PlannerData.h
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35/* Author: Ryan Luna, Luis G. Torres */
36
37#ifndef OMPL_BASE_PLANNER_DATA_
38#define OMPL_BASE_PLANNER_DATA_
39
40#include <iostream>
41#include <vector>
42#include <map>
43#include <set>
44#include "ompl/base/State.h"
45#include "ompl/base/Cost.h"
46#include "ompl/base/SpaceInformation.h"
47#include "ompl/util/ClassForward.h"
48#include <boost/serialization/access.hpp>
49
50namespace ompl
51{
52 namespace base
53 {
59 {
60 public:
62 PlannerDataVertex(const State *st, int tag = 0) : state_(st), tag_(tag)
63 {
64 }
66 PlannerDataVertex(const PlannerDataVertex &rhs) = default;
67 virtual ~PlannerDataVertex() = default;
68
70 virtual int getTag() const
71 {
72 return tag_;
73 }
75 virtual void setTag(int tag)
76 {
77 tag_ = tag;
78 }
80 virtual const State *getState() const
81 {
82 return state_;
83 }
84
86 virtual PlannerDataVertex *clone() const
87 {
88 return new PlannerDataVertex(*this);
89 }
90
92 virtual bool operator==(const PlannerDataVertex &rhs) const
93 {
94 // States should be unique
95 return state_ == rhs.state_;
96 }
97
100 bool operator!=(const PlannerDataVertex &rhs) const
101 {
102 return !(*this == rhs);
103 }
104
105 protected:
106 PlannerDataVertex() = default;
107
108 friend class boost::serialization::access;
109 template <class Archive>
110 void serialize(Archive &ar, const unsigned int /*version*/)
111 {
112 ar &tag_;
113 // Serialization of the state pointer is handled by PlannerDataStorage
114 }
115
117 const State *state_;
119 int tag_;
120
121 friend class PlannerData;
122 friend class PlannerDataStorage;
123 };
124
127 {
128 public:
129 PlannerDataEdge() = default;
130 virtual ~PlannerDataEdge() = default;
132 virtual PlannerDataEdge *clone() const
133 {
134 return new PlannerDataEdge();
135 }
136
138 virtual bool operator==(const PlannerDataEdge &rhs) const
139 {
140 return this == &rhs;
141 }
142
145 bool operator!=(const PlannerDataEdge &rhs) const
146 {
147 return !(*this == rhs);
148 }
149
150 protected:
151 friend class boost::serialization::access;
152 template <class Archive>
153 void serialize(Archive & /*ar*/, const unsigned int /*version*/)
154 {
155 }
156 };
157
159 OMPL_CLASS_FORWARD(StateStorage);
160 OMPL_CLASS_FORWARD(PlannerData);
161
162 // Forward declaration for PlannerData::computeEdgeWeights
163 class OptimizationObjective;
165
175 {
176 public:
177 class Graph;
178
184 static const unsigned int INVALID_INDEX;
185
186 // non-copyable
187 PlannerData(const PlannerData &) = delete;
188 PlannerData &operator=(const PlannerData &) = delete;
189
193 virtual ~PlannerData();
194
197
202 unsigned int addVertex(const PlannerDataVertex &st);
207 unsigned int addStartVertex(const PlannerDataVertex &v);
212 unsigned int addGoalVertex(const PlannerDataVertex &v);
215 bool markStartState(const State *st);
218 bool markGoalState(const State *st);
221 bool tagState(const State *st, int tag);
225 virtual bool removeVertex(const PlannerDataVertex &st);
229 virtual bool removeVertex(unsigned int vIndex);
232 virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge = PlannerDataEdge(),
233 Cost weight = Cost(1.0));
238 virtual bool addEdge(const PlannerDataVertex &v1, const PlannerDataVertex &v2,
239 const PlannerDataEdge &edge = PlannerDataEdge(), Cost weight = Cost(1.0));
241 virtual bool removeEdge(unsigned int v1, unsigned int v2);
244 virtual bool removeEdge(const PlannerDataVertex &v1, const PlannerDataVertex &v2);
246 virtual void clear();
254 virtual void decoupleFromPlanner();
255
259
261 unsigned int numEdges() const;
263 unsigned int numVertices() const;
265 unsigned int numStartVertices() const;
267 unsigned int numGoalVertices() const;
268
272
274 bool vertexExists(const PlannerDataVertex &v) const;
277 const PlannerDataVertex &getVertex(unsigned int index) const;
280 PlannerDataVertex &getVertex(unsigned int index);
283 const PlannerDataVertex &getStartVertex(unsigned int i) const;
286 PlannerDataVertex &getStartVertex(unsigned int i);
289 const PlannerDataVertex &getGoalVertex(unsigned int i) const;
292 PlannerDataVertex &getGoalVertex(unsigned int i);
296 unsigned int getStartIndex(unsigned int i) const;
300 unsigned int getGoalIndex(unsigned int i) const;
302 bool isStartVertex(unsigned int index) const;
304 bool isGoalVertex(unsigned int index) const;
308 unsigned int vertexIndex(const PlannerDataVertex &v) const;
309
313
315 bool edgeExists(unsigned int v1, unsigned int v2) const;
318 const PlannerDataEdge &getEdge(unsigned int v1, unsigned int v2) const;
321 PlannerDataEdge &getEdge(unsigned int v1, unsigned int v2);
325 unsigned int getEdges(unsigned int v, std::vector<unsigned int> &edgeList) const;
328 unsigned int getEdges(unsigned int v, std::map<unsigned int, const PlannerDataEdge *> &edgeMap) const;
331 unsigned int getIncomingEdges(unsigned int v, std::vector<unsigned int> &edgeList) const;
335 unsigned int getIncomingEdges(unsigned int v,
336 std::map<unsigned int, const PlannerDataEdge *> &edgeMap) const;
342 bool getEdgeWeight(unsigned int v1, unsigned int v2, Cost *weight) const;
346 bool setEdgeWeight(unsigned int v1, unsigned int v2, Cost weight);
352 void computeEdgeWeights();
353
357
359 void printGraphviz(std::ostream &out = std::cout) const;
360
362 void printGraphML(std::ostream &out = std::cout) const;
363
366 void printPLY(std::ostream &out, bool asIs = false) const;
367
371
375 void extractMinimumSpanningTree(unsigned int v, const OptimizationObjective &opt, PlannerData &mst) const;
379 void extractReachable(unsigned int v, PlannerData &data) const;
380
383 StateStoragePtr extractStateStorage() const;
384
398 const Graph &toBoostGraph() const;
399
401
404
407 virtual bool hasControls() const;
408
410 std::map<std::string, std::string> properties;
411
412 protected:
414 std::map<const State *, unsigned int> stateIndexMap_;
416 std::vector<unsigned int> startVertexIndices_;
418 std::vector<unsigned int> goalVertexIndices_;
419
424 std::set<State *> decoupledStates_;
425
426 private:
427 void freeMemory();
428
429 // Abstract pointer that points to the Boost.Graph structure.
430 // Obscured to prevent unnecessary inclusion of BGL throughout the
431 // rest of the code.
432 void *graphRaw_;
433 };
434 }
435}
436
437#endif
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
Abstract definition of optimization objectives.
Base class for a PlannerData edge.
Definition: PlannerData.h:127
virtual PlannerDataEdge * clone() const
Return a clone of this object, allocated from the heap.
Definition: PlannerData.h:132
bool operator!=(const PlannerDataEdge &rhs) const
Returns true if the edges do not point to the same memory. This is the complement of the == operator.
Definition: PlannerData.h:145
virtual bool operator==(const PlannerDataEdge &rhs) const
Returns true if the edges point to the same memory.
Definition: PlannerData.h:138
Object that handles loading/storing a PlannerData object to/from a binary stream. Serialization of ve...
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:59
bool operator!=(const PlannerDataVertex &rhs) const
Returns true if this vertex is not equal to the argument. This is the complement of the == operator.
Definition: PlannerData.h:100
virtual int getTag() const
Returns the integer tag associated with this vertex.
Definition: PlannerData.h:70
virtual void setTag(int tag)
Set the integer tag associated with this vertex.
Definition: PlannerData.h:75
const State * state_
The state represented by this vertex.
Definition: PlannerData.h:117
PlannerDataVertex(const State *st, int tag=0)
Constructor. Takes a state pointer and an optional integer tag.
Definition: PlannerData.h:62
virtual PlannerDataVertex * clone() const
Return a clone of this object, allocated from the heap.
Definition: PlannerData.h:86
PlannerDataVertex(const PlannerDataVertex &rhs)=default
Copy constructor.
virtual const State * getState() const
Retrieve the state associated with this vertex.
Definition: PlannerData.h:80
int tag_
A generic integer tag for this state. Not used for equivalence checking.
Definition: PlannerData.h:119
virtual bool operator==(const PlannerDataVertex &rhs) const
Equivalence operator. Return true if the state pointers are equal.
Definition: PlannerData.h:92
Wrapper class for the Boost.Graph representation of the PlannerData. This class inherits from a boost...
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
bool getEdgeWeight(unsigned int v1, unsigned int v2, Cost *weight) const
Returns the weight of the edge between the given vertex indices. If there exists an edge between v1 a...
unsigned int vertexIndex(const PlannerDataVertex &v) const
Return the index for the vertex associated with the given data. INVALID_INDEX is returned if this ver...
bool setEdgeWeight(unsigned int v1, unsigned int v2, Cost weight)
Sets the weight of the edge between the given vertex indices. If an edge between v1 and v2 does not e...
bool edgeExists(unsigned int v1, unsigned int v2) const
Check whether an edge between vertex index v1 and index v2 exists.
bool isGoalVertex(unsigned int index) const
Returns true if the given vertex index is marked as a goal vertex.
void printGraphviz(std::ostream &out=std::cout) const
Writes a Graphviz dot file of this structure to the given stream.
std::map< const State *, unsigned int > stateIndexMap_
A mapping of states to vertex indexes. For fast lookup of vertex index.
Definition: PlannerData.h:414
unsigned int getStartIndex(unsigned int i) const
Returns the index of the ith start state. INVALID_INDEX is returned if i is out of range....
void computeEdgeWeights()
Computes all edge weights using state space distance (i.e. getSpaceInformation()->distance())
const SpaceInformationPtr & getSpaceInformation() const
Return the instance of SpaceInformation used in this PlannerData.
bool tagState(const State *st, int tag)
Set the integer tag associated with the given state. If the given state does not exist in a vertex,...
unsigned int addStartVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
unsigned int addGoalVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
unsigned int numEdges() const
Retrieve the number of edges in this structure.
StateStoragePtr extractStateStorage() const
Extract a ompl::base::GraphStateStorage object from this PlannerData. Memory for states is copied (th...
bool markStartState(const State *st)
Mark the given state as a start vertex. If the given state does not exist in a vertex,...
static const PlannerDataVertex NO_VERTEX
Representation for a non-existant vertex.
Definition: PlannerData.h:182
std::vector< unsigned int > startVertexIndices_
A mutable listing of the vertices marked as start states. Stored in sorted order.
Definition: PlannerData.h:416
static const PlannerDataEdge NO_EDGE
Representation for a non-existant edge.
Definition: PlannerData.h:180
virtual void clear()
Clears the entire data structure.
Definition: PlannerData.cpp:74
virtual bool removeVertex(const PlannerDataVertex &st)
Removes the vertex associated with the given data. If the vertex does not exist, false is returned....
bool markGoalState(const State *st)
Mark the given state as a goal vertex. If the given state does not exist in a vertex,...
unsigned int getIncomingEdges(unsigned int v, std::vector< unsigned int > &edgeList) const
Returns a list of vertices with outgoing edges to the vertex with index v. The number of edges connec...
unsigned int numVertices() const
Retrieve the number of vertices in this structure.
std::set< State * > decoupledStates_
A list of states that are allocated during the decoupleFromPlanner method. These states are freed by ...
Definition: PlannerData.h:424
Graph & toBoostGraph()
Extract a Boost.Graph object from this PlannerData.
virtual bool removeEdge(unsigned int v1, unsigned int v2)
Removes the edge between vertex indexes v1 and v2. Success is returned.
SpaceInformationPtr si_
The space information instance for this data.
Definition: PlannerData.h:421
unsigned int numStartVertices() const
Returns the number of start vertices.
unsigned int getEdges(unsigned int v, std::vector< unsigned int > &edgeList) const
Returns a list of the vertex indexes directly connected to vertex with index v (outgoing edges)....
void extractMinimumSpanningTree(unsigned int v, const OptimizationObjective &opt, PlannerData &mst) const
Extracts the minimum spanning tree of the data rooted at the vertex with index v. The minimum spannin...
const PlannerDataEdge & getEdge(unsigned int v1, unsigned int v2) const
Retrieve a reference to the edge object connecting vertices with indexes v1 and v2....
void printPLY(std::ostream &out, bool asIs=false) const
Write a mesh of the planner graph to a stream. Insert additional vertices if asIs == true.
static const unsigned int INVALID_INDEX
Representation of an invalid vertex index.
Definition: PlannerData.h:184
const PlannerDataVertex & getStartVertex(unsigned int i) const
Retrieve a reference to the ith start vertex object. If i is greater than the number of start vertice...
unsigned int getGoalIndex(unsigned int i) const
Returns the index of the ith goal state. INVALID_INDEX is returned if i is out of range Indexes are v...
const PlannerDataVertex & getVertex(unsigned int index) const
Retrieve a reference to the vertex object with the given index. If this vertex does not exist,...
std::vector< unsigned int > goalVertexIndices_
A mutable listing of the vertices marked as goal states. Stored in sorted order.
Definition: PlannerData.h:418
virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0))
Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...
virtual bool hasControls() const
Indicate whether any information about controls (ompl::control::Control) is stored in this instance.
void extractReachable(unsigned int v, PlannerData &data) const
Extracts the subset of PlannerData reachable from the vertex with index v. For tree structures,...
unsigned int addVertex(const PlannerDataVertex &st)
Adds the given vertex to the graph data. The vertex index is returned. Duplicates are not added....
std::map< std::string, std::string > properties
Any extra properties (key-value pairs) the planner can set.
Definition: PlannerData.h:410
bool vertexExists(const PlannerDataVertex &v) const
Check whether a vertex exists with the given vertex data.
unsigned int numGoalVertices() const
Returns the number of goal vertices.
const PlannerDataVertex & getGoalVertex(unsigned int i) const
Retrieve a reference to the ith goal vertex object. If i is greater than the number of goal vertices,...
void printGraphML(std::ostream &out=std::cout) const
Writes a GraphML file of this structure to the given stream.
bool isStartVertex(unsigned int index) const
Returns true if the given vertex index is marked as a start vertex.
virtual ~PlannerData()
Destructor.
Definition: PlannerData.cpp:63
virtual void decoupleFromPlanner()
Creates a deep copy of the states contained in the vertices of this PlannerData structure so that whe...
Definition: PlannerData.cpp:80
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50
Main namespace. Contains everything in this library.