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Syclop.h
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34 
35 /* Author: Matt Maly */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOP_
38 #define OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOP_
39 
40 #include <boost/graph/astar_search.hpp>
41 #include <boost/graph/graph_traits.hpp>
42 #include <boost/graph/adjacency_list.hpp>
43 #include <boost/unordered_map.hpp>
44 #include "ompl/control/planners/PlannerIncludes.h"
45 #include "ompl/control/planners/syclop/Decomposition.h"
46 #include "ompl/control/planners/syclop/GridDecomposition.h"
47 #include "ompl/datastructures/PDF.h"
48 #include <map>
49 #include <vector>
50 
51 namespace ompl
52 {
53  namespace control
54  {
70  class Syclop : public base::Planner
71  {
72  public:
88  typedef boost::function<double(int, int)> EdgeCostFactorFn;
89 
91  typedef boost::function<void(int, int, std::vector<int>&)> LeadComputeFn;
92 
94  Syclop(const SpaceInformationPtr& si, const DecompositionPtr &d, const std::string& plannerName) : ompl::base::Planner(si, plannerName),
95  numFreeVolSamples_(Defaults::NUM_FREEVOL_SAMPLES),
96  probShortestPath_(Defaults::PROB_SHORTEST_PATH),
97  probKeepAddingToAvail_(Defaults::PROB_KEEP_ADDING_TO_AVAIL),
98  numRegionExpansions_(Defaults::NUM_REGION_EXPANSIONS),
99  numTreeSelections_(Defaults::NUM_TREE_SELECTIONS),
100  probAbandonLeadEarly_(Defaults::PROB_ABANDON_LEAD_EARLY),
101  siC_(si.get()),
102  decomp_(d),
103  covGrid_(Defaults::COVGRID_LENGTH, decomp_),
104  graphReady_(false),
105  numMotions_(0)
106  {
108 
109  Planner::declareParam<int> ("free_volume_samples", this, &Syclop::setNumFreeVolumeSamples, &Syclop::getNumFreeVolumeSamples);
110  Planner::declareParam<int> ("num_region_expansions", this, &Syclop::setNumRegionExpansions, &Syclop::getNumRegionExpansions);
111  Planner::declareParam<int> ("num_tree_expansions", this, &Syclop::setNumTreeExpansions, &Syclop::getNumTreeExpansions);
112  Planner::declareParam<double>("prob_abandon_lead_early", this, &Syclop::setProbAbandonLeadEarly, &Syclop::getProbAbandonLeadEarly);
113  Planner::declareParam<double>("prob_add_available_regions", this, &Syclop::setProbAddingToAvailableRegions, &Syclop::getProbAddingToAvailableRegions);
114  Planner::declareParam<double>("prob_shortest_path_lead", this, &Syclop::setProbShortestPathLead, &Syclop::getProbShortestPathLead);
115  }
116 
117  virtual ~Syclop()
118  {
119  }
120 
123 
124  virtual void setup(void);
125 
126  virtual void clear(void);
127 
132 
135 
137  void setLeadComputeFn(const LeadComputeFn& compute);
138 
140  void addEdgeCostFactor(const EdgeCostFactorFn& factor);
141 
143  void clearEdgeCostFactors(void);
144 
146  int getNumFreeVolumeSamples (void) const
147  {
148  return numFreeVolSamples_;
149  }
150 
153  void setNumFreeVolumeSamples (int numSamples)
154  {
155  numFreeVolSamples_ = numSamples;
156  }
157 
160  double getProbShortestPathLead (void) const
161  {
162  return probShortestPath_;
163  }
164 
167  void setProbShortestPathLead (double probability)
168  {
169  probShortestPath_ = probability;
170  }
171 
175  {
176  return probKeepAddingToAvail_;
177  }
178 
181  void setProbAddingToAvailableRegions (double probability)
182  {
183  probKeepAddingToAvail_ = probability;
184  }
185 
188  int getNumRegionExpansions (void) const
189  {
190  return numRegionExpansions_;
191  }
192 
195  void setNumRegionExpansions (int regionExpansions)
196  {
197  numRegionExpansions_ = regionExpansions;
198  }
199 
202  int getNumTreeExpansions (void) const
203  {
204  return numTreeSelections_;
205  }
206 
209  void setNumTreeExpansions (int treeExpansions)
210  {
211  numTreeSelections_ = treeExpansions;
212  }
213 
216  double getProbAbandonLeadEarly (void) const
217  {
218  return probAbandonLeadEarly_;
219  }
220 
223  void setProbAbandonLeadEarly (double probability)
224  {
225  probAbandonLeadEarly_ = probability;
226  }
228 
230  struct Defaults
231  {
232  static const int NUM_FREEVOL_SAMPLES = 100000;
233  static const int COVGRID_LENGTH = 128;
234  static const int NUM_REGION_EXPANSIONS = 100;
235  static const int NUM_TREE_SELECTIONS = 1;
236  // C++ standard prohibits non-integral static const member initialization
237  // These constants are set in Syclop.cpp. C++11 standard changes this
238  // with the constexpr keyword, but for compatibility this is not done.
239  static const double PROB_ABANDON_LEAD_EARLY /*= 0.25*/;
240  static const double PROB_KEEP_ADDING_TO_AVAIL /*= 0.50*/;
241  static const double PROB_SHORTEST_PATH /*= 0.95*/;
242  };
243 
244  protected:
245 
246  #pragma pack(push, 4) // push default byte alignment to stack and align the following structure to 4 byte boundary
247 
251  class Motion
252  {
253  public:
254  Motion(void) : state(NULL), control(NULL), parent(NULL), steps(0)
255  {
256  }
258  Motion(const SpaceInformation* si) : state(si->allocState()), control(si->allocControl()), parent(NULL), steps(0)
259  {
260  }
261  virtual ~Motion(void)
262  {
263  }
269  const Motion* parent;
271  unsigned int steps;
272  };
273  #pragma pack (pop) // Restoring default byte alignment
274 
275  #pragma pack(push, 4) // push default byte alignment to stack and align the following structure to 4 byte boundary
276 
277  class Region
278  {
279  public:
280  Region(void)
281  {
282  }
283  virtual ~Region(void)
284  {
285  }
287  void clear(void)
288  {
289  motions.clear();
290  covGridCells.clear();
291  }
292 
294  std::set<int> covGridCells;
296  std::vector<Motion*> motions;
298  double volume;
300  double freeVolume;
304  double weight;
306  double alpha;
308  int index;
310  unsigned int numSelections;
313  };
314  #pragma pack (pop) // Restoring default byte alignment
315 
316  #pragma pack(push, 4) // push default byte alignment to stack and align the following structure to 4 byte boundary
317 
319  class Adjacency
320  {
321  public:
322  Adjacency(void)
323  {
324  }
325  virtual ~Adjacency(void)
326  {
327  }
329  void clear(void)
330  {
331  covGridCells.clear();
332  }
335  std::set<int> covGridCells;
337  const Region* source;
339  const Region* target;
341  double cost;
348  bool empty;
349  };
350  #pragma pack (pop) // Restoring default byte alignment
351 
353  virtual Motion* addRoot(const base::State* s) = 0;
354 
357  virtual void selectAndExtend(Region& region, std::vector<Motion*>& newMotions) = 0;
358 
360  inline const Region& getRegionFromIndex(const int rid) const
361  {
362  return graph_[boost::vertex(rid,graph_)];
363  }
364 
367 
370 
373 
376 
379 
382 
385 
388 
391 
392  private:
395  class CoverageGrid : public GridDecomposition
396  {
397  public:
398  CoverageGrid(const int len, const DecompositionPtr& d) : GridDecomposition(len, d->getDimension(), d->getBounds()), decomp(d)
399  {
400  }
401 
402  virtual ~CoverageGrid()
403  {
404  }
405 
408  virtual void project(const base::State* s, std::vector<double>& coord) const
409  {
410  decomp->project(s, coord);
411  }
412 
414  virtual void sampleFullState(const base::StateSamplerPtr& /*sampler*/, const std::vector<double>& /*coord*/, base::State* /*s*/) const
415  {
416  }
417 
418  protected:
419  const DecompositionPtr& decomp;
420  };
421 
422  typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::directedS, Region, Adjacency> RegionGraph;
423  typedef boost::graph_traits<RegionGraph>::vertex_descriptor Vertex;
424  typedef boost::graph_traits<RegionGraph>::vertex_iterator VertexIter;
425  typedef boost::property_map<RegionGraph, boost::vertex_index_t>::type VertexIndexMap;
426  typedef boost::graph_traits<RegionGraph>::edge_iterator EdgeIter;
427 
429  friend class DecompositionHeuristic;
430 
431  class DecompositionHeuristic : public boost::astar_heuristic<RegionGraph, double>
432  {
433  public:
434  DecompositionHeuristic(const Syclop* s, const Region& goal) : syclop(s), goalRegion(goal)
435  {
436  }
437 
438  double operator()(Vertex v)
439  {
440  const Region& region = syclop->getRegionFromIndex(v);
441  return region.alpha*goalRegion.alpha;
442  }
443  private:
444  const Syclop* syclop;
445  const Region& goalRegion;
446  };
447 
448  struct found_goal {};
449 
450  class GoalVisitor : public boost::default_astar_visitor
451  {
452  public:
453  GoalVisitor(const unsigned int goal) : goalRegion(goal)
454  {
455  }
456  void examine_vertex(Vertex v, const RegionGraph& /*g*/)
457  {
458  if (v == goalRegion)
459  throw found_goal();
460  }
461  private:
462  const unsigned int goalRegion;
463  };
465 
467  class RegionSet
468  {
469  public:
470  int sampleUniform(void)
471  {
472  if (empty())
473  return -1;
474  return regions.sample(rng.uniform01());
475  }
476  void insert(const int r)
477  {
478  if (regToElem.count(r) == 0)
479  regToElem[r] = regions.add(r, 1);
480  else
481  {
482  PDF<int>::Element* elem = regToElem[r];
483  regions.update(elem, regions.getWeight(elem)+1);
484  }
485  }
486  void clear(void)
487  {
488  regions.clear();
489  regToElem.clear();
490  }
491  std::size_t size(void) const
492  {
493  return regions.size();
494  }
495  bool empty() const
496  {
497  return regions.empty();
498  }
499  private:
500  RNG rng;
501  PDF<int> regions;
502  boost::unordered_map<const int, PDF<int>::Element*> regToElem;
503  };
505 
507  void initRegion(Region& r);
508 
510  void setupRegionEstimates(void);
511 
513  void updateRegion(Region& r);
514 
516  void initEdge(Adjacency& a, const Region* source, const Region* target);
517 
519  void setupEdgeEstimates(void);
520 
522  void updateEdge(Adjacency& a);
523 
526  bool updateCoverageEstimate(Region& r, const base::State* s);
527 
530  bool updateConnectionEstimate(const Region& c, const Region& d, const base::State* s);
531 
534  void buildGraph(void);
535 
537  void clearGraphDetails(void);
538 
540  int selectRegion(void);
541 
543  void computeAvailableRegions(void);
544 
546  void defaultComputeLead(int startRegion, int goalRegion, std::vector<int>& lead);
547 
549  double defaultEdgeCost(int r, int s);
550 
552  LeadComputeFn leadComputeFn;
554  std::vector<int> lead_;
556  PDF<int> availDist_;
558  std::vector<EdgeCostFactorFn> edgeCostFactors_;
560  CoverageGrid covGrid_;
562  RegionGraph graph_;
564  bool graphReady_;
566  boost::unordered_map<std::pair<int,int>, Adjacency*> regionsToEdge_;
568  unsigned int numMotions_;
570  RegionSet startRegions_;
572  RegionSet goalRegions_;
573  };
574  }
575 }
576 
577 #endif
bool approximateSolutions
Flag indicating whether the planner is able to compute approximate solutions.
Definition: Planner.h:212
Planner(const SpaceInformationPtr &si, const std::string &name)
Constructor.
Definition: Planner.cpp:43
Synergistic Combination of Layers of Planning.
Definition: Syclop.h:70
double alpha
The coefficient contributed by this region to edge weights in lead computations.
Definition: Syclop.h:306
base::State * state
The state contained by the motion.
Definition: Syclop.h:265
Representation of an adjacency (a directed edge) between two regions in the Decomposition assigned to...
Definition: Syclop.h:319
std::set< int > covGridCells
The cells of the underlying coverage grid that contain tree motions from this region.
Definition: Syclop.h:294
int numLeadInclusions
The number of times this adjacency has been included in a lead.
Definition: Syclop.h:343
int numSelections
The number of times the low-level tree planner has selected motions from the source region when attem...
Definition: Syclop.h:346
Definition of an abstract control.
Definition: Control.h:48
int index
The index of the graph node corresponding to this region.
Definition: Syclop.h:308
RNG rng_
Random number generator.
Definition: Syclop.h:390
PDF< int >::Element * pdfElem
The Element corresponding to this region in the PDF of available regions.
Definition: Syclop.h:312
A boost shared pointer wrapper for ompl::base::StateSampler.
double volume
The volume of this region.
Definition: Syclop.h:298
Representation of a region in the Decomposition assigned to Syclop.
Definition: Syclop.h:277
Motion(const SpaceInformation *si)
Constructor that allocates memory for the state and the control.
Definition: Syclop.h:258
std::vector< Motion * > motions
The tree motions contained in this region.
Definition: Syclop.h:296
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
const SpaceInformation * siC_
Handle to the control::SpaceInformation object.
Definition: Syclop.h:384
DecompositionPtr decomp_
The high level decomposition used to focus tree expansion.
Definition: Syclop.h:387
A GridDecomposition is a Decomposition implemented using a grid.
Representation of a motion.
Definition: Syclop.h:251
void clearEdgeCostFactors(void)
Clears all edge cost factors, making all edge weights equivalent to 1.
Definition: Syclop.cpp:220
void clear(void)
Clears motions and coverage information from this region.
Definition: Syclop.h:287
int numTreeSelections_
The number of calls to selectAndExtend() in the low-level tree planner for a given lead and region...
Definition: Syclop.h:378
virtual void setup(void)
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: Syclop.cpp:48
Control * control
The control contained by the motion.
Definition: Syclop.h:267
int numRegionExpansions_
The number of times a new region will be chosen and promoted for expansion from a given lead...
Definition: Syclop.h:375
boost::function< void(int, int, std::vector< int > &)> LeadComputeFn
Leads should consist of a path of adjacent regions in the decomposition that start with the start reg...
Definition: Syclop.h:91
A container that supports probabilistic sampling over weighted data.
Definition: PDF.h:48
int getNumRegionExpansions(void) const
Get the number of times a new region will be chosen and promoted for expansion from a given lead...
Definition: Syclop.h:188
const Region & getRegionFromIndex(const int rid) const
Returns a reference to the Region object with the given index. Assumes the index is valid...
Definition: Syclop.h:360
virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc)
Continues solving until a solution is found or a given planner termination condition is met...
Definition: Syclop.cpp:67
Syclop(const SpaceInformationPtr &si, const DecompositionPtr &d, const std::string &plannerName)
Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.
Definition: Syclop.h:94
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:54
double getProbShortestPathLead(void) const
Get the probability [0,1] that a lead will be computed as a shortest-path instead of a random-DFS...
Definition: Syclop.h:160
Base class for a planner.
Definition: Planner.h:227
virtual void clear(void)
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: Syclop.cpp:57
void addEdgeCostFactor(const EdgeCostFactorFn &factor)
Adds an edge cost factor to be used for edge weights between adjacent regions.
Definition: Syclop.cpp:215
bool empty
This value is true if and only if this adjacency's source and target regions both contain zero tree m...
Definition: Syclop.h:348
std::set< int > covGridCells
The cells of the underlying coverage grid that contain tree motions originating from direct connectio...
Definition: Syclop.h:335
const Region * source
The source region of this adjacency edge.
Definition: Syclop.h:337
void setProbAbandonLeadEarly(double probability)
The probability that a lead will be abandoned early, before a new region is chosen for expansion...
Definition: Syclop.h:223
double getProbAddingToAvailableRegions(void) const
Get the probability [0,1] that the set of available regions will be augmented.
Definition: Syclop.h:174
double cost
The cost of this adjacency edge, used in lead computations.
Definition: Syclop.h:341
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
const Region * target
The target region of this adjacency edge.
Definition: Syclop.h:339
double getProbAbandonLeadEarly(void) const
Get the probability [0,1] that a lead will be abandoned early, before a new region is chosen for expa...
Definition: Syclop.h:216
void clear(void)
Clears coverage information from this adjacency.
Definition: Syclop.h:329
boost::function< double(int, int)> EdgeCostFactorFn
Each edge weight between two adjacent regions in the Decomposition is defined as a product of edge co...
Definition: Syclop.h:88
Definition of an abstract state.
Definition: State.h:50
double percentValidCells
The percent of free volume of this region.
Definition: Syclop.h:302
A boost shared pointer wrapper for ompl::control::SpaceInformation.
virtual void project(const base::State *s, std::vector< double > &coord) const =0
Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition...
PlannerSpecs specs_
The specifications of the planner (its capabilities)
Definition: Planner.h:404
double probShortestPath_
The probability that a lead will be computed as a shortest-path instead of a random-DFS.
Definition: Syclop.h:369
Contains default values for Syclop parameters.
Definition: Syclop.h:230
void setLeadComputeFn(const LeadComputeFn &compute)
Allows the user to override the lead computation function.
Definition: Syclop.cpp:210
unsigned int numSelections
The number of times this region has been selected for expansion.
Definition: Syclop.h:310
void setNumFreeVolumeSamples(int numSamples)
Set the number of states to sample when estimating free volume in the Decomposition.
Definition: Syclop.h:153
void setProbShortestPathLead(double probability)
Set the probability [0,1] that a lead will be computed as a shortest-path instead of a random-DFS...
Definition: Syclop.h:167
int getNumFreeVolumeSamples(void) const
Get the number of states to sample when estimating free volume in the Decomposition.
Definition: Syclop.h:146
double probKeepAddingToAvail_
The probability that the set of available regions will be augmented.
Definition: Syclop.h:372
int getNumTreeExpansions(void) const
Get the number of calls to selectAndExtend() in the low-level tree planner for a given lead and regio...
Definition: Syclop.h:202
virtual void selectAndExtend(Region &region, std::vector< Motion * > &newMotions)=0
Select a Motion from the given Region, and extend the tree from the Motion. Add any new motions creat...
A boost shared pointer wrapper for ompl::control::Decomposition.
const Motion * parent
The parent motion in the tree.
Definition: Syclop.h:269
double freeVolume
The free volume of this region.
Definition: Syclop.h:300
Space information containing necessary information for planning with controls. setup() needs to be ca...
int numFreeVolSamples_
The number of states to sample to estimate free volume in the Decomposition.
Definition: Syclop.h:366
void setNumTreeExpansions(int treeExpansions)
Set the number of calls to selectAndExtend() in the low-level tree planner for a given lead and regio...
Definition: Syclop.h:209
double probAbandonLeadEarly_
The probability that a lead will be abandoned early, before a new region is chosen for expansion...
Definition: Syclop.h:381
void setNumRegionExpansions(int regionExpansions)
Set the number of times a new region will be chosen and promoted for expansion from a given lead...
Definition: Syclop.h:195
double weight
The probabilistic weight of this region, used when sampling from PDF.
Definition: Syclop.h:304
virtual Motion * addRoot(const base::State *s)=0
Add State s as a new root in the low-level tree, and return the Motion corresponding to s...
void setProbAddingToAvailableRegions(double probability)
Set the probability [0,1] that the set of available regions will be augmented.
Definition: Syclop.h:181
unsigned int steps
The number of steps for which the control is applied.
Definition: Syclop.h:271