ompl::control::Syclop Class Reference

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Synergistic Combination of Layers of Planning. More...

#include <ompl/control/planners/syclop/Syclop.h>

Inheritance diagram for ompl::control::Syclop:

Classes
class	Adjacency
	Representation of an adjacency (a directed edge) between two regions in the Decomposition assigned to Syclop. More...
class	CoverageGrid
	Syclop uses a CoverageGrid to estimate coverage in its assigned Decomposition. The CoverageGrid should have finer resolution than the Decomposition.
struct	Defaults
	Contains default values for Syclop parameters. More...
class	Motion
	Representation of a motion. More...
class	Region
	Representation of a region in the Decomposition assigned to Syclop. More...
Public Types
typedef boost::function < double(int, int)>	EdgeCostFactorFn
	Each edge weight between two adjacent regions in the Decomposition is defined as a product of edge cost factors. By default, given adjacent regions and , Syclop uses the sole edge cost factor $\frac{1 + \mbox{sel}^2(r,s)}{1 + \mbox{conn}^2(r,s)} \alpha(r) \alpha(s),$ where for any region , $\alpha(t) = \frac{1}{\left(1 + \mbox{cov}(t)\right) \mbox{freeVol}^4(t)},$ $\mbox{sel}(r,s)$ is the number of times and have been part of a lead or selected for exploration, $\mbox{conn}(r,s)$ estimates the progress made by the low-level planner in extending the tree from to , $\mbox{cov}(t)$ estimates the tree coverage of the region , and $\mbox{freeVol}(t)$ estimates the free volume of . Additional edge cost factors can be added with the addEdgeCostFactor() function, and Syclop's list of edge cost factors can be cleared using clearEdgeCostFactors() .
typedef boost::function< void(int, int, std::vector< int > &)>	LeadComputeFn
	Leads should consist of a path of adjacent regions in the decomposition that start with the start region and end at the end region. Default is $A^\ast$ search.
Public Member Functions
	Syclop (const SpaceInformationPtr &si, const DecompositionPtr &d, const std::string &plannerName)
	Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.
ompl::base::Planner Interface
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	clear ()
	Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.
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 solution was found.
Tunable parameters
void	setLeadComputeFn (const LeadComputeFn &compute)
	Allows the user to override the lead computation function.
void	addEdgeCostFactor (const EdgeCostFactorFn &factor)
	Adds an edge cost factor to be used for edge weights between adjacent regions.
void	clearEdgeCostFactors ()
	Clears all edge cost factors, making all edge weights equivalent to 1.
int	getNumFreeVolumeSamples () const
	Get the number of states to sample when estimating free volume in the Decomposition.
void	setNumFreeVolumeSamples (int numSamples)
	Set the number of states to sample when estimating free volume in the Decomposition.
double	getProbShortestPathLead () const
	Get the probability [0,1] that a lead will be computed as a shortest-path instead of a random-DFS.
void	setProbShortestPathLead (double probability)
	Set the probability [0,1] that a lead will be computed as a shortest-path instead of a random-DFS.
double	getProbAddingToAvailableRegions () const
	Get the probability [0,1] that the set of available regions will be augmented.
void	setProbAddingToAvailableRegions (double probability)
	Set the probability [0,1] that the set of available regions will be augmented.
int	getNumRegionExpansions () const
	Get the number of times a new region will be chosen and promoted for expansion from a given lead.
void	setNumRegionExpansions (int regionExpansions)
	Set the number of times a new region will be chosen and promoted for expansion from a given lead.
int	getNumTreeExpansions () const
	Get the number of calls to selectAndExtend() in the low-level tree planner for a given lead and region.
void	setNumTreeExpansions (int treeExpansions)
	Set the number of calls to selectAndExtend() in the low-level tree planner for a given lead and region.
double	getProbAbandonLeadEarly () const
	Get the probability [0,1] that a lead will be abandoned early, before a new region is chosen for expansion.
void	setProbAbandonLeadEarly (double probability)
	The probability that a lead will be abandoned early, before a new region is chosen for expansion.
Protected Member Functions
virtual Motion *	addRoot (const base::State *s)=0
	Add State s as a new root in the low-level tree, and return the Motion corresponding to s.
virtual void	selectAndExtend (Region &region, std::vector< Motion * > &newMotions)=0
	Select a Motion from the given Region, and extend the tree from the Motion. Add any new motions created to newMotions.
const Region &	getRegionFromIndex (const int rid) const
	Returns a reference to the Region object with the given index. Assumes the index is valid.
Protected Attributes
int	numFreeVolSamples_
	The number of states to sample to estimate free volume in the Decomposition.
double	probShortestPath_
	The probability that a lead will be computed as a shortest-path instead of a random-DFS.
double	probKeepAddingToAvail_
	The probability that the set of available regions will be augmented.
int	numRegionExpansions_
	The number of times a new region will be chosen and promoted for expansion from a given lead.
int	numTreeSelections_
	The number of calls to selectAndExtend() in the low-level tree planner for a given lead and region.
double	probAbandonLeadEarly_
	The probability that a lead will be abandoned early, before a new region is chosen for expansion.
const SpaceInformation *	siC_
	Handle to the control::SpaceInformation object.
DecompositionPtr	decomp_
	The high level decomposition used to focus tree expansion.
RNG	rng_
	Random number generator.

Detailed Description

Synergistic Combination of Layers of Planning.

Short description: Syclop is a multi-layered planner that guides a low-level sampling-based tree planner through a sequence of sequence of discrete workspace regions from start to goal. Syclop is defined as an abstract base class whose pure virtual methods are defined by the chosen low-level sampling-based tree planner.

External documentation: E. Plaku, L.E. Kavraki, and M.Y. Vardi, Motion Planning with Dynamics by a Synergistic Combination of Layers of Planning, in IEEE Transactions on Robotics, 2010. DOI: [10.1109/TRO.2010.2047820](http://dx.doi.org/10.1109/TRO.2010.2047820)

Definition at line 70 of file Syclop.h.

The documentation for this class was generated from the following files:

ompl/control/planners/syclop/Syclop.h
ompl/control/planners/syclop/src/Syclop.cpp

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