rl::plan::PrmUtilityGuided Class Reference

Probabilistic Roadmap using Utility-Guided Sampling. More...

#include <PrmUtilityGuided.h>

Inheritance diagram for rl::plan::PrmUtilityGuided:

Classes
struct	CompareSample
	A compare structure for nearest neighbor sorting. More...
class	Sample

Public Member Functions
	PrmUtilityGuided ()
virtual	~PrmUtilityGuided ()
void	construct (const ::std::size_t &steps)
::std::string	getName () const
void	seed (const ::boost::mt19937::result_type &value)
bool	solve ()
	Find collision free path. More...
Public Member Functions inherited from rl::plan::Prm
	Prm ()
virtual	~Prm ()
::std::size_t	getNumEdges () const
::std::size_t	getNumVertices () const
void	getPath (VectorList &path)
	Get solution path. More...
void	reset ()
	Reset planner. More...
Public Member Functions inherited from rl::plan::Planner
	Planner ()
virtual	~Planner ()
bool	verify ()
	Vertify that start and goal configuration are within joint limits and collision free. More...

Private Member Functions
void	generateEntropyGuidedSample (::rl::math::Vector &q)
	Samples a point near the middle (+/- variance) of two random nodes from unconnected components of the graph. More...
::rl::math::Real	getFreeProbability (const Sample &sample)
	Get an estimated probability that a sample is not colliding with the scene. More...

Private Attributes
::std::size_t	numNeighbors
::std::size_t	numSamples
::boost::variate_generator< ::boost::mt19937, ::boost::uniform_real< ::rl::math::Real > >	rand
::std::vector< Sample >	samples
::rl::math::Real	variance

Additional Inherited Members
Public Attributes inherited from rl::plan::Prm
::std::size_t	degree
	Maximum degree per vertex. More...
::std::size_t	k
	Maximum number of tested neighbors. More...
bool	kd
	Use kd-tree for nearest neighbor search instead of brute-force. More...
::rl::math::Real	radius
	Maximum radius for connecting neighbors. More...
Sampler *	sampler
Verifier *	verifier
Public Attributes inherited from rl::plan::Planner
::rl::math::Real	duration
	Upper bound for search [s]. More...
::rl::math::Vector *	goal
	Goal configuration. More...
SimpleModel *	model
::rl::math::Vector *	start
	Start configuration. More...
Viewer *	viewer
Protected Types inherited from rl::plan::Prm
typedef ::boost::adjacency_list_traits< ::boost::listS, ::boost::listS, ::boost::undirectedS, ::boost::listS >::vertex_descriptor	Vertex
typedef ::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::undirectedS, VertexBundle, EdgeBundle, GraphBundle >	Graph
typedef ::std::pair< const ::rl::math::Vector *, Vertex >	QueryItem
typedef ::CGAL::Search_traits< ::rl::math::Real, QueryItem, const ::rl::math::Real *, CartesianIterator >	SearchTraits
typedef Orthogonal_k_neighbor_search< SearchTraits, Distance >	NeighborSearch
typedef NeighborSearch::Tree	NeighborSearchTree
typedef ::boost::shared_ptr< NeighborSearchTree >	NeighborSearchTreePtr
typedef ::std::vector< NeighborSearchTreePtr >	NearestNeighbors
typedef ::boost::graph_traits< Graph >::edge_descriptor	Edge
typedef ::boost::graph_traits< Graph >::edge_iterator	EdgeIterator
typedef ::std::pair< EdgeIterator, EdgeIterator >	EdgeIteratorPair
typedef ::boost::graph_traits< Graph >::vertex_iterator	VertexIterator
typedef ::std::pair< VertexIterator, VertexIterator >	VertexIteratorPair
typedef ::boost::property_map< Graph, void *VertexBundle::* >::type	VertexParentMap
typedef ::boost::property_map< Graph, ::std::size_t VertexBundle::* >::type	VertexRankMap
typedef ::std::pair< Vertex, ::rl::math::Real >	Neighbor
typedef ::std::priority_queue< Neighbor, ::std::vector< Neighbor >, Compare >	NeighborQueue
Protected Member Functions inherited from rl::plan::Prm
Edge	addEdge (const Vertex &u, const Vertex &v, const ::rl::math::Real &weight)
void	addPoint (NearestNeighbors &nn, const QueryItem &p)
Vertex	addVertex (const VectorPtr &q)
void	insert (const Vertex &vertex)
Protected Attributes inherited from rl::plan::Prm
Vertex	begin
::boost::disjoint_sets< VertexRankMap, VertexParentMap >	ds
Vertex	end
Graph	graph
Protected Attributes inherited from rl::plan::Planner
::rl::util::Timer	timer

Detailed Description

Probabilistic Roadmap using Utility-Guided Sampling.

Constructor & Destructor Documentation

PrmUtilityGuided()

rl::plan::PrmUtilityGuided::PrmUtilityGuided

(

)

~PrmUtilityGuided()

rl::plan::PrmUtilityGuided::~PrmUtilityGuided ( )

virtual

Member Function Documentation

construct()

void rl::plan::PrmUtilityGuided::construct ( const ::std::size_t &  steps )

virtual

Reimplemented from rl::plan::Prm.

generateEntropyGuidedSample()

void rl::plan::PrmUtilityGuided::generateEntropyGuidedSample ( ::rl::math::Vector &  q )

private

Samples a point near the middle (+/- variance) of two random nodes from unconnected components of the graph.

getFreeProbability()

rl::math::Real rl::plan::PrmUtilityGuided::getFreeProbability ( const Sample &  sample )

private

Get an estimated probability that a sample is not colliding with the scene.

Here we look how many of the numNeigbors nearest neighbors of the sample are colliding and return "#ofFreeNeighbors"/"#Neighbors".

getName()

std::string rl::plan::PrmUtilityGuided::getName ( ) const

virtual

Reimplemented from rl::plan::Prm.

seed()

void rl::plan::PrmUtilityGuided::seed

(

const ::boost::mt19937::result_type &

value

)

solve()

bool rl::plan::PrmUtilityGuided::solve ( )

virtual

Find collision free path.

Reimplemented from rl::plan::Prm.

Member Data Documentation

numNeighbors

::std::size_t rl::plan::PrmUtilityGuided::numNeighbors

private

numSamples

::std::size_t rl::plan::PrmUtilityGuided::numSamples

private

rand

::boost::variate_generator< ::boost::mt19937, ::boost::uniform_real< ::rl::math::Real > > rl::plan::PrmUtilityGuided::rand

private

samples

::std::vector< Sample > rl::plan::PrmUtilityGuided::samples

private

variance

::rl::math::Real rl::plan::PrmUtilityGuided::variance

private

---

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

• rl/plan/PrmUtilityGuided.h
• rl/plan/PrmUtilityGuided.cpp