rl::plan::Prm Class Reference

Probabilistic Roadmaps. More...

#include <Prm.h>

Inheritance diagram for rl::plan::Prm:

Classes
struct	EdgeBundle
struct	GraphBundle
struct	VertexBundle

Public Member Functions
	Prm ()
virtual	~Prm ()
virtual void	construct (const ::std::size_t &steps)
virtual ::std::string	getName () const
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)
bool	solve ()
	Find collision free path. 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...

Public Attributes
::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
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
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
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.

Lydia Kavraki and Jean-Claude Latombe. Randomized preprocessing of configuration space for path planning: Articulated robots. In Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, pages 1764-1771, Munich, Germany, September 1994.

http://dx.doi.org/10.1109/IROS.1994.407619

Lydia E. Kavraki, Petr Švestka, Jean-Claude Latombe, and Mark H. Overmars. Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Transactions on Robotics and Automation, 12(4):566-580, August 1996.

http://dx.doi.org/10.1109/70.508439

Member Typedef Documentation

Edge

typedef ::boost::graph_traits<Graph>::edge_descriptor rl::plan::Prm::Edge

protected

EdgeIterator

typedef ::boost::graph_traits<Graph>::edge_iterator rl::plan::Prm::EdgeIterator

protected

EdgeIteratorPair

typedef ::std::pair<EdgeIterator, EdgeIterator> rl::plan::Prm::EdgeIteratorPair

protected

Graph

typedef ::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::undirectedS, VertexBundle, EdgeBundle, GraphBundle > rl::plan::Prm::Graph

protected

Neighbor

typedef NearestNeighbors::Neighbor rl::plan::Prm::Neighbor

protected

Vertex

typedef ::boost::adjacency_list_traits< ::boost::listS, ::boost::listS, ::boost::undirectedS, ::boost::listS >::vertex_descriptor rl::plan::Prm::Vertex

protected

VertexIterator

typedef ::boost::graph_traits<Graph>::vertex_iterator rl::plan::Prm::VertexIterator

protected

VertexIteratorPair

typedef ::std::pair<VertexIterator, VertexIterator> rl::plan::Prm::VertexIteratorPair

protected

VertexParentMap

typedef ::boost::property_map<Graph, void* VertexBundle::*>::type rl::plan::Prm::VertexParentMap

protected

VertexRankMap

typedef ::boost::property_map<Graph, ::std::size_t VertexBundle::*>::type rl::plan::Prm::VertexRankMap

protected

Constructor & Destructor Documentation

Prm()

rl::plan::Prm::Prm

(

)

~Prm()

rl::plan::Prm::~Prm ( )

virtual

Member Function Documentation

addEdge()

Prm::Edge rl::plan::Prm::addEdge ( const Vertex &  u, const Vertex &  v, const ::rl::math::Real &  weight  )

protected

addVertex()

Prm::Vertex rl::plan::Prm::addVertex ( const VectorPtr &  q )

protected

construct()

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

virtual

Reimplemented in rl::plan::PrmUtilityGuided.

getName()

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

virtual

Implements rl::plan::Planner.

Reimplemented in rl::plan::PrmUtilityGuided.

getNearestNeighbors()

NearestNeighbors * rl::plan::Prm::getNearestNeighbors

(

)

const

getNumEdges()

std::size_t rl::plan::Prm::getNumEdges

(

)

const

getNumVertices()

std::size_t rl::plan::Prm::getNumVertices

(

)

const

getPath()

VectorList rl::plan::Prm::getPath ( )

virtual

Get solution path.

Precondition

solve()

Implements rl::plan::Planner.

insert()

void rl::plan::Prm::insert ( const Vertex &  vertex )

protected

reset()

void rl::plan::Prm::reset ( )

virtual

Reset planner.

Implements rl::plan::Planner.

setNearestNeighbors()

void rl::plan::Prm::setNearestNeighbors

(

NearestNeighbors *

nearestNeighbors

)

solve()

bool rl::plan::Prm::solve ( )

virtual

Find collision free path.

Implements rl::plan::Planner.

Reimplemented in rl::plan::PrmUtilityGuided.

Member Data Documentation

begin

Vertex rl::plan::Prm::begin

protected

degree

::std::size_t rl::plan::Prm::degree

Maximum degree per vertex.

ds

::boost::disjoint_sets<VertexRankMap, VertexParentMap> rl::plan::Prm::ds

protected

end

Vertex rl::plan::Prm::end

protected

graph

Graph rl::plan::Prm::graph

protected

k

::std::size_t rl::plan::Prm::k

Maximum number of tested neighbors.

radius

::rl::math::Real rl::plan::Prm::radius

Maximum radius for connecting neighbors.

sampler

Sampler* rl::plan::Prm::sampler

verifier

Verifier* rl::plan::Prm::verifier

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

• rl/plan/Prm.h
• rl/plan/Prm.cpp