A multiple-restart motion planner that turns a feasible motion planner into an anytime optimal motion planner by keeping the best path found so far and shortcutting the best path. More...
Inheritance diagram for RestartShortcutMotionPlanner:
Public Member Functions | |
| RestartShortcutMotionPlanner (const MotionPlannerFactory &factory, const MotionPlanningProblem &problem, const HaltingCondition &iterTermCond) | |
| virtual bool | IsOptimizing () const |
| Returns true if this planner can optimize the path after the first solution. | |
| virtual std::string | Plan (MilestonePath &path, const HaltingCondition &cond) |
| virtual int | PlanMore () |
| Performs a planning unit and returns the added milestone. | |
| 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 RestartMotionPlanner | |
| RestartMotionPlanner (const MotionPlannerFactory &factory, const MotionPlanningProblem &problem, const HaltingCondition &iterTermCond) | |
| virtual int | AddMilestone (const Config &q) |
| Adds a milestone, if possible. Returns an id of the milestone. | |
| virtual bool | CanUseObjective () const |
| virtual void | SetObjective (shared_ptr< ObjectiveFunctionalBase > obj) |
| virtual bool | IsConnected (int ma, int mb) const |
| Returns true if the two milestones are connected with a feasible path. | |
| virtual void | GetPath (int ma, 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 int | NumIterations () const |
| Returns the number of elaped planning units. | |
| Public Member Functions inherited from PiggybackMotionPlanner | |
| PiggybackMotionPlanner (const shared_ptr< MotionPlannerInterface > &mp) | |
| virtual void | PlanMore (int numIters) |
| Performs numIters 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 | IsPointToPoint () 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 Real | GetOptimalPath (int ma, const std::vector< int > &mb, MilestonePath &path) |
| Public Member Functions inherited from MotionPlannerInterface | |
| virtual void | SetObjective (std::shared_ptr< ObjectiveFunctionalBase > obj) |
| Must be implemented if CanUseObjective() = true. | |
Public Attributes | |
| bool | shortcutMode |
| int | numShortcutIters |
| vector< MilestonePath > | candidatePaths |
| vector< Real > | candidatePathLengths |
| Public Attributes inherited from RestartMotionPlanner | |
| MotionPlannerFactory | factory |
| MotionPlanningProblem | problem |
| HaltingCondition | iterTermCond |
| shared_ptr< ObjectiveFunctionalBase > | objective |
| MilestonePath | bestPath |
| Real | bestPathLength |
| int | numRestarts |
| int | numIters |
| double | elapsedTime |
| Public Attributes inherited from PiggybackMotionPlanner | |
| shared_ptr< MotionPlannerInterface > | mp |
Additional Inherited Members | |
| Public Types inherited from MotionPlannerInterface | |
| typedef Graph::UndirectedGraph< Config, std::shared_ptr< EdgePlanner > > | Roadmap |
Detailed Description
A multiple-restart motion planner that turns a feasible motion planner into an anytime optimal motion planner by keeping the best path found so far and shortcutting the best path.
Member Function Documentation
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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 RestartMotionPlanner.
References HaltingCondition::costImprovementPeriod, HaltingCondition::costThreshold, HaltingCondition::foundSolution, HaltingCondition::maxIters, HaltingCondition::timeLimit, and Math::WeightedSample().
The documentation for this class was generated from the following file:
- AnyMotionPlanner.cpp
