Class Planner

Inheritance Relationships

Derived Types

Class Documentation

class Planner

Base class for a planner.

Subclassed by ompl::control::EST, ompl::control::HyRRT, ompl::control::HySST, ompl::control::KPIECE1, ompl::control::LTLPlanner, ompl::control::PDST, ompl::control::RRT, ompl::control::SST, ompl::control::Syclop, ompl::geometric::AITstar, ompl::geometric::AnytimePathShortening, ompl::geometric::BFMT, ompl::geometric::BITstar, ompl::geometric::BKPIECE1, ompl::geometric::BiEST, ompl::geometric::BiRLRT, ompl::geometric::BiTRRT, ompl::geometric::CForest, ompl::geometric::EITstar, ompl::geometric::EST, ompl::geometric::FMT, ompl::geometric::KPIECE1, ompl::geometric::LBKPIECE1, ompl::geometric::LBTRRT, ompl::geometric::LazyLBTRRT, ompl::geometric::LazyPRM, ompl::geometric::LazyRRT, ompl::geometric::LightningRetrieveRepair, ompl::geometric::PDST, ompl::geometric::PRM, ompl::geometric::ProjEST, ompl::geometric::RLRT, ompl::geometric::RRT, ompl::geometric::RRTConnect, ompl::geometric::RRTXstatic, ompl::geometric::RRTstar, ompl::geometric::SBL, ompl::geometric::SPARS, ompl::geometric::SPARSdb, ompl::geometric::SPARStwo, ompl::geometric::SST, ompl::geometric::STRIDE, ompl::geometric::STRRTstar, ompl::geometric::TRRT, ompl::geometric::TSRRT, ompl::geometric::ThunderRetrieveRepair, ompl::geometric::XXL, ompl::geometric::pRRT, ompl::geometric::pSBL, ompl::multilevel::BundleSpace, ompl::multilevel::PlannerMultiLevel

Public Types

using PlannerProgressProperty = std::function<std::string()>

Definition of a function which returns a property about the planner’s progress that can be queried by a benchmarking routine.

using PlannerProgressProperties = std::map<std::string, PlannerProgressProperty>

A dictionary which maps the name of a progress property to the function to be used for querying that property.

Public Functions

Planner(const Planner&) = delete
Planner &operator=(const Planner&) = delete
Planner(SpaceInformationPtr si, std::string name)

Constructor.

virtual ~Planner() = default

Destructor.

template<class T>
inline T *as()

Cast this instance to a desired type.

template<class T>
inline const T *as() const

Cast this instance to a desired type.

const SpaceInformationPtr &getSpaceInformation() const

Get the space information this planner is using.

const ProblemDefinitionPtr &getProblemDefinition() const

Get the problem definition the planner is trying to solve.

ProblemDefinitionPtr &getProblemDefinition()

Get the problem definition the planner is trying to solve.

const PlannerInputStates &getPlannerInputStates() const

Get the planner input states.

virtual void setProblemDefinition(const ProblemDefinitionPtr &pdef)

Set the problem definition for the planner. 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() or clearQuery().

virtual PlannerStatus solve(const PlannerTerminationCondition &ptc) = 0

Function that can solve the motion planning problem. This function can be called multiple times on the same problem, without calling clear() in between. This allows the planner to continue work for more time on an unsolved problem, for example. If this option is used, it is assumed the problem definition is not changed (unpredictable results otherwise). The only change in the problem definition that is accounted for is the addition of starting or goal states (but not changing previously added start/goal states). If clearQuery() is called, the planner may retain prior datastructures generated from a previous query on a new problem definition. The function terminates if the call to ptc returns true.

PlannerStatus solve(const PlannerTerminationConditionFn &ptc, double checkInterval)

Same as above except the termination condition is only evaluated at a specified interval.

PlannerStatus solve(double solveTime)

Same as above except the termination condition is solely a time limit: the number of seconds the algorithm is allowed to spend planning.

virtual void clear()

Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.

virtual void clearQuery()

Clears internal datastructures of any query-specific information from the previous query. Planner settings are not affected. The planner, if able, should retain all datastructures generated from previous queries that can be used to help solve the next query. Note that clear() should also clear all query-specific information along with all other datastructures in the planner. By default clearQuery() calls clear().

virtual void getPlannerData(PlannerData &data) const

Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between).

const std::string &getName() const

Get the name of the planner.

void setName(const std::string &name)

Set the name of the planner.

const PlannerSpecs &getSpecs() const

Return the specifications (capabilities of this planner)

virtual void setup()

Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceInformation::setup() if needed. This must be called before solving.

virtual void checkValidity()

Check to see if the planner is 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.

bool isSetup() const

Check if setup() was called for this planner.

inline ParamSet &params()

Get the parameters for this planner.

inline const ParamSet &params() const

Get the parameters for this planner.

inline const PlannerProgressProperties &getPlannerProgressProperties() const

Retrieve a planner’s planner progress property map.

virtual void printProperties(std::ostream &out) const

Print properties of the motion planner.

virtual void printSettings(std::ostream &out) const

Print information about the motion planner’s settings.

Protected Functions

template<typename T, typename PlannerType, typename SetterType, typename GetterType>
inline void declareParam(const std::string &name, const PlannerType &planner, const SetterType &setter, const GetterType &getter, const std::string &rangeSuggestion = "")

This function declares a parameter for this planner instance, and specifies the setter and getter functions.

template<typename T, typename PlannerType, typename SetterType>
inline void declareParam(const std::string &name, const PlannerType &planner, const SetterType &setter, const std::string &rangeSuggestion = "")

This function declares a parameter for this planner instance, and specifies the setter function.

inline void addPlannerProgressProperty(const std::string &progressPropertyName, const PlannerProgressProperty &prop)

Add a planner progress property called progressPropertyName with a property querying function prop to this planner’s progress property map.

Protected Attributes

SpaceInformationPtr si_

The space information for which planning is done.

ProblemDefinitionPtr pdef_

The user set problem definition.

PlannerInputStates pis_

Utility class to extract valid input states

std::string name_

The name of this planner.

PlannerSpecs specs_

The specifications of the planner (its capabilities)

ParamSet params_

A map from parameter names to parameter instances for this planner. This field is populated by the declareParam() function.

PlannerProgressProperties plannerProgressProperties_

A mapping between this planner’s progress property names and the functions used for querying those progress properties.

bool setup_

Flag indicating whether setup() has been called.