This uses pr_bgl::lazysp() and pr_bgl::incbi ! More...

#include <LEMUR.h>

Inheritance diagram for ompl_lemur::LEMUR:

Classes
struct	EProps

struct	filter_num_batches

struct	OverEProps

struct	OverVProps

struct	VProps

Public Types
typedef boost::adjacency_list < boost::vecS, boost::vecS, boost::undirectedS, VProps, EProps >	Graph

typedef boost::graph_traits < Graph >::vertex_descriptor	Vertex

typedef boost::graph_traits < Graph >::vertex_iterator	VertexIter

typedef boost::graph_traits < Graph >::edge_descriptor	Edge

typedef boost::graph_traits < Graph >::edge_iterator	EdgeIter

typedef boost::graph_traits < Graph >::out_edge_iterator	OutEdgeIter

typedef boost::property_map < Graph, ompl::base::State VProps:: >::type	VPStateMap

typedef boost::property_map < Graph, int VProps::* >::type	VPBatchMap

typedef boost::property_map < Graph, bool VProps::* > ::type	VPIsShadowMap

typedef boost::property_map < Graph, size_t VProps::* > ::type	VPTagMap

typedef boost::property_map < Graph, std::size_t EProps::* > ::type	EPIndexMap

typedef boost::property_map < Graph, double EProps::* > ::type	EPDistanceMap

typedef boost::property_map < Graph, int EProps::* >::type	EPBatchMap

typedef boost::property_map < Graph, double EProps::* > ::type	EPWlazyMap

typedef boost::property_map < Graph, size_t EProps::* > ::type	EPTagMap

typedef pr_bgl::edge_indexed_graph < Graph, EPIndexMap >	EdgeIndexedGraph

typedef boost::property_map < Graph, boost::vertex_index_t > ::type	VertexIndexMap

typedef boost::property_map < Graph, std::size_t EProps::* > ::type	EdgeIndexMap

typedef EdgeIndexedGraph::EdgeVectorMap	EdgeVectorMap

typedef pr_bgl::compose_property_map < VPTagMap, VertexIndexMap >	VIdxTagMap

typedef pr_bgl::compose_property_map < EPTagMap, EdgeVectorMap >	EIdxTagsMap

typedef ompl_lemur::NearestNeighborsLinearBGL < Graph, VPStateMap >	NN

typedef ompl_lemur::RoadmapArgs < EdgeIndexedGraph, VPStateMap, EPDistanceMap, VPBatchMap, EPBatchMap, VPIsShadowMap, EdgeVectorMap, NN >	RoadmapArgs

typedef boost::adjacency_list < boost::vecS, boost::listS, boost::undirectedS, OverVProps, OverEProps >	OverGraph

typedef boost::graph_traits < OverGraph > ::vertex_descriptor	OverVertex

typedef boost::graph_traits < OverGraph >::vertex_iterator	OverVertexIter

typedef boost::graph_traits < OverGraph >::edge_descriptor	OverEdge

typedef boost::graph_traits < OverGraph >::edge_iterator	OverEdgeIter

Public Types inherited from ompl::base::Planner
typedef std::function < std::string()>	PlannerProgressProperty

typedef std::map< std::string, PlannerProgressProperty >	PlannerProgressProperties

Public Member Functions
	LEMUR (const ompl::base::SpaceInformationPtr &si)

template<template< class > class RoadmapTemplate>
void	registerRoadmapType (std::string roadmap_type)

void	registerRoadmapType (std::string roadmap_type, boost::function< Roadmap< RoadmapArgs > *(RoadmapArgs args)> factory)

boost::shared_ptr< const Roadmap< RoadmapArgs > >	getRoadmap ()

void	setRoadmapType (std::string roadmap_type)

std::string	getRoadmapType () const

void	setCoeffDistance (double coeff_distance)

double	getCoeffDistance () const

void	setCoeffCheckcost (double coeff_checkcost)

double	getCoeffCheckcost () const

void	setCoeffBatch (double coeff_batch)

double	getCoeffBatch () const

void	setDoTiming (bool do_timing)

bool	getDoTiming () const

void	setPersistRoots (bool persist_roots)

bool	getPersistRoots () const

void	setNumBatchesInit (unsigned int max_batches)

unsigned int	getNumBatchesInit () const

void	setMaxBatches (unsigned int max_batches)

unsigned int	getMaxBatches () const

void	setSolveAll (bool solve_all)

bool	getSolveAll () const

void	setSearchType (std::string search_type)

std::string	getSearchType () const

void	setSearchIncbiHeurInterp (double search_incbi_heur_interp)

double	getSearchIncbiHeurInterp () const

void	setSearchIncbiBalancerType (std::string search_incbi_balancer_type)

std::string	getSearchIncbiBalancerType () const

void	setSearchIncbiBalancerGoalfrac (double search_incbi_balancer_goalfrac)

double	getSearchIncbiBalancerGoalfrac () const

void	setEvalType (std::string eval_type)

std::string	getEvalType () const

void	setProblemDefinition (const ompl::base::ProblemDefinitionPtr &pdef)

template<class MyGraph , class IncSP , class EvalStrategy >
bool	do_lazysp_c (MyGraph &graph, std::vector< Edge > &epath, IncSP incsp, EvalStrategy evalstrategy)

template<class MyGraph , class IncSP >
bool	do_lazysp_b (MyGraph &graph, std::vector< Edge > &epath, IncSP incsp)

template<class MyGraph >
bool	do_lazysp_a (MyGraph &graph, std::vector< Edge > &epath)

ompl::base::PlannerStatus	solve (const ompl::base::PlannerTerminationCondition &ptc)

void	dump_graph (std::ostream &os_graph)

void	saveTagCache ()

double	getDurTotal ()

double	getDurRoadmapGen ()

double	getDurRoadmapInit ()

double	getDurLazySP ()

double	getDurSearch ()

double	getDurEval ()

double	getDurSelectorInit ()

double	getDurSelector ()

double	getDurSelectorNotify ()

bool	isevaledmap_get (const Edge &e)

std::pair< double, std::vector < Edge > >	wmap_get (const Edge &e)

Public Member Functions inherited from ompl::base::Planner
	Planner (const SpaceInformationPtr &si, const std::string &name)

T *	as ()

const T *	as () const

const SpaceInformationPtr &	getSpaceInformation () const

const ProblemDefinitionPtr &	getProblemDefinition () const

const PlannerInputStates &	getPlannerInputStates () const

PlannerStatus	solve (const PlannerTerminationConditionFn &ptc, double checkInterval)

PlannerStatus	solve (double solveTime)

virtual void	clear ()

virtual void	getPlannerData (PlannerData &data) const

const std::string &	getName () const

void	setName (const std::string &name)

const PlannerSpecs &	getSpecs () const

virtual void	setup ()

virtual void	checkValidity ()

bool	isSetup () const

ParamSet &	params ()

const ParamSet &	params () const

const PlannerProgressProperties &	getPlannerProgressProperties () const

virtual void	printProperties (std::ostream &out) const

virtual void	printSettings (std::ostream &out) const

Public Attributes
boost::shared_ptr< TagCache < VIdxTagMap, EIdxTagsMap > >	_tag_cache

std::ostream *	os_alglog

Additional Inherited Members
Protected Member Functions inherited from ompl::base::Planner
void	declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter, const GetterType &getter, const std::string &rangeSuggestion="")

void	declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter, const std::string &rangeSuggestion="")

void	addPlannerProgressProperty (const std::string &progressPropertyName, const PlannerProgressProperty &prop)

Protected Attributes inherited from ompl::base::Planner
SpaceInformationPtr	si_

ProblemDefinitionPtr	pdef_

PlannerInputStates	pis_

std::string	name_

PlannerSpecs	specs_

ParamSet	params_

PlannerProgressProperties	plannerProgressProperties_

bool	setup_

Detailed Description

This uses pr_bgl::lazysp() and pr_bgl::incbi !

for now, this does HARD BATCHING with SUBGRAPH COSTS

the core roadmap states are owned by the core roadmap

the overlay roots and edges own their states (except anchors)

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

ompl_lemur/include/ompl_lemur/LEMUR.h
ompl_lemur/src/LEMUR.cpp

Classes

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description