ompl::control::LTLPlanner Class Reference
A planner for generating system trajectories to satisfy a logical specification given by an automaton, the propositions of which are defined over a decomposition of the system's state space. More...
#include <ompl/control/planners/ltl/LTLPlanner.h>
Inheritance diagram for ompl::control::LTLPlanner:
Classes | |
| struct | Motion |
| Representation of a motion. More... | |
| struct | ProductGraphStateInfo |
| A structure to hold measurement information for a high-level state, as well as the set of tree motions belonging to that high-level state. Exactly one ProductGraphStateInfo will exist for each ProductGraph::State. More... | |
Public Member Functions | |
| LTLPlanner (const LTLSpaceInformationPtr &si, const ProductGraphPtr &a, double exploreTime=0.5) | |
| Create an LTLPlanner with a given space and product graph. Accepts an optional third parameter to control how much time is spent promoting low-level tree exploration along a given high-level lead. | |
| virtual | ~LTLPlanner (void) |
| Clears all memory belonging to this LTLPlanner . | |
| void | getTree (std::vector< base::State * > &tree) const |
| Helper debug method to access this planner's underlying tree of states. | |
|
std::vector < ProductGraph::State * > | getHighLevelPath (const std::vector< base::State * > &path, ProductGraph::State *start=NULL) const |
| Helper debug method to return the sequence of high-level product graph states corresponding to a sequence of low-level continous system states, beginning from an optional initial high-level state. | |
ompl::base::Planner Interface | |
| virtual void | setup (void) |
| Initializes LTLPlanner data structures. | |
| virtual void | clear (void) |
| Clears all datastructures belonging to this LTLPlanner. | |
| virtual base::PlannerStatus | solve (const base::PlannerTerminationCondition &ptc) |
| Continues solving until a solution is found or a given planner termination condition is met. Returns true if a solution was found. | |
Protected Member Functions | |
| virtual double | updateWeight (ProductGraph::State *as) |
| Updates and returns the weight of an abstraction state. | |
| virtual void | initAbstractInfo (ProductGraph::State *as) |
| Initializes the info object for a new high-level state. | |
| virtual void | buildAvail (const std::vector< ProductGraph::State * > &lead) |
| Compute a set of high-level states along a lead to be considered for expansion. | |
| virtual bool | explore (const std::vector< ProductGraph::State * > &lead, Motion *&soln, double duration) |
| Expand the tree of motions along a given lead for a given duration of time. Returns true if a solution was found, in which case the endpoint of the solution trajectory will be stored in the given Motion pointer. Otherwise, returns false. | |
| virtual double | abstractEdgeWeight (ProductGraph::State *a, ProductGraph::State *b) const |
| Returns the weight of an edge between two given high-level states, which we compute as the product of the reciprocals of the weights of the two states. | |
Protected Attributes | |
| base::StateSamplerPtr | sampler_ |
| State sampler. | |
| ControlSamplerPtr | controlSampler_ |
| Control sampler. | |
| const LTLSpaceInformation * | ltlsi_ |
| Handle to the control::SpaceInformation object. | |
| ProductGraphPtr | abstraction_ |
| The high level abstaction used to grow the tree structure. | |
| PDF< ProductGraph::State * > | availDist_ |
| Used to sample nonempty regions in which to promote expansion. | |
| RNG | rng_ |
| A random number generator. | |
| std::vector< Motion * > | motions_ |
| Set of all motions. | |
| ProductGraph::State * | prodStart_ |
| Start state in product graph. | |
| double | exploreTime_ |
| Time to spend exploring each lead. | |
|
boost::unordered_map < ProductGraph::State *, ProductGraphStateInfo > | abstractInfo_ |
| Map of abstraction states to their details. | |
Detailed Description
A planner for generating system trajectories to satisfy a logical specification given by an automaton, the propositions of which are defined over a decomposition of the system's state space.
Definition at line 58 of file LTLPlanner.h.
The documentation for this class was generated from the following files:
- ompl/control/planners/ltl/LTLPlanner.h
- ompl/control/planners/ltl/src/LTLPlanner.cpp