Built off of SimpleSetup but provides support for planning from experience. More...

#include <ompl/tools/lightning/Lightning.h>

Inheritance diagram for ompl::tools::Lightning:

Public Member Functions
	Lightning (const base::SpaceInformationPtr &si)
	Constructor needs the state space used for planning.

	Lightning (const base::StateSpacePtr &space)
	Constructor needs the state space used for planning. More...

void	printResultsInfo (std::ostream &out=std::cout) const override
	Display debug data about potential available solutions.

void	printLogs (std::ostream &out=std::cout) const override
	Display debug data about overall results from Lightning since being loaded.

ompl::geometric::LightningRetrieveRepair &	getLightningRetrieveRepairPlanner () const
	Get a pointer to the retrieve repair planner.

void	setRepairPlanner (const base::PlannerPtr &planner) override
	Set the planner to use for repairing experience paths inside the LightningRetrieveRepair planner. If the planner is not set, a default planner is set.

void	setPlannerAllocator (const base::PlannerAllocator &pa)
	Set the planner allocator to use. This is only used if no planner has been set. This is optional – a default planner will be used if no planner is otherwise specified.

base::PlannerStatus	solve (double time=1.0) override
	Run the planner for up to a specified amount of time (default is 1 second)

base::PlannerStatus	solve (const base::PlannerTerminationCondition &ptc) override
	Run the planner until ptc becomes true (at most)

bool	save () override
	Save the experience database to file.

bool	saveIfChanged () override
	Save the experience database to file if there has been a change.

void	clear () override
	Clear all planning data. This only includes data generated by motion plan computation. Planner settings, start & goal states are not affected.

void	print (std::ostream &out=std::cout) const override
	Print information about the current setup.

void	setup () override
	This method will create the necessary classes for planning. The solve() method will call this function automatically.

void	getAllPlannerDatas (std::vector< ompl::base::PlannerDataPtr > &plannerDatas) const override
	Get a vector of all the planning data in the database.

std::size_t	getExperiencesCount () const override
	Get the total number of paths stored in the database.

void	convertPlannerData (const ompl::base::PlannerDataPtr &plannerData, ompl::geometric::PathGeometric &path)
	Convert PlannerData to PathGeometric. Assume ordering of vertices is order of path. More...

const ompl::tools::DynamicTimeWarpPtr &	getDynamicTimeWarp () const
	Tool for comparing two paths and scoring them.

Public Member Functions inherited from ompl::tools::ExperienceSetup
	ExperienceSetup (const base::SpaceInformationPtr &si)
	Constructor needs the state space used for planning.

	ExperienceSetup (const base::StateSpacePtr &space)
	Constructor needs the state space used for planning.

void	logInitialize ()
	Load the header (first row) of the csv file.

void	convertLogToString (const ExperienceLog &log)
	Move data to string format and put in buffer.

virtual void	saveDataLog (std::ostream &out=std::cout)
	Save debug data about overall results since being loaded.

void	enablePlanningFromRecall (bool enable)
	Optionally disable the ability to use previous plans in solutions (but will still save them)

void	enablePlanningFromScratch (bool enable)
	Optionally disable the ability to plan from scratch Note: Lightning can still save modified experiences if they are different enough.

virtual const std::string &	getFilePath () const
	After setFile() is called, access the generated file path for loading and saving the experience database.

virtual bool	setFilePath (const std::string &filePath)
	Set the database file to load. Actual loading occurs when setup() is called. More...

const ExperienceStats &	getStats () const
	Getter for logging data.

virtual bool	doPostProcessing ()
	Allow accumlated experiences to be processed.

Public Member Functions inherited from ompl::geometric::SimpleSetup
	SimpleSetup (const base::SpaceInformationPtr &si)
	Constructor needs the state space used for planning.

	SimpleSetup (const base::StateSpacePtr &space)
	Constructor needs the state space used for planning.

const base::SpaceInformationPtr &	getSpaceInformation () const
	Get the current instance of the space information.

const base::ProblemDefinitionPtr &	getProblemDefinition () const
	Get the current instance of the problem definition.

base::ProblemDefinitionPtr &	getProblemDefinition ()
	Get the current instance of the problem definition.

const base::StateSpacePtr &	getStateSpace () const
	Get the current instance of the state space.

const base::StateValidityCheckerPtr &	getStateValidityChecker () const
	Get the current instance of the state validity checker.

const base::GoalPtr &	getGoal () const
	Get the current goal definition.

const base::PlannerPtr &	getPlanner () const
	Get the current planner.

const base::PlannerAllocator &	getPlannerAllocator () const
	Get the planner allocator.

const PathSimplifierPtr &	getPathSimplifier () const
	Get the path simplifier.

PathSimplifierPtr &	getPathSimplifier ()
	Get the path simplifier.

const base::OptimizationObjectivePtr &	getOptimizationObjective () const
	Get the optimization objective to use.

bool	haveExactSolutionPath () const
	Return true if a solution path is available (previous call to solve() was successful) and the solution is exact (not approximate)

bool	haveSolutionPath () const
	Return true if a solution path is available (previous call to solve() was successful). The solution may be approximate.

const std::string	getSolutionPlannerName () const
	Get the best solution's planer name. Throw an exception if no solution is available.

PathGeometric &	getSolutionPath () const
	Get the solution path. Throw an exception if no solution is available.

void	getPlannerData (base::PlannerData &pd) const
	Get information about the exploration data structure the motion planner used.

void	setStateValidityChecker (const base::StateValidityCheckerPtr &svc)
	Set the state validity checker to use.

void	setStateValidityChecker (const base::StateValidityCheckerFn &svc)
	Set the state validity checker to use.

void	setOptimizationObjective (const base::OptimizationObjectivePtr &optimizationObjective)
	Set the optimization objective to use.

void	setStartAndGoalStates (const base::ScopedState<> &start, const base::ScopedState<> &goal, double threshold=std::numeric_limits< double >::epsilon())
	Set the start and goal states to use.

void	addStartState (const base::ScopedState<> &state)
	Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called.

void	clearStartStates ()
	Clear the currently set starting states.

void	setStartState (const base::ScopedState<> &state)
	Clear the currently set starting states and add state as the starting state.

void	setGoalState (const base::ScopedState<> &goal, double threshold=std::numeric_limits< double >::epsilon())
	A simple form of setGoal(). The goal will be an instance of ompl::base::GoalState.

void	setGoal (const base::GoalPtr &goal)
	Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called.

void	setPlanner (const base::PlannerPtr &planner)
	Set the planner to use. If the planner is not set, an attempt is made to use the planner allocator. If no planner allocator is available either, a default planner is set.

void	setPlannerAllocator (const base::PlannerAllocator &pa)
	Set the planner allocator to use. This is only used if no planner has been set. This is optional – a default planner will be used if no planner is otherwise specified.

base::PlannerStatus	getLastPlannerStatus () const
	Return the status of the last planning attempt.

double	getLastPlanComputationTime () const
	Get the amount of time (in seconds) spent during the last planning step.

double	getLastSimplificationTime () const
	Get the amount of time (in seconds) spend during the last path simplification step.

void	simplifySolution (double duration=0.0)
	Attempt to simplify the current solution path. Spent at most duration seconds in the simplification process. If duration is 0 (the default), a default simplification procedure is executed.

void	simplifySolution (const base::PlannerTerminationCondition &ptc)
	Attempt to simplify the current solution path. Stop computation when ptc becomes true at the latest.

Protected Member Functions
bool	reversePathIfNecessary (ompl::geometric::PathGeometric &path1, ompl::geometric::PathGeometric &path2)
	If path1 and path2 have a better start/goal match when reverse, then reverse path2. More...

Protected Attributes
base::PlannerPtr	rrPlanner_
	The maintained experience planner instance.

ompl::tools::ParallelPlanPtr	pp_
	Instance of parallel planning to use for computing solutions in parallel.

ompl::tools::LightningDBPtr	experienceDB_
	A shared object between all the planners for saving and loading previous experience.

ompl::tools::DynamicTimeWarpPtr	dtw_
	Tool for comparing two paths and scoring them.

Protected Attributes inherited from ompl::tools::ExperienceSetup
bool	recallEnabled_ {true}
	Flag indicating whether recalled plans should be used to find solutions. Enabled by default.

bool	scratchEnabled_ {true}
	Flag indicating whether planning from scratch should be used to find solutions. Enabled by default.

std::string	filePath_
	File location of database.

std::stringstream	csvDataLogStream_

ExperienceStats	stats_
	States data for display to console

Protected Attributes inherited from ompl::geometric::SimpleSetup
base::SpaceInformationPtr	si_
	The created space information.

base::ProblemDefinitionPtr	pdef_
	The created problem definition.

base::PlannerPtr	planner_
	The maintained planner instance.

base::PlannerAllocator	pa_
	The optional planner allocator.

PathSimplifierPtr	psk_
	The instance of the path simplifier.

bool	configured_
	Flag indicating whether the classes needed for planning are set up.

double	planTime_
	The amount of time the last planning step took.

double	simplifyTime_
	The amount of time the last path simplification step took.

base::PlannerStatus	lastStatus_
	The status of the last planning request.

Detailed Description

Built off of SimpleSetup but provides support for planning from experience.

Definition at line 162 of file Lightning.h.

Constructor & Destructor Documentation

◆ Lightning()

ompl::tools::Lightning::Lightning ( const base::StateSpacePtr & space )

explicit

Constructor needs the state space used for planning.

Parameters

space - the state space to plan in

Definition at line 49 of file Lightning.cpp.

Member Function Documentation

◆ convertPlannerData()

void ompl::tools::Lightning::convertPlannerData	(	const ompl::base::PlannerDataPtr &	plannerData,
		ompl::geometric::PathGeometric &	path
	)

Convert PlannerData to PathGeometric. Assume ordering of vertices is order of path.

Parameters

PlannerData
PathGeometric

Definition at line 404 of file Lightning.cpp.

◆ reversePathIfNecessary()

bool ompl::tools::Lightning::reversePathIfNecessary	(	ompl::geometric::PathGeometric &	path1,
		ompl::geometric::PathGeometric &	path2
	)

protected

If path1 and path2 have a better start/goal match when reverse, then reverse path2.

Parameters

path	to test against
path	to reverse

Returns: true if reverse was necessary

Definition at line 411 of file Lightning.cpp.

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

ompl/tools/lightning/Lightning.h
ompl/tools/lightning/src/Lightning.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Lightning()

Member Function Documentation

◆ convertPlannerData()

◆ reversePathIfNecessary()