rl::plan::PrmUtilityGuided Class Reference

Probabilistic Roadmaps with 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 ::std::mt19937::result_type &value)
bool	solve ()
	Find collision free path. More...
Public Member Functions inherited from rl::plan::Prm
	Prm ()
virtual	~Prm ()
NearestNeighbors *	getNearestNeighbors () const
::std::size_t	getNumEdges () const
::std::size_t	getNumVertices () const
VectorList	getPath ()
	Get solution path. More...
void	reset ()
	Reset planner. More...
void	setNearestNeighbors (NearestNeighbors *nearestNeighbors)
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...
::std::uniform_real_distribution< ::rl::math::Real >::result_type	rand ()

Private Attributes
::std::size_t	numNeighbors
::std::size_t	numSamples
::std::uniform_real_distribution< ::rl::math::Real >	randDistribution
::std::mt19937	randEngine
::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...
::rl::math::Real	radius
	Maximum radius for connecting neighbors. More...
Sampler *	sampler
Verifier *	verifier
Public Attributes inherited from rl::plan::Planner
::std::chrono::steady_clock::duration	duration
	Upper bound for search. 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 ::boost::graph_traits< Graph >::edge_descriptor	Edge
typedef ::boost::graph_traits< Graph >::edge_iterator	EdgeIterator
typedef ::std::pair< EdgeIterator, EdgeIterator >	EdgeIteratorPair
typedef NearestNeighbors::Neighbor	Neighbor
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
Protected Member Functions inherited from rl::plan::Prm
Edge	addEdge (const Vertex &u, const Vertex &v, const ::rl::math::Real &weight)
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
::std::chrono::steady_clock::time_point	time

Detailed Description

Probabilistic Roadmaps with Utility-Guided Sampling.

Brendan Burns and Oliver Brock. Toward optimal configuration space sampling. In Proceedings of the Robotics Science and Systems Conference, Cambridge, MA, USA, June 2005.

http://www.roboticsproceedings.org/rss01/p15.pdf

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.

rand()

std::uniform_real_distribution<::rl::math::Real >::result_type rl::plan::PrmUtilityGuided::rand ( )

private

seed()

void rl::plan::PrmUtilityGuided::seed

(

const ::std::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

randDistribution

::std::uniform_real_distribution< ::rl::math::Real> rl::plan::PrmUtilityGuided::randDistribution

private

randEngine

::std::mt19937 rl::plan::PrmUtilityGuided::randEngine

private

samples

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

private

variance

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

private

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

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