#include <AdaptiveRRT.h>

Inheritance diagram for AdaptiveRRT:

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Collaboration diagram for AdaptiveRRT:

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Public Types
Local Types
enum	CostMethod { FIXED , REWARD , CYCLES }

Motion Planning Types
typedef std::map< std::string, std::pair< std::pair< double, long >, double > >	GrowthSet

typedef std::map< double, GrowthSet >	GrowthSets

typedef MPBaseObject::WeightType	WeightType

typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

Public Types inherited from BasicRRTStrategy
typedef size_t	VID

typedef std::unordered_set< VID >	VertexSet

Public Types inherited from MPStrategyMethod
typedef size_t	VID

Public Types inherited from MPBaseObject
typedef DefaultWeight< Cfg >	WeightType

typedef GenericStateGraph< Cfg, WeightType >	RoadmapType

typedef GroupCfg< RoadmapType >	GroupCfgType

typedef GroupLocalPlan< RoadmapType >	GroupWeightType

typedef GroupRoadmap< GroupCfgType, GroupWeightType >	GroupRoadmapType

Public Member Functions

	AdaptiveRRT (double _wallPenalty=0.5, double _gamma=0.5, const GrowthSets &_growthSets=GrowthSets(), CostMethod _c=FIXED)

	AdaptiveRRT (XMLNode &_node)

virtual	~AdaptiveRRT ()=default

MPBaseObject Overrides
virtual void	Print (std::ostream &_os) const

Public Member Functions inherited from BasicRRTStrategy
	BasicRRTStrategy ()

	BasicRRTStrategy (XMLNode &_node)

virtual	~BasicRRTStrategy ()

Public Member Functions inherited from MPStrategyMethod
	MPStrategyMethod ()=default

	MPStrategyMethod (XMLNode &_node)

virtual	~MPStrategyMethod ()

void	operator() ()
	Execute the strategy by calling Initialize, Run, and Finalize. More...

void	EnableOutputFiles (const bool _enable=true)

virtual void	Initialize ()

Public Member Functions inherited from MPBaseObject
	MPBaseObject (const std::string &_label="", const std::string &_name="", bool _debug=false)

	MPBaseObject (XMLNode &_node)

virtual	~MPBaseObject ()

const std::string &	GetName () const
	Get the class name for this object. More...

const std::string &	GetLabel () const
	Get the unique label for this object. More...

std::string	GetNameAndLabel () const
	Get the unique string identifier for this object "m_name::m_label". More...

void	SetLabel (const std::string &)
	Set the unique label for this object. More...

void	SetMPLibrary (MPLibrary *) noexcept
	Set the owning MPLibrary. More...

MPLibrary *	GetMPLibrary () const noexcept
	Get the owning MPLibrary. More...

bool	IsRunning () const noexcept
	Check the library's running flag. More...

MPProblem *	GetMPProblem () const noexcept
	Get the library's current MPProblem. More...

Environment *	GetEnvironment () const noexcept
	Get the current environment. More...

MPTask *	GetTask () const noexcept
	Get the current task. More...

GroupTask *	GetGroupTask () const noexcept
	Get the current group task. More...

MPSolutionType *	GetMPSolution () const noexcept

RoadmapType *	GetRoadmap (Robot *const _r=nullptr) const noexcept
	Get the current free-space roadmap. More...

GroupRoadmapType *	GetGroupRoadmap (RobotGroup *const _g=nullptr) const noexcept
	Get the current free-space group roadmap. More...

RoadmapType *	GetBlockRoadmap (Robot *const _r=nullptr) const noexcept
	Get the current obstacle-space roadmap. More...

Path *	GetPath (Robot *const _r=nullptr) const noexcept

GroupPath *	GetGroupPath (RobotGroup *const _g=nullptr) const noexcept
	Get the current best group path. More...

StatClass *	GetStatClass () const noexcept
	Get the current StatClass. More...

LocalObstacleMap *	GetLocalObstacleMap () const noexcept
	Get the local obstacle map. More...

Protected Member Functions
MPStrategy Overrides
virtual void	Initialize () override

Tree Helpers
virtual VID	ExpandTree (Cfg &_dir)

std::string	SelectGrowthMethod (GrowthSet &_gs)

void	UpdateCost (double _cost, std::string _s, GrowthSet &_gs)

void	RewardGrowthMethod (double _r, std::string _s, GrowthSet &_gs)

VID	UpdateTree (VID _nearest, Cfg &_new, Cfg &_dir, double _delta)

VID	AddNode (Cfg &_newCfg, VID _nearVID, bool _againstWall, double _ratio)

Protected Member Functions inherited from BasicRRTStrategy
virtual void	Iterate () override
	Execute one iteration of the strategy. More...

virtual Cfg	SelectTarget ()
	Get a random configuration to grow towards. More...

Cfg	SelectDispersedTarget (const VID _v)

virtual VID	FindNearestNeighbor (const Cfg &_cfg, const VertexSet *const _candidates=nullptr)

virtual Neighbor	SelectNeighbor (const Cfg &_cfg, const std::vector< Neighbor > &_neighbors)

virtual VID	Extend (const VID _nearVID, const Cfg &_target, LPOutput &_lp, const bool _requireNew=true)

VID	Extend (const VID _nearVID, const Cfg &_target, const bool _requireNew=true)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

virtual std::pair< VID, bool >	AddNode (const Cfg &_newCfg)

virtual void	AddEdge (const VID _source, const VID _target, const LPOutput &_lpOutput)

void	ConnectNeighbors (const VID _newVID)

void	TryGoalExtension (const VID _newVID)

void	TryGoalExtension (const VID _newVID, const Boundary *const _boundary)

VID	ExpandTree (const Cfg &_target)

virtual VID	ExpandTree (const VID _nearestVID, const Cfg &_target)

void	ConnectTrees (const VID _recentlyGrown)

Protected Member Functions inherited from MPStrategyMethod
virtual void	Run ()
	Call Iterate until EvaluateMap is true. More...

virtual bool	EvaluateMap ()
	Check if we satisfied all map evaluators. More...

virtual void	Finalize ()
	Clean-up and output results. More...

virtual void	ClearRoadmap ()
	Pre-clear the roadmap(s) if requested. More...

virtual size_t	GenerateStart (const std::string &_samplerLabel="")

virtual std::vector< size_t >	GenerateGoals (const std::string &_samplerLabel="")

Protected Member Functions inherited from MPBaseObject
void	SetName (const std::string &_s)

const std::string &	GetBaseFilename () const

Additional Inherited Members
Protected Attributes inherited from BasicRRTStrategy
std::string	m_samplerLabel
	The sampler label. More...

std::string	m_nfLabel
	The neighborhood finder label. More...

std::string	m_ncLabel
	The connector label (for RRG). More...

std::string	m_exLabel
	The extender label. More...

std::string	m_goalDmLabel
	Dm for checking goal extensions. More...

std::string	m_fallbackNfLabel
	NF for searching the active set, used if the main one fails. More...

bool	m_growGoals {false}
	Grow trees from goals. More...

double	m_growthFocus {0}
	The fraction of goal-biased expansions. More...

double	m_goalThreshold {0}
	Distance threshold for goal extension. More...

size_t	m_numDirections {1}
	Expansion directions per iteration. More...

size_t	m_disperseTrials {3}
	Sample attempts for disperse search. More...

std::vector< VertexSet >	m_trees
	The current tree set. More...

Protected Attributes inherited from MPStrategyMethod
std::string	m_querySampler
	Sampler for generating start/goal. More...

std::vector< std::string >	m_meLabels
	The list of map evaluators to use. More...

size_t	m_iterations {0}
	The number of executed iterations. More...

bool	m_writeOutput {true}
	Write output at the end? More...

bool	m_clearMap {false}
	Clear the roadmap(s) before run? More...

Protected Attributes inherited from MPBaseObject
bool	m_debug
	Print debug info? More...

Detailed Description

Adaptively selects growth methods in RRT.

References: Denny, Jory, et al. "Adapting RRT growth for heterogeneous environments." 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2013.

AdaptiveRRT employs structural filtering to the RRT paradigm by providing a two-level cost-adaptive strategy to select the RRT growth method. First, it uses the "visibility" of a node the method selects a set of RRT methods to choose from based on some probability distribution. This probability distribution is updated based upon the success/fail of the growth and its cost.

Member Typedef Documentation

◆ GrowthSet

typedef std::map<std::string, std::pair<std::pair<double, long>, double> > AdaptiveRRT::GrowthSet

◆ GrowthSets

typedef std::map<double, GrowthSet> AdaptiveRRT::GrowthSets

◆ RoadmapType

typedef MPBaseObject::RoadmapType AdaptiveRRT::RoadmapType

◆ VID

typedef RoadmapType::VID AdaptiveRRT::VID

◆ WeightType

typedef MPBaseObject::WeightType AdaptiveRRT::WeightType

Member Enumeration Documentation

◆ CostMethod

enum AdaptiveRRT::CostMethod

Enumerator
FIXED
REWARD
CYCLES

Constructor & Destructor Documentation

◆ AdaptiveRRT() [1/2]

AdaptiveRRT::AdaptiveRRT	(	double	_wallPenalty = `0.5`,
		double	_gamma = `0.5`,
		const GrowthSets &	_growthSets = `GrowthSets()`,
		CostMethod	_c = `FIXED`
	)

@ Construction

◆ AdaptiveRRT() [2/2]

AdaptiveRRT::AdaptiveRRT ( XMLNode & _node )

◆ ~AdaptiveRRT()

virtual AdaptiveRRT::~AdaptiveRRT ( )

virtualdefault

Member Function Documentation

◆ AddNode()

AdaptiveRRT::VID AdaptiveRRT::AddNode	(	Cfg &	_newCfg,
		VID	_nearVID,
		bool	_againstWall,
		double	_ratio
	)

protected

Adds node to tree and updates visibility

Parameters

_newCfg	New configuration to add to tree
_nearVID	Vertex ID of nearest tree configuration
_againstWall	Bool flag indicating if _newCfg is against a wall.
_ratio	Reward ratio

Returns: The VID of the configuration that was added to the tree

◆ ExpandTree()

AdaptiveRRT::VID AdaptiveRRT::ExpandTree ( Cfg & _dir )

protectedvirtual

Expand tree in the direction of a given configuration

Parameters

_dir	Direction of random configuration

Returns: VID of newly created Cfg if successful, otherwise INVALID_VID

◆ Initialize()

void AdaptiveRRT::Initialize ( )

overrideprotectedvirtual

Initialize this object for the current MPProblem. This should reset any internal state of the algorithms so that they are ready for execution. It is also the place to initialize any state that depends on the current problem.

Warning: This member will be called for every compiled algorithm in the planning library - even those that will not be used. If an algorithm needs to do expenisve setup, then this method should only set a flag that tells it to do so on first use. The only exceptions are the MPStrategies, which will only have their initialize called on first use.

Reimplemented from BasicRRTStrategy.

◆ Print()

void AdaptiveRRT::Print ( std::ostream & _os ) const

virtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from BasicRRTStrategy.

◆ RewardGrowthMethod()

void AdaptiveRRT::RewardGrowthMethod	(	double	_r,
		std::string	_s,
		GrowthSet &	_gs
	)

protected

Update weight of growth method given a reward value

Parameters

_r	Reward value
_s	String indicator for growth method
_gs	The growth set containing the growth method we want to access

◆ SelectGrowthMethod()

std::string AdaptiveRRT::SelectGrowthMethod ( GrowthSet & _gs )

protected

Select growth method from a set of growth methods

Parameters

_gs	The growth set containing the growth method we want to access

Returns: The string indicator for the chosen growth method

◆ UpdateCost()

void AdaptiveRRT::UpdateCost	(	double	_cost,
		std::string	_s,
		GrowthSet &	_gs
	)

protected

Update average cost of growth method

Parameters

_cost	Average cost used to update cost of growth method
_s	String indicator for growth method
_gs	The growth set containing the growth method we want to access

◆ UpdateTree()

AdaptiveRRT::VID AdaptiveRRT::UpdateTree	(	VID	_nearest,
		Cfg &	_new,
		Cfg &	_dir,
		double	_delta
	)

protected

Updates tree based on expansion type

Parameters

_nearest	Vertex ID of nearest configuration
_new	New configuration to be added to tree
_dir	Direction of random configuration
_delta	Expansion distance between _nearest and _new

Returns: The VID of the newly added configuration

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MPStrategies/AdaptiveRRT.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MPStrategies/AdaptiveRRT.cpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ GrowthSet

◆ GrowthSets

◆ RoadmapType

◆ VID

◆ WeightType

Member Enumeration Documentation

◆ CostMethod

Constructor & Destructor Documentation

◆ AdaptiveRRT() [1/2]

◆ AdaptiveRRT() [2/2]

◆ ~AdaptiveRRT()

Member Function Documentation

◆ AddNode()

◆ ExpandTree()

◆ Initialize()

◆ Print()

◆ RewardGrowthMethod()

◆ SelectGrowthMethod()

◆ UpdateCost()

◆ UpdateTree()