#include <Syclop.h>

Inheritance diagram for Syclop:

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Collaboration diagram for Syclop:

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Data Structures
struct	DFSVisitor
	A visitor to track the parent-child relationships discovered during DFS. More...

struct	RegionData
	Holds all external data related to a specific workspace region. More...

struct	RegionPairData
	Tracks data related to edges between regions in the decomposition graph. More...

struct	WeightFunctor

Public Types
Motion Planning Types
typedef MPBaseObject::WeightType	WeightType

typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

Local Types
typedef std::unordered_set< VID >	VertexSet

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
Construction
	Syclop ()

	Syclop (XMLNode &_node)

virtual	~Syclop ()=default

Public Member Functions inherited from BasicRRTStrategy
	BasicRRTStrategy ()

	BasicRRTStrategy (XMLNode &_node)

virtual	~BasicRRTStrategy ()

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

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
size_t	Sel (const WorkspaceRegion const _r1, const WorkspaceRegion const _r2)

size_t	Conn (const WorkspaceRegion const _r1, const WorkspaceRegion const _r2)
	Estimate the progress made in connecting _r1 to _r2. More...

double	Cost (const WorkspaceRegion const _r1, const WorkspaceRegion const _r2)
	Compute the edge weight in the region graph from _r1 to _r2. More...

double	Cost (const WorkspacePortal &_p)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

MPStrategy Overrides
virtual void	Initialize () override

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

virtual VID	Extend (const VID _nearVID, const Cfg &_qRand, LPOutput &_lp, const bool _requireNew=true) override
	As basic RRT, but also logs extension attempts. More...

virtual std::pair< VID, bool >	AddNode (const Cfg &_newCfg) override
	As basic RRT, but also updates coverage information. More...

virtual void	AddEdge (const VID _source, const VID _target, const LPOutput &_lpOutput) override
	As basic RRT, but also updates region edge connectivity information. More...

Syclop Functions
std::vector< VID >	DiscreteLead ()
	Compute a high-level plan (a sequence of regions). More...

void	FindAvailableRegions (std::vector< VID > _lead)
	Compute a set of potential regions from the discrete lead. More...

const WorkspaceRegion *	SelectRegion ()
	Select a region from a set of available regions. More...

Pre-processing Stuff
void	ComputeFreeVolumes ()
	Estimate the free volume of each region. More...

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

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...

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

Protected Attributes
Syclop State
std::map< const WorkspaceRegion *, RegionData >	m_regionData
	Holds extra data associated with the regions. More...

std::map< std::pair< const WorkspaceRegion , const WorkspaceRegion >, RegionPairData >	m_regionPairData
	Holds extra data associated with region pairs. More...

std::string	m_tmLabel
	The topological map label. More...

std::set< const WorkspaceRegion * >	m_availableRegions
	The currently available regions. More...

Switch Tracking
Data for knowing when to change regions/leads.
size_t	m_currentLeadUses {0}

size_t	m_maxLeadUses {6}

size_t	m_currentRegionUses {0}

size_t	m_maxRegionUses {6}

std::string	m_freeVolumeSampler {"UniformRandom"}

std::string	m_freeVolumeVcLabel {"pqp_solid"}

const WorkspaceRegion *	m_currentRegion {nullptr}

bool	m_improvement {false}
	Have we improved the map w/ current region? More...

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

This method is the 'Synergistic Combination of Layers of Planning' technique that adds workspace guidance to RRT methods.

Reference: Erion Plaku, Lydia E. Kavraki, Moshe Y. Vardi. "Synergistic Combination of Layers of Planning". IEEE Transactions on Robotics. 2010.

Warning: This method doesn't support bi-directional growth.

Member Typedef Documentation

◆ RoadmapType

typedef MPBaseObject::RoadmapType Syclop::RoadmapType

◆ VertexSet

typedef std::unordered_set<VID> BasicRRTStrategy::VertexSet

◆ VID

typedef RoadmapType::VID Syclop::VID

◆ WeightType

typedef MPBaseObject::WeightType Syclop::WeightType

Constructor & Destructor Documentation

◆ Syclop() [1/2]

Syclop::Syclop ( )

◆ Syclop() [2/2]

Syclop::Syclop ( XMLNode & _node )

◆ ~Syclop()

virtual Syclop::~Syclop ( )

virtualdefault

Member Function Documentation

◆ AddEdge()

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

overrideprotectedvirtual

As basic RRT, but also updates region edge connectivity information.

Reimplemented from BasicRRTStrategy.

◆ AddNode()

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

overrideprotectedvirtual

As basic RRT, but also updates coverage information.

Reimplemented from BasicRRTStrategy.

◆ ComputeFreeVolumes()

void Syclop::ComputeFreeVolumes ( )

protected

Estimate the free volume of each region.

Todo:: Remove dependence on magic XML values.

See also: Formula taken from reference: http://mathworld.wolfram.com/Tetrahedron.html

◆ Conn()

size_t Syclop::Conn	(	const WorkspaceRegion *const	_r1,
		const WorkspaceRegion *const	_r2
	)

protected

Estimate the progress made in connecting _r1 to _r2.

◆ Cost() [1/2]

double Syclop::Cost ( const WorkspacePortal & _p )

protected

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

◆ Cost() [2/2]

double Syclop::Cost	(	const WorkspaceRegion *const	_r1,
		const WorkspaceRegion *const	_r2
	)

protected

Compute the edge weight in the region graph from _r1 to _r2.

◆ DiscreteLead()

std::vector< typename Syclop::VID > Syclop::DiscreteLead ( )

protected

Compute a high-level plan (a sequence of regions).

◆ Extend()

Syclop::VID Syclop::Extend	(	const VID	_nearVID,
		const Cfg &	_qRand,
		LPOutput &	_lp,
		const bool	_requireNew = `true`
	)

overrideprotectedvirtual

As basic RRT, but also logs extension attempts.

Reimplemented from BasicRRTStrategy.

◆ FindAvailableRegions()

void Syclop::FindAvailableRegions ( std::vector< VID > _lead )

protected

Compute a set of potential regions from the discrete lead.

◆ FindNearestNeighbor()

Syclop::VID Syclop::FindNearestNeighbor	(	const Cfg &	_cfg,
		const VertexSet *const	_candidates = `nullptr`
	)

overrideprotectedvirtual

As basic RRT, but picks nearest neighbor from only the available regions.

Reimplemented from BasicRRTStrategy.

◆ Initialize()

void Syclop::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.

◆ Sel()

size_t Syclop::Sel	(	const WorkspaceRegion *const	_r1,
		const WorkspaceRegion *const	_r2
	)

protected

Count the number of times that _r1 and _r2 have been selected as part of a discrete lead.

◆ SelectRegion()

const WorkspaceRegion * Syclop::SelectRegion ( )

protected

Select a region from a set of available regions.

Field Documentation

◆ m_availableRegions

std::set<const WorkspaceRegion*> Syclop::m_availableRegions

protected

The currently available regions.

◆ m_currentLeadUses

size_t Syclop::m_currentLeadUses {0}

protected

◆ m_currentRegion

const WorkspaceRegion* Syclop::m_currentRegion {nullptr}

protected

◆ m_currentRegionUses

size_t Syclop::m_currentRegionUses {0}

protected

◆ m_freeVolumeSampler

std::string Syclop::m_freeVolumeSampler {"UniformRandom"}

protected

◆ m_freeVolumeVcLabel

std::string Syclop::m_freeVolumeVcLabel {"pqp_solid"}

protected

◆ m_improvement

bool Syclop::m_improvement {false}

protected

Have we improved the map w/ current region?

◆ m_maxLeadUses

size_t Syclop::m_maxLeadUses {6}

protected

◆ m_maxRegionUses

size_t Syclop::m_maxRegionUses {6}

protected

◆ m_regionData

std::map<const WorkspaceRegion*, RegionData> Syclop::m_regionData

protected

Holds extra data associated with the regions.

◆ m_regionPairData

std::map<std::pair<const WorkspaceRegion*, const WorkspaceRegion*>, RegionPairData> Syclop::m_regionPairData

protected

Holds extra data associated with region pairs.

◆ m_tmLabel

std::string Syclop::m_tmLabel

protected

The topological map label.

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

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

Data Structures

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ RoadmapType

◆ VertexSet

◆ VID

◆ WeightType

Constructor & Destructor Documentation

◆ Syclop() [1/2]

◆ Syclop() [2/2]

◆ ~Syclop()

Member Function Documentation

◆ AddEdge()

◆ AddNode()

◆ ComputeFreeVolumes()

◆ Conn()

◆ Cost() [1/2]

◆ Cost() [2/2]

◆ DiscreteLead()

◆ Extend()

◆ FindAvailableRegions()

◆ FindNearestNeighbor()

◆ Initialize()

◆ Sel()

◆ SelectRegion()

Field Documentation

◆ m_availableRegions

◆ m_currentLeadUses

◆ m_currentRegion

◆ m_currentRegionUses

◆ m_freeVolumeSampler

◆ m_freeVolumeVcLabel

◆ m_improvement

◆ m_maxLeadUses

◆ m_maxRegionUses

◆ m_regionData

◆ m_regionPairData

◆ m_tmLabel