
 Returns the number of milestones stored by the planner.
 
virtual int NumComponents () const
 Returns the number of connected components stored by the planner.
 
virtual bool CanAddMilestone () const
 Returns true if a milestone can currently be added.
 
virtual void GetMilestone (int i, Config &q)
 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
 Returns true if the two milestones are connected with a feasible path.
 
virtual bool IsOptimizing () const
 Returns true if this planner can optimize the path after the first solution.
 
virtual bool CanUseObjective () const
 
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)
 
virtual Real GetOptimalPath (int ma, const std::vector< int > &mb, 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.
 
- Public Member Functions inherited from MotionPlannerInterface
virtual void SetObjective (std::shared_ptr< ObjectiveFunctionalBase > obj)
 Must be implemented if CanUseObjective() = true.
 

Public Attributes

CSetgoalSpace
 
shared_ptr< ObjectiveFunctionalBaseobjective
 
int sampleGoalPeriod
 Setting: the planner samples a new goal configuration every n*(|goalNodes|+1) iterations.
 
int sampleGoalCounter
 Incremented each iteration, when it hits sampleGoalPeriod a goal should be sampled.
 
vector< int > goalNodes
 These are the indices of goal configurations.
 
- Public Attributes inherited from PiggybackMotionPlanner
shared_ptr< MotionPlannerInterfacemp
 

Additional Inherited Members

- Public Types inherited from MotionPlannerInterface
typedef Graph::UndirectedGraph< Config, std::shared_ptr< EdgePlanner > > Roadmap
 

Detailed Description

Tries to produce a path between a start node and a goal space. Does so via goal sampling. NOTE: only works on base motion planners that accept dynamic goal insertion, such as PRM or SBLPRT. For other motion planners, need to use the PointToSetMotionPlannerAdaptor.

Member Function Documentation

void PointToSetMotionPlanner::GetSolution ( MilestonePath path)
virtual

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

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

Reimplemented from PiggybackMotionPlanner.

virtual bool PointToSetMotionPlanner::IsPointToPoint ( ) const
inlinevirtual

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

Reimplemented from PiggybackMotionPlanner.

References PiggybackMotionPlanner::AddMilestone().

std::string PointToSetMotionPlanner::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 from MotionPlannerInterface.

References MotionPlannerInterface::Plan().


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