Class PlannerData

Nested Relationships

Nested Types

Inheritance Relationships

Derived Type

Class Documentation

class PlannerData

Object containing planner generated vertex and edge data. It is assumed that all vertices are unique, and only a single directed edge connects two vertices.

Note

The storage for states this class maintains belongs to the planner instance that filled the data (by default; see PlannerData::decoupleFromPlanner())

Subclassed by ompl::control::PlannerData

PlannerData construction

unsigned int addVertex(const PlannerDataVertex &st)

Adds the given vertex to the graph data. The vertex index is returned. Duplicates are not added. If a vertex is duplicated, the index of the existing vertex is returned instead. Indexes are volatile and may change after adding/removing a subsequent vertex.

unsigned int addStartVertex(const PlannerDataVertex &v)

Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned. Duplicates are not added. If a vertex is duplicated, the index of the existing vertex is returned instead. Indexes are volatile and may change after adding/removing a subsequent vertex.

unsigned int addGoalVertex(const PlannerDataVertex &v)

Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned. Duplicates are not added. If a vertex is duplicated, the index of the existing vertex is returned instead. Indexes are volatile and may change after adding/removing a subsequent vertex.

bool markStartState(const State *st)

Mark the given state as a start vertex. If the given state does not exist in a vertex, false is returned.

bool markGoalState(const State *st)

Mark the given state as a goal vertex. If the given state does not exist in a vertex, false is returned.

bool tagState(const State *st, int tag)

Set the integer tag associated with the given state. If the given state does not exist in a vertex, false is returned.

virtual bool removeVertex(const PlannerDataVertex &st)

Removes the vertex associated with the given data. If the vertex does not exist, false is returned. This method has O(n) complexity in the number of vertices.

virtual bool removeVertex(unsigned int vIndex)

Removes the vertex with the given index. If the index is out of range, false is returned. This method has O(n) complexity in the number of vertices.

virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge = PlannerDataEdge(), Cost weight = Cost(1.0))

Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be supplied. Success is returned.

virtual bool addEdge(const PlannerDataVertex &v1, const PlannerDataVertex &v2, const PlannerDataEdge &edge = PlannerDataEdge(), Cost weight = Cost(1.0))

Adds a directed edge between the given vertex indexes. The vertices are added to the data if they are not already in the structure. An optional edge structure and weight can also be supplied. Success is returned.

virtual bool removeEdge(unsigned int v1, unsigned int v2)

Removes the edge between vertex indexes v1 and v2. Success is returned.

virtual bool removeEdge(const PlannerDataVertex &v1, const PlannerDataVertex &v2)

Removes the edge between the vertices associated with the given vertex data. Success is returned.

virtual void clear()

Clears the entire data structure.

virtual void decoupleFromPlanner()

Creates a deep copy of the states contained in the vertices of this PlannerData structure so that when the planner that created this instance goes out of scope, all data remains intact.

Remark

Shallow state pointers inside of the PlannerDataVertex objects already in this PlannerData will be replaced with clones which are scoped to this PlannerData object. A subsequent call to this method is necessary after any other vertices are added to ensure that this PlannerData instance is fully decoupled.

PlannerData Properties

unsigned int numEdges() const

Retrieve the number of edges in this structure.

unsigned int numVertices() const

Retrieve the number of vertices in this structure.

unsigned int numStartVertices() const

Returns the number of start vertices.

unsigned int numGoalVertices() const

Returns the number of goal vertices.

PlannerData vertex lookup

bool vertexExists(const PlannerDataVertex &v) const

Check whether a vertex exists with the given vertex data.

const PlannerDataVertex &getVertex(unsigned int index) const

Retrieve a reference to the vertex object with the given index. If this vertex does not exist, NO_VERTEX is returned.

PlannerDataVertex &getVertex(unsigned int index)

Retrieve a reference to the vertex object with the given index. If this vertex does not exist, NO_VERTEX is returned.

const PlannerDataVertex &getStartVertex(unsigned int i) const

Retrieve a reference to the ith start vertex object. If i is greater than the number of start vertices, NO_VERTEX is returned.

PlannerDataVertex &getStartVertex(unsigned int i)

Retrieve a reference to the ith start vertex object. If i is greater than the number of start vertices, NO_VERTEX is returned.

const PlannerDataVertex &getGoalVertex(unsigned int i) const

Retrieve a reference to the ith goal vertex object. If i is greater than the number of goal vertices, NO_VERTEX is returned.

PlannerDataVertex &getGoalVertex(unsigned int i)

Retrieve a reference to the ith goal vertex object. If i is greater than the number of goal vertices, NO_VERTEX is returned.

unsigned int getStartIndex(unsigned int i) const

Returns the index of the ith start state. INVALID_INDEX is returned if i is out of range. Indexes are volatile and may change after adding/removing a vertex.

unsigned int getGoalIndex(unsigned int i) const

Returns the index of the ith goal state. INVALID_INDEX is returned if i is out of range Indexes are volatile and may change after adding/removing a vertex.

bool isStartVertex(unsigned int index) const

Returns true if the given vertex index is marked as a start vertex.

bool isGoalVertex(unsigned int index) const

Returns true if the given vertex index is marked as a goal vertex.

unsigned int vertexIndex(const PlannerDataVertex &v) const

Return the index for the vertex associated with the given data. INVALID_INDEX is returned if this vertex does not exist. Indexes are volatile and may change after adding/removing a vertex.

PlannerData edge lookup

bool edgeExists(unsigned int v1, unsigned int v2) const

Check whether an edge between vertex index v1 and index v2 exists.

const PlannerDataEdge &getEdge(unsigned int v1, unsigned int v2) const

Retrieve a reference to the edge object connecting vertices with indexes v1 and v2. If this edge does not exist, NO_EDGE is returned.

PlannerDataEdge &getEdge(unsigned int v1, unsigned int v2)

Retrieve a reference to the edge object connecting vertices with indexes v1 and v2. If this edge does not exist, NO_EDGE is returned.

unsigned int getEdges(unsigned int v, std::vector<unsigned int> &edgeList) const

Returns a list of the vertex indexes directly connected to vertex with index v (outgoing edges). The number of outgoing edges from v is returned.

unsigned int getEdges(unsigned int v, std::map<unsigned int, const PlannerDataEdge*> &edgeMap) const

Returns a map of outgoing edges from vertex with index v. Key = vertex index, value = edge structure. The number of outgoing edges from v is returned.

unsigned int getIncomingEdges(unsigned int v, std::vector<unsigned int> &edgeList) const

Returns a list of vertices with outgoing edges to the vertex with index v. The number of edges connecting to v is returned.

unsigned int getIncomingEdges(unsigned int v, std::map<unsigned int, const PlannerDataEdge*> &edgeMap) const

Returns a map of incoming edges to the vertex with index v (i.e. if there is an edge from w to v, w and the edge structure will be in the map.) Key = vertex index, value = edge structure. The number of incoming edges to v is returned.

bool getEdgeWeight(unsigned int v1, unsigned int v2, Cost *weight) const

Returns the weight of the edge between the given vertex indices. If there exists an edge between v1 and \v2, the edge weight is placed in the out-variable weight. Otherwise, this function returns false.

bool setEdgeWeight(unsigned int v1, unsigned int v2, Cost weight)

Sets the weight of the edge between the given vertex indices. If an edge between v1 and v2 does not exist, this function returns false.

void computeEdgeWeights(const OptimizationObjective &opt)

Computes the weight for all edges given the OptimizationObjective opt.

void computeEdgeWeights()

Computes all edge weights using state space distance (i.e. getSpaceInformation()->distance())

Output methods

void printGraphviz(std::ostream &out = std::cout) const

Writes a Graphviz dot file of this structure to the given stream.

void printGraphML(std::ostream &out = std::cout) const

Writes a GraphML file of this structure to the given stream.

void printPLY(std::ostream &out, bool asIs = false) const

Write a mesh of the planner graph to a stream. Insert additional vertices if asIs == true.

Advanced graph extraction

void extractMinimumSpanningTree(unsigned int v, const OptimizationObjective &opt, PlannerData &mst) const

Extracts the minimum spanning tree of the data rooted at the vertex with index v. The minimum spanning tree is saved into mst. O(|E| log |V|) complexity.

void extractReachable(unsigned int v, PlannerData &data) const

Extracts the subset of PlannerData reachable from the vertex with index v. For tree structures, this will be the sub-tree rooted at v. The reachable set is saved into data.

StateStoragePtr extractStateStorage() const

Extract a ompl::base::GraphStateStorage object from this PlannerData. Memory for states is copied (the resulting ompl::base::StateStorage is independent from this PlannerData)

Graph &toBoostGraph()

Extract a Boost.Graph object from this PlannerData.

Remark

Use of this method requires inclusion of PlannerDataGraph.h The object returned can be used safely for all read-only purposes in Boost. Adding or removing vertices and edges should be performed by using the respective method in PlannerData to ensure proper memory management. Manipulating the graph directly will result in undefined behavior with this class.

const Graph &toBoostGraph() const

Extract a Boost.Graph object from this PlannerData.

Remark

Use of this method requires inclusion of PlannerDataGraph.h The object returned can be used safely for all read-only purposes in Boost. Adding or removing vertices and edges should be performed by using the respective method in PlannerData to ensure proper memory management. Manipulating the graph directly will result in undefined behavior with this class.

Public Functions

PlannerData(const PlannerData&) = delete
PlannerData &operator=(const PlannerData&) = delete
PlannerData(SpaceInformationPtr si)

Constructor. Accepts a SpaceInformationPtr for the space planned in.

virtual ~PlannerData()

Destructor.

const SpaceInformationPtr &getSpaceInformation() const

Return the instance of SpaceInformation used in this PlannerData.

virtual bool hasControls() const

Indicate whether any information about controls (ompl::control::Control) is stored in this instance.

Public Members

std::map<std::string, std::string> properties

Any extra properties (key-value pairs) the planner can set.

Public Static Attributes

static const PlannerDataEdge NO_EDGE

Representation for a non-existant edge.

static const PlannerDataVertex NO_VERTEX

Representation for a non-existant vertex.

static const unsigned int INVALID_INDEX

Representation of an invalid vertex index.

Protected Attributes

std::map<const State*, unsigned int> stateIndexMap_

A mapping of states to vertex indexes. For fast lookup of vertex index.

std::vector<unsigned int> startVertexIndices_

A mutable listing of the vertices marked as start states. Stored in sorted order.

std::vector<unsigned int> goalVertexIndices_

A mutable listing of the vertices marked as goal states. Stored in sorted order.

SpaceInformationPtr si_

The space information instance for this data.

std::set<State*> decoupledStates_

A list of states that are allocated during the decoupleFromPlanner method. These states are freed by PlannerData in the destructor.

class Graph : public PlannerDataGraph

Wrapper class for the Boost.Graph representation of the PlannerData. This class inherits from a boost::adjacency_list Graph structure.

Public Types

using Type = PlannerDataGraph

Data type for the Boost.Graph representation.

using Vertex = boost::graph_traits<Type>::vertex_descriptor

Boost.Graph vertex descriptor.

using Edge = boost::graph_traits<Type>::edge_descriptor

Boost.Graph edge descriptor.

using VIterator = boost::graph_traits<Type>::vertex_iterator

Boost.Graph vertex iterator.

using EIterator = boost::graph_traits<Type>::edge_iterator

Boost.Graph edge iterator.

using IEIterator = boost::graph_traits<Type>::in_edge_iterator

Boost.Graph input edge iterator.

using OEIterator = boost::graph_traits<Type>::out_edge_iterator

Boost.Graph output edge iterator.

using AdjIterator = boost::graph_traits<Type>::adjacency_iterator

Boost.Graph adjacency iterator.