Class ThunderDB

• Defined in File ThunderDB.h

Class Documentation

class ThunderDB

Save and load entire paths from file.

Public Functions

ThunderDB(const base::StateSpacePtr &space)

Constructor needs the state space used for planning.

Parameters:

space – - state space

virtual ~ThunderDB()

Deconstructor.

bool load(const std::string &fileName)

Load database from file.

Parameters:

fileName – - name of database file

Returns:

true if file loaded successfully

bool addPath(ompl::geometric::PathGeometric &solutionPath, double &insertionTime)

Add a new solution path to our database. Des not actually save to file so experience will be lost if save() is not called.

Parameters:

• new – path - must be non-const because will be interpolated

• returned – insertion time to add to db

Returns:

true on success

bool saveIfChanged(const std::string &fileName)

Save loaded database to file, except skips saving if no paths have been added.

Parameters:

fileName – - name of database file

Returns:

true if file saved successfully

bool save(const std::string &fileName)

Save loaded database to file.

Parameters:

fileName – - name of database file

Returns:

true if file saved successfully

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

Get a vector of all the planner datas in the database.

void setSPARSdb(ompl::tools::SPARSdbPtr &prm)

Create the database structure for saving experiences.

ompl::tools::SPARSdbPtr &getSPARSdb()

Hook for debugging.

bool findNearestStartGoal(int nearestK, const base::State *start, const base::State *goal, ompl::geometric::SPARSdb::CandidateSolution &candidateSolution, const base::PlannerTerminationCondition &ptc)

Find the k nearest paths to our queries one.

void debugVertex(const ompl::base::PlannerDataVertex &vertex)

Print info to screen.

void debugState(const ompl::base::State *state)

inline int getNumPathsInserted() const

Get number of unsaved paths.

inline bool getSavingEnabled()

Getter for enabling experience database saving.

inline void setSavingEnabled(bool saving_enabled)

Setter for enabling experience database saving.

inline bool isEmpty()

Check if anything has been loaded into DB.

Returns:

true if has no nodes

Protected Attributes

base::SpaceInformationPtr si_

The created space information.

ompl::base::PlannerDataStorage plannerDataStorage_

Helper class for storing each plannerData instance.

int numPathsInserted_

ompl::tools::SPARSdbPtr spars_

bool saving_enabled_