ompl::geometric::AnytimePathShortening Class Reference
#include <ompl/geometric/planners/AnytimePathShortening.h>
Inheritance diagram for ompl::geometric::AnytimePathShortening:

Public Member Functions | |
AnytimePathShortening (const base::SpaceInformationPtr &si) | |
Constructor requires the space information to plan in. | |
virtual | ~AnytimePathShortening (void) |
Destructor. | |
void | addPlanner (base::PlannerPtr &planner) |
Adds the given planner to the set of planners used to compute candidate paths. | |
virtual void | setProblemDefinition (const base::ProblemDefinitionPtr &pdef) |
Set the problem definition for the planners. The problem needs to be set before calling solve(). Note: If this problem definition replaces a previous one, it may also be necessary to call clear(). | |
virtual base::PlannerStatus | solve (const base::PlannerTerminationCondition &ptc) |
Method that solves the motion planning problem. This method terminates under just two conditions, the given argument condition, or when the maximum path length in the optimization objective is met. | |
virtual void | clear (void) |
Clear all internal planning datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work. | |
virtual void | getPlannerData (base::PlannerData &data) const |
Get information about the most recent run of the motion planner. | |
virtual void | getPlannerData (ompl::base::PlannerData &data, unsigned int idx) const |
Get information about the most recent run of the idxth motion planner. | |
virtual void | setup (void) |
Perform any necessary configuration steps. This method also invokes ompl::base::SpaceInformation::setup() if needed. This must be called before solving. | |
virtual void | checkValidity (void) |
Check to see if the planners are in a working state (setup has been called, a goal was set, the input states seem to be in order). In case of error, this function throws an exception. | |
unsigned int | getNumPlanners (void) const |
Retrieve the number of planners added. | |
base::PlannerPtr | getPlanner (unsigned int i) const |
Retrieve a pointer to the ith planner instance. | |
bool | isShortcutting (void) const |
Return whether the anytime planner will perform shortcutting on paths. | |
void | setShortcut (bool shortcut) |
Enable/disable shortcutting on paths. | |
bool | isHybridizing (void) const |
Return whether the anytime planner will extract a hybrid path from the set of solution paths. | |
void | setHybridize (bool hybridize) |
Enable/disable path hybridization on the set of solution paths. | |
unsigned int | maxHybridizationPaths (void) const |
Return the maximum number of paths that will be hybridized. | |
void | setMaxHybridizationPath (unsigned int maxPathCount) |
Set the maximum number of paths that will be hybridized. | |
void | setDefaultNumPlanners (unsigned int numPlanners) |
Set default number of planners to use if none are specified. | |
unsigned int | getDefaultNumPlanners () const |
Get default number of planners used if none are specified. | |
std::string | getBestCost () const |
Return best cost found so far by algorithm. | |
Protected Member Functions | |
virtual void | threadSolve (base::Planner *planner, const base::PlannerTerminationCondition &ptc) |
The function that the planning threads execute when solving a motion planning problem. | |
Protected Attributes | |
std::vector< base::PlannerPtr > | planners_ |
The list of planners used for solving the problem. | |
bool | shortcut_ |
Flag indicating whether to shortcut paths. | |
bool | hybridize_ |
Flag indicating whether to hybridize the set of solution paths. | |
unsigned int | maxHybridPaths_ |
The maximum number of paths that will be hybridized. This prohibits hybridization of a very large path set, which may take significant time. | |
unsigned int | defaultNumPlanners_ |
The number of planners to use if none are specified. This defaults to the number of cores. This parameter has no effect if planners have already been added. |
Detailed Description
- Short description
- Anytime path shortening is a generic wrapper around one or more geometric motion planners that repeatedly applies shortcutting (ompl::geometric::PathSimplifier) and hybridization (ompl::geometric::PathHybridization) to a set of solution paths with the goal of rapidly converging to a solution with minimal length. Any number and combination of planners can be specified, each is run in a separate thread. A path length objective may be set, otherwise the tool will run until the termination condition is met. The purpose of this tool is to add anytime properties to motion planners that are not typically viewed as optimal/optimizing algorithms.
- External documentation
- R. Luna, I.A. Şucan, M. Moll, and L.E. Kavraki, Anytime Solution Optimization for Sampling-Based Motion Planning, in Proc. 2013 IEEE Intl. Conf. on Robotics and Automation, pp. 5053-5059, May. 2013. DOI: [ICRA.2013.6631301](http://dx.doi.org/10.1109/ICRA.2013.6631301)
[[PDF]](http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6631301)
Definition at line 65 of file AnytimePathShortening.h.
Member Function Documentation
virtual void ompl::geometric::AnytimePathShortening::getPlannerData | ( | base::PlannerData & | data | ) | const [virtual] |
Get information about the most recent run of the motion planner.
- Remarks:
- This call is ambiguous in this tool. By default, the planner data for the first planner in the planner list is returned.
Reimplemented from base::Planner.
ompl::base::PlannerStatus ompl::geometric::AnytimePathShortening::solve | ( | const base::PlannerTerminationCondition & | ptc | ) | [virtual] |
Method that solves the motion planning problem. This method terminates under just two conditions, the given argument condition, or when the maximum path length in the optimization objective is met.
- Remarks:
- This method spawns a separate thread for each planner employed, and applies a series of optimization methods to the set of paths generated by each planning thread.
Implements base::Planner.
Definition at line 97 of file AnytimePathShortening.cpp.
The documentation for this class was generated from the following files:
- ompl/geometric/planners/AnytimePathShortening.h
- ompl/geometric/planners/AnytimePathShortening.cpp