Class Thunder

Inheritance Relationships

Base Type

Class Documentation

class Thunder : public ompl::tools::ExperienceSetup

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

Public Functions

explicit Thunder(const base::SpaceInformationPtr &si)

Constructor needs the state space used for planning.

explicit Thunder(const base::StateSpacePtr &space)

Constructor needs the state space used for planning.

Parameters:

space – - the state space to plan in

virtual void printResultsInfo(std::ostream &out = std::cout) const override

Display debug data about potential available solutions.

virtual void printLogs(std::ostream &out = std::cout) const override

Display debug data about overall results from Thunder since being loaded.

inline ompl::base::PlannerPtr &getPlanner()

Get the current planner.

inline ompl::geometric::ThunderRetrieveRepair &getRetrieveRepairPlanner() const

Get a pointer to the retrieve repair planner.

inline virtual void setRepairPlanner(const base::PlannerPtr &planner) override

Set the planner to use for repairing experience paths inside the ThunderRetrieveRepair 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.

virtual base::PlannerStatus solve(double time = 1.0) override

Run the planner for up to a specified amount of time (default is 1 second)

virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override

Run the planner until ptc becomes true (at most)

virtual bool save() override

Save the experience database to file.

virtual bool saveIfChanged() override

Save the experience database to file if there has been a change.

virtual void clear() override

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

virtual void print(std::ostream &out = std::cout) const override

Print information about the current setup.

virtual void setup() override

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

virtual void getAllPlannerDatas(std::vector<ompl::base::PlannerDataPtr> &plannerDatas) const override

Get a vector of all the planning data in the database.

virtual 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.

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.

Parameters:

  • path – to test against

  • path – to reverse

Returns:

true if reverse was necessary

ompl::tools::ThunderDBPtr getExperienceDB()

Hook for getting access to debug data.

virtual bool doPostProcessing() override

Allow accumlated experiences to be processed.

Protected Attributes

base::PlannerPtr rrPlanner_

The maintained experience planner instance

base::PlannerPtr planner2_

A third planner used for testing dual-thread scratch-only planning

bool dualThreadScratchEnabled_ = {true}

Flag indicating whether dual thread scratch planning is enabled

ompl::tools::ParallelPlanPtr pp_

Instance of parallel planning to use for computing solutions in parallel.

ompl::tools::ThunderDBPtr experienceDB_

A shared object between all the planners for saving and loading previous experience.

std::vector<ompl::geometric::PathGeometric> queuedSolutionPaths_

Accumulated experiences to be later added to experience database.