Use a Family as a UtilityChecker. More...

#include <FamilyUtilityChecker.h>

Inheritance diagram for ompl_lemur::FamilyUtilityChecker:

Public Types
typedef std::pair< double, ompl::base::StateValidityCheckerPtr >	SetChecker

Public Member Functions
	FamilyUtilityChecker (ompl::base::SpaceInformation *si, const Family &family)

	FamilyUtilityChecker (const ompl::base::SpaceInformationPtr &si, const Family &family)

void	initialize ()

void	start_checking (std::string set_target, const std::map< std::string, SetChecker > &set_checkers)

void	stop_checking ()

size_t	getSetIndex (const std::string &set_name) const

size_t	numTags () const

size_t	tagIfSetKnown (size_t tag_in, size_t iset, bool value) const

bool	hasChanged ()
	Determine if the underlying utility model has changed since the last call to hasChanged(). More...

bool	isKnown (size_t tag) const
	Determine whether a state with tag `tag` is known either valid or invalid. More...

bool	isKnownInvalid (size_t tag) const
	Determine whether a state with tag `tag` is known to be invalid. More...

double	getPartialEvalCost (size_t tag, const ompl::base::State *state) const
	Determines the optimistic planning cost entailed to call isValidPartialEval(). More...

bool	isValidPartialEval (size_t &tag, const ompl::base::State *state) const
	Conduct the optimistic set of evaluations. More...

Public Member Functions inherited from ompl_lemur::UtilityChecker
	UtilityChecker (ompl::base::SpaceInformation *si)

	UtilityChecker (const ompl::base::SpaceInformationPtr &si)

virtual bool	isValid (const ompl::base::State *state) const
	Tag-ignorant validity check wrapper. More...

Public Member Functions inherited from ompl::base::StateValidityChecker
	StateValidityChecker (SpaceInformation *si)

	StateValidityChecker (const SpaceInformationPtr &si)

virtual bool	isValid (const State *state, double &dist) const

virtual bool	isValid (const State state, double &dist, State validState, bool &validStateAvailable) const

virtual double	clearance (const State *) const

virtual double	clearance (const State state, State , bool &validStateAvailable) const

const StateValidityCheckerSpecs &	getSpecs () const

Additional Inherited Members
Protected Attributes inherited from ompl::base::StateValidityChecker
SpaceInformation *	si_

StateValidityCheckerSpecs	specs_

Detailed Description

Use a Family as a UtilityChecker.

This class implements an optimistic search over a family of sets. Internally, this class effectively computes a graph of known states over all N sets (naively 3^N states, modulo any relations). For a given target set and costed checkers, it computes the optimal set of checks (and their results) that would imply membership in the target set.

This now implements lazy computation of tags / optimistic plans.

This used to be called FamilyEffortModel.

Member Function Documentation

double ompl_lemur::FamilyUtilityChecker::getPartialEvalCost	(	size_t	tag,
		const ompl::base::State *	state
	)		const

virtual

Determines the optimistic planning cost entailed to call isValidPartialEval().

This is optimistic (if everything goes right for next call to isValidPartialEval())

Was EffortModel::p_hat().

Implements ompl_lemur::UtilityChecker.

bool ompl_lemur::FamilyUtilityChecker::hasChanged ( )

virtual

Determine if the underlying utility model has changed since the last call to hasChanged().

If true, planner must recalculate wlazy for all edges.

Was EffortModel::has_changed().

Implements ompl_lemur::UtilityChecker.

bool ompl_lemur::FamilyUtilityChecker::isKnown ( size_t tag ) const

virtual

Determine whether a state with tag tag is known either valid or invalid.

Was EffortModel::is_evaled().

Implements ompl_lemur::UtilityChecker.

bool ompl_lemur::FamilyUtilityChecker::isKnownInvalid ( size_t tag ) const

virtual

Determine whether a state with tag tag is known to be invalid.

Was EffortModel::x_hat().

Implements ompl_lemur::UtilityChecker.

bool ompl_lemur::FamilyUtilityChecker::isValidPartialEval	(	size_t &	tag,
		const ompl::base::State *	state
	)		const

virtual

Conduct the optimistic set of evaluations.

Returns true if everything went as planned (so that target is T!).

If false, not necessary known invalid!

This updates the tag argument.

Was EffortModel::eval_partial().

Implements ompl_lemur::UtilityChecker.

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

ompl_lemur/include/ompl_lemur/FamilyUtilityChecker.h
ompl_lemur/src/FamilyUtilityChecker.cpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation