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SPARS.h
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34
35/* Author: Andrew Dobson */
36
37#ifndef OMPL_GEOMETRIC_PLANNERS_SPARSE_ROADMAP_SPANNER_
38#define OMPL_GEOMETRIC_PLANNERS_SPARSE_ROADMAP_SPANNER_
39
40#include "ompl/geometric/planners/PlannerIncludes.h"
41#include "ompl/datastructures/NearestNeighbors.h"
42#include "ompl/geometric/PathSimplifier.h"
43#include "ompl/util/Time.h"
44
45#include <boost/range/adaptor/map.hpp>
46#include <unordered_map>
47#include <boost/graph/graph_traits.hpp>
48#include <boost/graph/adjacency_list.hpp>
49#include <boost/pending/disjoint_sets.hpp>
50#include <mutex>
51#include <iostream>
52#include <fstream>
53#include <utility>
54#include <vector>
55#include <deque>
56#include <map>
57#include <set>
58
59namespace ompl
60{
61 namespace geometric
62 {
75
77 class SPARS : public base::Planner
78 {
79 public:
82 {
83 START,
84 GOAL,
85 COVERAGE,
86 CONNECTIVITY,
87 INTERFACE,
88 QUALITY,
89 };
90
92 {
93 using kind = boost::vertex_property_tag;
94 };
95
97 {
98 using kind = boost::vertex_property_tag;
99 };
100
102 {
103 using kind = boost::vertex_property_tag;
104 };
105
107 {
108 using kind = boost::vertex_property_tag;
109 };
110
112 {
113 using kind = boost::vertex_property_tag;
114 };
115
117 using VertexIndexType = unsigned long;
118
120 using InterfaceHash = std::unordered_map<VertexIndexType, std::set<VertexIndexType>>;
121
123 using DensePath = std::deque<base::State *>;
124
137 using SpannerGraph = boost::adjacency_list<
138 boost::vecS, boost::vecS, boost::undirectedS,
139 boost::property<
141 boost::property<
142 boost::vertex_predecessor_t, VertexIndexType,
143 boost::property<boost::vertex_rank_t, VertexIndexType,
144 boost::property<vertex_color_t, GuardType,
145 boost::property<vertex_list_t, std::set<VertexIndexType>,
146 boost::property<vertex_interface_list_t,
147 InterfaceHash>>>>>>,
148 boost::property<boost::edge_weight_t, base::Cost>>;
149
151 using SparseVertex = boost::graph_traits<SpannerGraph>::vertex_descriptor;
152
154 using SparseEdge = boost::graph_traits<SpannerGraph>::edge_descriptor;
155
157 using SparseNeighbors = std::shared_ptr<NearestNeighbors<SparseVertex> >;
158
174 using DenseGraph = boost::adjacency_list<
175 boost::vecS, boost::vecS, boost::undirectedS,
176 boost::property<
178 boost::property<boost::vertex_predecessor_t, VertexIndexType,
179 boost::property<boost::vertex_rank_t, VertexIndexType,
180 boost::property<vertex_representative_t, SparseVertex>>>>,
181 boost::property<boost::edge_weight_t, double>>;
182
184 using DenseVertex = boost::graph_traits<DenseGraph>::vertex_descriptor;
185
187 using DenseEdge = boost::graph_traits<DenseGraph>::edge_descriptor;
188
190 using DenseNeighbors = std::shared_ptr<NearestNeighbors<DenseVertex> >;
191
193 SPARS(const base::SpaceInformationPtr &si);
195 ~SPARS() override;
196
197 void setProblemDefinition(const base::ProblemDefinitionPtr &pdef) override;
198
199 void getPlannerData(base::PlannerData &data) const override;
200
203
207 void constructRoadmap(const base::PlannerTerminationCondition &ptc, bool stopOnMaxFail);
208
222
227 void clearQuery() override;
228
229 void clear() override;
230
236 template <template <typename T> class NN>
238 {
239 nn_ = std::make_shared<NN<DenseVertex>>();
240 connectionStrategy_ = std::function<const std::vector<DenseVertex> &(const DenseVertex)>();
241 if (isSetup())
242 setup();
243 }
244
249 template <template <typename T> class NN>
251 {
252 snn_ = std::make_shared<NN<SparseVertex>>();
253 if (isSetup())
254 setup();
255 }
256
261 void setMaxFailures(unsigned int m)
262 {
263 maxFailures_ = m;
264 }
265
270 {
272 if (denseDelta_ > 0.0) // setup was previously called
273 denseDelta_ = d * si_->getMaximumExtent();
274 }
275
281 {
283 if (sparseDelta_ > 0.0) // setup was previously called
284 sparseDelta_ = d * si_->getMaximumExtent();
285 }
286
292 void setStretchFactor(double t)
293 {
294 stretchFactor_ = t;
295 }
296
298 unsigned getMaxFailures() const
299 {
300 return maxFailures_;
301 }
302
305 {
306 return denseDeltaFraction_;
307 }
308
311 {
313 }
314
316 double getStretchFactor() const
317 {
318 return stretchFactor_;
319 }
320
321 void setup() override;
322
326 {
327 return g_;
328 }
329
333 {
334 return s_;
335 }
336
338 unsigned int milestoneCount() const
339 {
340 return boost::num_vertices(g_);
341 }
342
344 unsigned int guardCount() const
345 {
346 return boost::num_vertices(s_);
347 }
348
350 double averageValence() const;
351
353 void printDebug(std::ostream &out = std::cout) const;
354
356 bool reachedFailureLimit() const;
357
359 // Planner progress property functions
360 std::string getIterationCount() const
361 {
362 return std::to_string(iterations_);
363 }
364 std::string getBestCost() const
365 {
366 return std::to_string(bestCost_.value());
367 }
368
369 protected:
371 DenseVertex addSample(base::State *workState, const base::PlannerTerminationCondition &ptc);
372
375
378
381 DenseVertex addMilestone(base::State *state);
382
385 SparseVertex addGuard(base::State *state, GuardType type);
386
389
392
394 bool checkAddCoverage(const base::State *lastState, const std::vector<SparseVertex> &neigh);
395
397 bool checkAddConnectivity(const base::State *lastState, const std::vector<SparseVertex> &neigh);
398
400 bool checkAddInterface(const std::vector<DenseVertex> &graphNeighborhood,
401 const std::vector<DenseVertex> &visibleNeighborhood, DenseVertex q);
402
404 bool checkAddPath(DenseVertex q, const std::vector<DenseVertex> &neigh);
405
408
410 bool addPathToSpanner(const DensePath &dense_path, SparseVertex vp, SparseVertex vpp);
411
414
417
419 void addToRepresentatives(DenseVertex q, SparseVertex rep, const std::set<SparseVertex> &oreps);
420
423
425 void computeVPP(DenseVertex v, DenseVertex vp, std::vector<SparseVertex> &VPPs);
426
428 void computeX(DenseVertex v, DenseVertex vp, DenseVertex vpp, std::vector<SparseVertex> &Xs);
429
431 void resetFailures();
432
434 void checkForSolution(const base::PlannerTerminationCondition &ptc, base::PathPtr &solution);
435
439 bool haveSolution(const std::vector<DenseVertex> &starts, const std::vector<DenseVertex> &goals,
440 base::PathPtr &solution);
441
444 bool reachedTerminationCriterion() const;
445
448 base::PathPtr constructSolution(SparseVertex start, SparseVertex goal) const;
449
451 void computeDensePath(DenseVertex start, DenseVertex goal, DensePath &path) const;
452
454 void freeMemory();
455
457 void getSparseNeighbors(base::State *inState, std::vector<SparseVertex> &graphNeighborhood);
458
460 void filterVisibleNeighbors(base::State *inState, const std::vector<SparseVertex> &graphNeighborhood,
461 std::vector<SparseVertex> &visibleNeighborhood) const;
462
464 void getInterfaceNeighborRepresentatives(DenseVertex q, std::set<SparseVertex> &interfaceRepresentatives);
465
467 void getInterfaceNeighborhood(DenseVertex q, std::vector<DenseVertex> &interfaceNeighborhood);
468
471 double distanceFunction(const DenseVertex a, const DenseVertex b) const
472 {
473 return si_->distance(stateProperty_[a], stateProperty_[b]);
474 }
475
477 double sparseDistanceFunction(const SparseVertex a, const SparseVertex b) const
478 {
479 return si_->distance(sparseStateProperty_[a], sparseStateProperty_[b]);
480 }
481
483 base::ValidStateSamplerPtr sampler_;
484
487
490
493
496
498 std::vector<SparseVertex> startM_;
499
501 std::vector<SparseVertex> goalM_;
502
505
508
511
513 boost::property_map<DenseGraph, vertex_state_t>::type stateProperty_;
514
516 boost::property_map<SpannerGraph, vertex_state_t>::type sparseStateProperty_;
517
519 boost::property_map<SpannerGraph, vertex_color_t>::type sparseColorProperty_;
520
522 boost::property_map<DenseGraph, vertex_representative_t>::type representativesProperty_;
523
525 boost::property_map<SpannerGraph, vertex_list_t>::type nonInterfaceListsProperty_;
526
528 boost::property_map<SpannerGraph, vertex_interface_list_t>::type interfaceListsProperty_;
529
532
534 boost::property_map<DenseGraph, boost::edge_weight_t>::type weightProperty_;
535
537 boost::disjoint_sets<boost::property_map<SpannerGraph, boost::vertex_rank_t>::type,
538 boost::property_map<SpannerGraph, boost::vertex_predecessor_t>::type> sparseDJSets_;
539
541 std::function<const std::vector<DenseVertex> &(const DenseVertex)> connectionStrategy_;
542
544 unsigned int consecutiveFailures_{0u};
545
547 double stretchFactor_{3.};
548
550 unsigned int maxFailures_{1000u};
551
553 bool addedSolution_{false};
554
557
560
562 double denseDelta_{0.};
563
565 double sparseDelta_{0.};
566
569
571 mutable std::mutex graphMutex_;
572
574 base::OptimizationObjectivePtr opt_;
575
579
581 // Planner progress properties
583 long unsigned int iterations_{0ul};
585 base::Cost bestCost_{std::numeric_limits<double>::quiet_NaN()};
586 };
587 }
588}
589
590#endif
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
double value() const
The value of the cost.
Definition Cost.h:56
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Base class for a planner.
Definition Planner.h:216
bool isSetup() const
Check if setup() was called for this planner.
Definition Planner.cpp:113
SpaceInformationPtr si_
The space information for which planning is done.
Definition Planner.h:410
Definition of an abstract state.
Definition State.h:50
Definition of a geometric path.
A shared pointer wrapper for ompl::geometric::PathSimplifier.
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition SPARS.cpp:92
unsigned long VertexIndexType
The type used internally for representing vertex IDs.
Definition SPARS.h:117
double denseDelta_
SPARS parameter for dense graph connection distance.
Definition SPARS.h:562
long unsigned int iterations_
A counter for the number of iterations of the algorithm.
Definition SPARS.h:583
bool checkAddPath(DenseVertex q, const std::vector< DenseVertex > &neigh)
Checks for adding an entire dense path to the Sparse Roadmap.
Definition SPARS.cpp:606
bool reachedFailureLimit() const
Returns true if we have reached the iteration failures limit, maxFailures_.
Definition SPARS.cpp:281
void getInterfaceNeighborRepresentatives(DenseVertex q, std::set< SparseVertex > &interfaceRepresentatives)
Gets the representatives of all interfaces that q supports.
Definition SPARS.cpp:919
boost::property_map< SpannerGraph, vertex_state_t >::type sparseStateProperty_
Access to the internal base::State for each SparseVertex of S.
Definition SPARS.h:516
void getSparseNeighbors(base::State *inState, std::vector< SparseVertex > &graphNeighborhood)
Get all nodes in the sparse graph which are within sparseDelta_ of the given state.
Definition SPARS.cpp:740
double sparseDelta_
SPARS parameter for Sparse Roadmap connection distance.
Definition SPARS.h:565
std::vector< SparseVertex > goalM_
Array of goal guards.
Definition SPARS.h:501
void computeX(DenseVertex v, DenseVertex vp, DenseVertex vpp, std::vector< SparseVertex > &Xs)
Computes all nodes which qualify as a candidate x for v, v', and v".
Definition SPARS.cpp:909
boost::graph_traits< DenseGraph >::vertex_descriptor DenseVertex
A vertex in DenseGraph.
Definition SPARS.h:184
~SPARS() override
Destructor.
Definition SPARS.cpp:87
DenseVertex addMilestone(base::State *state)
Construct a milestone for a given state (state) and store it in the nearest neighbors data structure.
Definition SPARS.cpp:454
void setStretchFactor(double t)
Set the roadmap spanner stretch factor. This value represents a multiplicative upper bound on path qu...
Definition SPARS.h:292
double stretchFactor_
The stretch factor in terms of graph spanners for SPARS to check against.
Definition SPARS.h:547
void checkQueryStateInitialization()
Check that the query vertex is initialized (used for internal nearest neighbor searches)
Definition SPARS.cpp:286
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition SPARS.cpp:1019
void connectDensePoints(DenseVertex v, DenseVertex vp)
Connects points in the dense graph.
Definition SPARS.cpp:520
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition SPARS.cpp:156
unsigned int consecutiveFailures_
A counter for the number of consecutive failed iterations of the algorithm.
Definition SPARS.h:544
std::shared_ptr< NearestNeighbors< SparseVertex > > SparseNeighbors
Nearest neighbor structure which works over the SpannerGraph.
Definition SPARS.h:157
base::Cost costHeuristic(SparseVertex u, SparseVertex v) const
Given two vertices, returns a heuristic on the cost of the path connecting them. This method wraps Op...
Definition SPARS.cpp:1049
bool reachedTerminationCriterion() const
Returns true if we have reached the iteration failures limit, maxFailures_ or if a solution was added...
Definition SPARS.cpp:276
base::PathPtr constructSolution(SparseVertex start, SparseVertex goal) const
Given two milestones from the same connected component, construct a path connecting them and set it a...
Definition SPARS.cpp:957
std::function< const std::vector< DenseVertex > &(const DenseVertex)> connectionStrategy_
Function that returns the milestones to attempt connections with.
Definition SPARS.h:541
void setDenseDeltaFraction(double d)
Set the delta fraction for interface detection. If two nodes in the dense graph are more than a delta...
Definition SPARS.h:269
DenseNeighbors nn_
Nearest neighbors data structure.
Definition SPARS.h:486
void updateRepresentatives(SparseVertex v)
Automatically updates the representatives of all dense samplse within sparseDelta_ of v.
Definition SPARS.cpp:811
base::OptimizationObjectivePtr opt_
Objective cost function for PRM graph edges.
Definition SPARS.h:574
double getDenseDeltaFraction() const
Retrieve the dense graph interface support delta fraction.
Definition SPARS.h:304
bool checkAddInterface(const std::vector< DenseVertex > &graphNeighborhood, const std::vector< DenseVertex > &visibleNeighborhood, DenseVertex q)
Checks the latest dense sample for bridging an edge-less interface.
Definition SPARS.cpp:574
PathGeometric geomPath_
Geometric Path variable used for smoothing out paths.
Definition SPARS.h:510
DenseVertex queryVertex_
Vertex for performing nearest neighbor queries on the DENSE graph.
Definition SPARS.h:507
SparseVertex addGuard(base::State *state, GuardType type)
Construct a node with the given state (state) for the spanner and store it in the nn structure.
Definition SPARS.cpp:494
std::deque< base::State * > DensePath
Internal representation of a dense path.
Definition SPARS.h:123
void computeDensePath(DenseVertex start, DenseVertex goal, DensePath &path) const
Constructs the dense path between the start and goal vertices (if connected)
Definition SPARS.cpp:994
unsigned int guardCount() const
Returns the number of guards added to S.
Definition SPARS.h:344
boost::graph_traits< SpannerGraph >::edge_descriptor SparseEdge
An edge in the sparse roadmap that is constructed.
Definition SPARS.h:154
boost::graph_traits< SpannerGraph >::vertex_descriptor SparseVertex
A vertex in the sparse roadmap that is constructed.
Definition SPARS.h:151
double averageValence() const
Returns the average valence of the spanner graph.
Definition SPARS.cpp:715
bool checkAddConnectivity(const base::State *lastState, const std::vector< SparseVertex > &neigh)
Checks the latest dense sample for connectivity, and adds appropriately.
Definition SPARS.cpp:541
std::vector< SparseVertex > startM_
Array of start guards.
Definition SPARS.h:498
boost::property_map< SpannerGraph, vertex_interface_list_t >::type interfaceListsProperty_
Access to the interface-supporting vertice hashes of the sparse nodes.
Definition SPARS.h:528
bool addedSolution_
A flag indicating that a solution has been added during solve()
Definition SPARS.h:553
DenseVertex getInterfaceNeighbor(DenseVertex q, SparseVertex rep)
Get the first neighbor of q who has representative rep and is within denseDelta_.
Definition SPARS.cpp:761
boost::property_map< DenseGraph, vertex_state_t >::type stateProperty_
Access to the internal base::state at each DenseVertex.
Definition SPARS.h:513
void clearQuery() override
Clear the query previously loaded from the ProblemDefinition. Subsequent calls to solve() will reuse ...
Definition SPARS.cpp:145
boost::property_map< DenseGraph, vertex_representative_t >::type representativesProperty_
Access to the representatives of the Dense vertices.
Definition SPARS.h:522
unsigned getMaxFailures() const
Retrieve the maximum consecutive failure limit.
Definition SPARS.h:298
void calculateRepresentative(DenseVertex q)
Calculates the representative for a dense sample.
Definition SPARS.cpp:846
DenseVertex sparseQueryVertex_
DenseVertex for performing nearest neighbor queries on the SPARSE roadmap.
Definition SPARS.h:504
void setSparseDeltaFraction(double d)
Set the delta fraction for connection distance on the sparse spanner. This value represents the visib...
Definition SPARS.h:280
void printDebug(std::ostream &out=std::cout) const
Print debug information about planner.
Definition SPARS.cpp:724
std::mutex graphMutex_
Mutex to guard access to the graphs.
Definition SPARS.h:571
boost::property_map< SpannerGraph, vertex_color_t >::type sparseColorProperty_
Access to draw colors for the SparseVertexs of S, to indicate addition type.
Definition SPARS.h:519
void constructRoadmap(const base::PlannerTerminationCondition &ptc)
While the termination condition permits, construct the spanner graph.
Definition SPARS.cpp:395
std::shared_ptr< NearestNeighbors< DenseVertex > > DenseNeighbors
Nearest neighbor structure which works over the DenseGraph.
Definition SPARS.h:190
base::Cost bestCost_
Best cost found so far by algorithm.
Definition SPARS.h:585
PathSimplifierPtr psimp_
A path simplifier used to simplify dense paths added to S.
Definition SPARS.h:531
double sparseDistanceFunction(const SparseVertex a, const SparseVertex b) const
Compute distance between two nodes in the sparse roadmap spanner.
Definition SPARS.h:477
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition SPARS.cpp:303
bool haveSolution(const std::vector< DenseVertex > &starts, const std::vector< DenseVertex > &goals, base::PathPtr &solution)
Check if there exists a solution, i.e., there exists a pair of milestones such that the first is in s...
Definition SPARS.cpp:235
GuardType
Enumeration which specifies the reason a guard is added to the spanner.
Definition SPARS.h:82
double denseDeltaFraction_
SPARS parameter for dense graph connection distance as a fraction of max. extent.
Definition SPARS.h:556
void connectSparsePoints(SparseVertex v, SparseVertex vp)
Convenience function for creating an edge in the Spanner Roadmap.
Definition SPARS.cpp:511
std::unordered_map< VertexIndexType, std::set< VertexIndexType > > InterfaceHash
Hash for storing interface information.
Definition SPARS.h:120
SpannerGraph s_
The sparse roadmap, S.
Definition SPARS.h:495
void freeMemory()
Free all the memory allocated by the planner.
Definition SPARS.cpp:171
boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, boost::property< vertex_state_t, base::State *, boost::property< boost::vertex_predecessor_t, VertexIndexType, boost::property< boost::vertex_rank_t, VertexIndexType, boost::property< vertex_color_t, GuardType, boost::property< vertex_list_t, std::set< VertexIndexType >, boost::property< vertex_interface_list_t, InterfaceHash > > > > > >, boost::property< boost::edge_weight_t, base::Cost > > SpannerGraph
The constructed roadmap spanner.
Definition SPARS.h:137
boost::disjoint_sets< boost::property_map< SpannerGraph, boost::vertex_rank_t >::type, boost::property_map< SpannerGraph, boost::vertex_predecessor_t >::type > sparseDJSets_
Data structure that maintains the connected components of S.
Definition SPARS.h:538
boost::property_map< SpannerGraph, vertex_list_t >::type nonInterfaceListsProperty_
Access to all non-interface supporting vertices of the sparse nodes.
Definition SPARS.h:525
const DenseGraph & getDenseGraph() const
Retrieve the underlying dense graph structure. This is built as a PRM* and asymptotically approximate...
Definition SPARS.h:325
base::ValidStateSamplerPtr sampler_
Sampler user for generating valid samples in the state space.
Definition SPARS.h:483
bool addPathToSpanner(const DensePath &dense_path, SparseVertex vp, SparseVertex vpp)
Method for actually adding a dense path to the Roadmap Spanner, S.
Definition SPARS.cpp:770
boost::property_map< DenseGraph, boost::edge_weight_t >::type weightProperty_
Access to the weights of each DenseEdge.
Definition SPARS.h:534
double sparseDeltaFraction_
SPARS parameter for Sparse Roadmap connection distance as a fraction of max. extent.
Definition SPARS.h:559
void addToRepresentatives(DenseVertex q, SparseVertex rep, const std::set< SparseVertex > &oreps)
Adds a dense sample to the appropriate lists of its representative.
Definition SPARS.cpp:863
void setSparseNeighbors()
Set a different nearest neighbors datastructure for the spanner graph. This structure is stores only ...
Definition SPARS.h:250
bool checkAddCoverage(const base::State *lastState, const std::vector< SparseVertex > &neigh)
Checks the latest dense sample for the coverage property, and adds appropriately.
Definition SPARS.cpp:528
SparseNeighbors snn_
Nearest Neighbors structure for the sparse roadmap.
Definition SPARS.h:489
DenseGraph g_
The dense graph, D.
Definition SPARS.h:492
boost::graph_traits< DenseGraph >::edge_descriptor DenseEdge
An edge in DenseGraph.
Definition SPARS.h:187
unsigned int maxFailures_
The maximum number of failures before terminating the algorithm.
Definition SPARS.h:550
void resetFailures()
A reset function for resetting the failures count.
Definition SPARS.cpp:140
RNG rng_
Random number generator.
Definition SPARS.h:568
void setDenseNeighbors()
Set a different nearest neighbors datastructure for the roadmap graph. This nearest neighbor structur...
Definition SPARS.h:237
void setMaxFailures(unsigned int m)
Set the maximum consecutive failures to augment the spanner before termination. In general,...
Definition SPARS.h:261
double distanceFunction(const DenseVertex a, const DenseVertex b) const
Compute distance between two milestones (this is simply distance between the states of the milestones...
Definition SPARS.h:471
double getStretchFactor() const
Retrieve the spanner's set stretch factor.
Definition SPARS.h:316
void computeVPP(DenseVertex v, DenseVertex vp, std::vector< SparseVertex > &VPPs)
Computes all nodes which qualify as a candidate v" for v and vp.
Definition SPARS.cpp:901
DenseVertex addSample(base::State *workState, const base::PlannerTerminationCondition &ptc)
Attempt to add a single sample to the roadmap.
Definition SPARS.cpp:189
unsigned int milestoneCount() const
Returns the number of milestones added to D.
Definition SPARS.h:338
double getSparseDeltaFraction() const
Retrieve the sparse graph visibility range delta fraction.
Definition SPARS.h:310
boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, boost::property< vertex_state_t, base::State *, boost::property< boost::vertex_predecessor_t, VertexIndexType, boost::property< boost::vertex_rank_t, VertexIndexType, boost::property< vertex_representative_t, SparseVertex > > > >, boost::property< boost::edge_weight_t, double > > DenseGraph
The underlying roadmap graph.
Definition SPARS.h:174
void getInterfaceNeighborhood(DenseVertex q, std::vector< DenseVertex > &interfaceNeighborhood)
Gets the neighbors of q who help it support an interface.
Definition SPARS.cpp:940
void filterVisibleNeighbors(base::State *inState, const std::vector< SparseVertex > &graphNeighborhood, std::vector< SparseVertex > &visibleNeighborhood) const
Get the visible neighbors.
Definition SPARS.cpp:750
void removeFromRepresentatives(DenseVertex q, SparseVertex rep)
Removes the node from its representative's lists.
Definition SPARS.cpp:888
const SpannerGraph & getRoadmap() const
Retrieve the sparse roadmap structure. This is the structure which answers given queries,...
Definition SPARS.h:332
bool sameComponent(SparseVertex m1, SparseVertex m2)
Check that two vertices are in the same connected component.
Definition SPARS.cpp:298
void checkForSolution(const base::PlannerTerminationCondition &ptc, base::PathPtr &solution)
Definition SPARS.cpp:211
SPARS(const base::SpaceInformationPtr &si)
Constructor.
Definition SPARS.cpp:54
This namespace contains code that is specific to planning under geometric constraints.
Main namespace. Contains everything in this library.
A class to store the exit status of Planner::solve()