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Lightning.cpp
44ompl::tools::Lightning::Lightning(const base::SpaceInformationPtr &si) : ompl::tools::ExperienceSetup(si)
49ompl::tools::Lightning::Lightning(const base::StateSpacePtr &space) : ompl::tools::ExperienceSetup(space)
123// we provide a duplicate implementation here to allow the planner to choose how the time is turned into a planner
125ompl::base::PlannerStatus ompl::tools::Lightning::solve(const base::PlannerTerminationCondition &ptc)
165 OMPL_ERROR("Lightning Solve: Unknown failure, planner status: %s", lastStatus_.asString().c_str());
181 OMPL_INFORM("Solution path has %d states and was generated from planner %s", solutionPath.getStateCount(),
226 ob::PlannerDataPtr chosenRecallPathData = getLightningRetrieveRepairPlanner().getChosenRecallPath();
238 OMPL_INFORM("NOT saving to database because best solution was from database and is too similar "
399void ompl::tools::Lightning::getAllPlannerDatas(std::vector<ob::PlannerDataPtr> &plannerDatas) const
404void ompl::tools::Lightning::convertPlannerData(const ob::PlannerDataPtr &plannerData, og::PathGeometric &path)
411bool ompl::tools::Lightning::reversePathIfNecessary(og::PathGeometric &path1, og::PathGeometric &path2)
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition PlannerTerminationCondition.h:64
std::size_t getStateCount() const
Get the number of states (way-points) that make up this path.
Definition PathGeometric.h:260
base::State * getState(unsigned int index)
Get the state located at index along the path.
Definition PathGeometric.h:248
PathGeometric & getSolutionPath() const
Get the solution path. Throw an exception if no solution is available.
Definition SimpleSetup.cpp:208
bool haveExactSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful) and the solutio...
Definition SimpleSetup.h:141
const std::string getSolutionPlannerName() const
Get the best solution's planer name. Throw an exception if no solution is available.
Definition SimpleSetup.cpp:194
bool configured_
Flag indicating whether the classes needed for planning are set up.
Definition SimpleSetup.h:297
void simplifySolution(double duration=0.0)
Attempt to simplify the current solution path. Spent at most duration seconds in the simplification p...
Definition SimpleSetup.cpp:171
void convertLogToString(const ExperienceLog &log)
Move data to string format and put in buffer.
Definition ExperienceSetup.cpp:73
bool recallEnabled_
Flag indicating whether recalled plans should be used to find solutions. Enabled by default.
Definition ExperienceSetup.h:196
bool scratchEnabled_
Flag indicating whether planning from scratch should be used to find solutions. Enabled by default.
Definition ExperienceSetup.h:199
ExperienceSetup(const base::SpaceInformationPtr &si)
Constructor needs the state space used for planning.
Definition ExperienceSetup.cpp:42
ompl::tools::LightningDBPtr experienceDB_
A shared object between all the planners for saving and loading previous experience.
Definition Lightning.h:210
std::size_t getExperiencesCount() const override
Get the total number of paths stored in the database.
Definition Lightning.cpp:394
ompl::geometric::LightningRetrieveRepair & getLightningRetrieveRepairPlanner() const
Get a pointer to the retrieve repair planner.
Definition Lightning.h:125
void clear() override
Clear all planning data. This only includes data generated by motion plan computation....
Definition Lightning.cpp:109
void printLogs(std::ostream &out=std::cout) const override
Display debug data about overall results from Lightning since being loaded.
Definition Lightning.cpp:371
bool saveIfChanged() override
Save the experience database to file if there has been a change.
Definition Lightning.cpp:330
void getAllPlannerDatas(std::vector< ompl::base::PlannerDataPtr > &plannerDatas) const override
Get a vector of all the planning data in the database.
Definition Lightning.cpp:399
ompl::tools::ParallelPlanPtr pp_
Instance of parallel planning to use for computing solutions in parallel.
Definition Lightning.h:207
void printResultsInfo(std::ostream &out=std::cout) const override
Display debug data about potential available solutions.
Definition Lightning.cpp:340
bool reversePathIfNecessary(ompl::geometric::PathGeometric &path1, ompl::geometric::PathGeometric &path2)
If path1 and path2 have a better start/goal match when reverse, then reverse path2.
Definition Lightning.cpp:411
void setup() override
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition Lightning.cpp:68
void convertPlannerData(const ompl::base::PlannerDataPtr &plannerData, ompl::geometric::PathGeometric &path)
Convert PlannerData to PathGeometric. Assume ordering of vertices is order of path.
Definition Lightning.cpp:404
base::PlannerStatus solve(double time=1.0) override
Run the planner for up to a specified amount of time (default is 1 second)
Definition Lightning.cpp:314
void print(std::ostream &out=std::cout) const override
Print information about the current setup.
Definition Lightning.cpp:350
Lightning(const base::SpaceInformationPtr &si)
Constructor needs the state space used for planning.
Definition Lightning.cpp:44
ompl::tools::DynamicTimeWarpPtr dtw_
Tool for comparing two paths and scoring them.
Definition Lightning.h:213
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
PlannerTerminationCondition timedPlannerTerminationCondition(double duration)
Return a termination condition that will become true duration seconds in the future (wall-time)
Definition PlannerTerminationCondition.cpp:216
This namespace contains code that is specific to planning under geometric constraints.
Definition GeneticSearch.h:48
duration seconds(double sec)
Return the time duration representing a given number of seconds.
Definition Time.h:64
Includes various tools such as self config, benchmarking, etc.
Definition LightningRetrieveRepair.h:48
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66
A class to store the exit status of Planner::solve()
Definition PlannerStatus.h:49
Single entry for the csv data logging file.
Definition ExperienceSetup.h:102