A planner for generating system trajectories to satisfy a logical specification given by an automaton, the propositions of which are defined over a decomposition of the system's state space. More...
#include <ompl/control/planners/ltl/LTLPlanner.h>

Classes | |
struct | Motion |
Representation of a motion. More... | |
struct | ProductGraphStateInfo |
A structure to hold measurement information for a high-level state, as well as the set of tree motions belonging to that high-level state. Exactly one ProductGraphStateInfo will exist for each ProductGraph::State. More... | |
Public Member Functions | |
LTLPlanner (const LTLSpaceInformationPtr &si, ProductGraphPtr a, double exploreTime=0.5) | |
Create an LTLPlanner with a given space and product graph. Accepts an optional third parameter to control how much time is spent promoting low-level tree exploration along a given high-level lead. | |
~LTLPlanner () override | |
Clears all memory belonging to this LTLPlanner . | |
void | getTree (std::vector< base::State * > &tree) const |
Helper debug method to access this planner's underlying tree of states. | |
std::vector< ProductGraph::State * > | getHighLevelPath (const std::vector< base::State * > &path, ProductGraph::State *start=nullptr) const |
Helper debug method to return the sequence of high-level product graph states corresponding to a sequence of low-level continous system states, beginning from an optional initial high-level state. | |
ompl::base::Planner Interface | |
void | setup () override |
Initializes LTLPlanner data structures. | |
void | clear () override |
Clears all datastructures belonging to this LTLPlanner. | |
base::PlannerStatus | solve (const base::PlannerTerminationCondition &ptc) override |
Continues solving until a solution is found or a given planner termination condition is met. Returns true if a solution was found. | |
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Planner (const Planner &)=delete | |
Planner & | operator= (const Planner &)=delete |
Planner (SpaceInformationPtr si, std::string name) | |
Constructor. | |
virtual | ~Planner ()=default |
Destructor. | |
template<class T > | |
T * | as () |
Cast this instance to a desired type. | |
template<class T > | |
const T * | as () const |
Cast this instance to a desired type. | |
const SpaceInformationPtr & | getSpaceInformation () const |
Get the space information this planner is using. | |
const ProblemDefinitionPtr & | getProblemDefinition () const |
Get the problem definition the planner is trying to solve. | |
ProblemDefinitionPtr & | getProblemDefinition () |
Get the problem definition the planner is trying to solve. | |
const PlannerInputStates & | getPlannerInputStates () const |
Get the planner input states. | |
virtual void | setProblemDefinition (const ProblemDefinitionPtr &pdef) |
Set the problem definition for the planner. The problem needs to be set before calling solve(). Note: If this problem definition replaces a previous one, it may also be necessary to call clear() or clearQuery(). | |
virtual PlannerStatus | solve (const PlannerTerminationCondition &ptc)=0 |
Function that can solve the motion planning problem. This function can be called multiple times on the same problem, without calling clear() in between. This allows the planner to continue work for more time on an unsolved problem, for example. If this option is used, it is assumed the problem definition is not changed (unpredictable results otherwise). The only change in the problem definition that is accounted for is the addition of starting or goal states (but not changing previously added start/goal states). If clearQuery() is called, the planner may retain prior datastructures generated from a previous query on a new problem definition. The function terminates if the call to ptc returns true. | |
PlannerStatus | solve (const PlannerTerminationConditionFn &ptc, double checkInterval) |
Same as above except the termination condition is only evaluated at a specified interval. | |
PlannerStatus | solve (double solveTime) |
Same as above except the termination condition is solely a time limit: the number of seconds the algorithm is allowed to spend planning. | |
virtual void | clear () |
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work. | |
virtual void | clearQuery () |
Clears internal datastructures of any query-specific information from the previous query. Planner settings are not affected. The planner, if able, should retain all datastructures generated from previous queries that can be used to help solve the next query. Note that clear() should also clear all query-specific information along with all other datastructures in the planner. By default clearQuery() calls clear(). | |
virtual void | getPlannerData (PlannerData &data) const |
Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between). | |
const std::string & | getName () const |
Get the name of the planner. | |
void | setName (const std::string &name) |
Set the name of the planner. | |
const PlannerSpecs & | getSpecs () const |
Return the specifications (capabilities of this planner) | |
virtual void | setup () |
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceInformation::setup() if needed. This must be called before solving. | |
virtual void | checkValidity () |
Check to see if the planner is in a working state (setup has been called, a goal was set, the input states seem to be in order). In case of error, this function throws an exception. | |
bool | isSetup () const |
Check if setup() was called for this planner. | |
ParamSet & | params () |
Get the parameters for this planner. | |
const ParamSet & | params () const |
Get the parameters for this planner. | |
const PlannerProgressProperties & | getPlannerProgressProperties () const |
Retrieve a planner's planner progress property map. | |
virtual void | printProperties (std::ostream &out) const |
Print properties of the motion planner. | |
virtual void | printSettings (std::ostream &out) const |
Print information about the motion planner's settings. | |
Protected Member Functions | |
virtual double | updateWeight (ProductGraph::State *as) |
Updates and returns the weight of an abstraction state. | |
virtual void | initAbstractInfo (ProductGraph::State *as) |
Initializes the info object for a new high-level state. | |
virtual void | buildAvail (const std::vector< ProductGraph::State * > &lead) |
Compute a set of high-level states along a lead to be considered for expansion. | |
virtual bool | explore (const std::vector< ProductGraph::State * > &lead, Motion *&soln, double duration) |
Expand the tree of motions along a given lead for a given duration of time. Returns true if a solution was found, in which case the endpoint of the solution trajectory will be stored in the given Motion pointer. Otherwise, returns false. | |
virtual double | abstractEdgeWeight (ProductGraph::State *a, ProductGraph::State *b) const |
Returns the weight of an edge between two given high-level states, which we compute as the product of the reciprocals of the weights of the two states. | |
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template<typename T , typename PlannerType , typename SetterType , typename GetterType > | |
void | declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter, const GetterType &getter, const std::string &rangeSuggestion="") |
This function declares a parameter for this planner instance, and specifies the setter and getter functions. | |
template<typename T , typename PlannerType , typename SetterType > | |
void | declareParam (const std::string &name, const PlannerType &planner, const SetterType &setter, const std::string &rangeSuggestion="") |
This function declares a parameter for this planner instance, and specifies the setter function. | |
void | addPlannerProgressProperty (const std::string &progressPropertyName, const PlannerProgressProperty &prop) |
Add a planner progress property called progressPropertyName with a property querying function prop to this planner's progress property map. | |
Protected Attributes | |
base::StateSamplerPtr | sampler_ |
State sampler. | |
ControlSamplerPtr | controlSampler_ |
Control sampler. | |
const LTLSpaceInformation * | ltlsi_ |
Handle to the control::SpaceInformation object. | |
ProductGraphPtr | abstraction_ |
The high level abstaction used to grow the tree structure. | |
PDF< ProductGraph::State * > | availDist_ |
Used to sample nonempty regions in which to promote expansion. | |
RNG | rng_ |
A random number generator. | |
std::vector< Motion * > | motions_ |
Set of all motions. | |
ProductGraph::State * | prodStart_ {nullptr} |
Start state in product graph. | |
double | exploreTime_ |
Time to spend exploring each lead. | |
std::unordered_map< ProductGraph::State *, ProductGraphStateInfo > | abstractInfo_ |
Map of abstraction states to their details. | |
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SpaceInformationPtr | si_ |
The space information for which planning is done. | |
ProblemDefinitionPtr | pdef_ |
The user set problem definition. | |
PlannerInputStates | pis_ |
Utility class to extract valid input states | |
std::string | name_ |
The name of this planner. | |
PlannerSpecs | specs_ |
The specifications of the planner (its capabilities) | |
ParamSet | params_ |
A map from parameter names to parameter instances for this planner. This field is populated by the declareParam() function. | |
PlannerProgressProperties | plannerProgressProperties_ |
A mapping between this planner's progress property names and the functions used for querying those progress properties. | |
bool | setup_ |
Flag indicating whether setup() has been called. | |
Additional Inherited Members | |
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using | PlannerProgressProperty = std::function< std::string()> |
Definition of a function which returns a property about the planner's progress that can be queried by a benchmarking routine. | |
using | PlannerProgressProperties = std::map< std::string, PlannerProgressProperty > |
A dictionary which maps the name of a progress property to the function to be used for querying that property. | |
Detailed Description
A planner for generating system trajectories to satisfy a logical specification given by an automaton, the propositions of which are defined over a decomposition of the system's state space.
- Todo:
- cite papers
Definition at line 58 of file LTLPlanner.h.
Constructor & Destructor Documentation
◆ LTLPlanner()
ompl::control::LTLPlanner::LTLPlanner | ( | const LTLSpaceInformationPtr & | si, |
ProductGraphPtr | a, | ||
double | exploreTime = 0.5 |
||
) |
Create an LTLPlanner with a given space and product graph. Accepts an optional third parameter to control how much time is spent promoting low-level tree exploration along a given high-level lead.
Definition at line 52 of file LTLPlanner.cpp.
◆ ~LTLPlanner()
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override |
Clears all memory belonging to this LTLPlanner .
Definition at line 61 of file LTLPlanner.cpp.
Member Function Documentation
◆ abstractEdgeWeight()
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protectedvirtual |
Returns the weight of an edge between two given high-level states, which we compute as the product of the reciprocals of the weights of the two states.
Definition at line 291 of file LTLPlanner.cpp.
◆ buildAvail()
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protectedvirtual |
Compute a set of high-level states along a lead to be considered for expansion.
Definition at line 205 of file LTLPlanner.cpp.
◆ clear()
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overridevirtual |
Clears all datastructures belonging to this LTLPlanner.
Reimplemented from ompl::base::Planner.
Definition at line 71 of file LTLPlanner.cpp.
◆ explore()
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protectedvirtual |
Expand the tree of motions along a given lead for a given duration of time. Returns true if a solution was found, in which case the endpoint of the solution trajectory will be stored in the given Motion pointer. Otherwise, returns false.
Definition at line 225 of file LTLPlanner.cpp.
◆ getHighLevelPath()
std::vector< ompl::control::ProductGraph::State * > ompl::control::LTLPlanner::getHighLevelPath | ( | const std::vector< base::State * > & | path, |
ProductGraph::State * | start = nullptr |
||
) | const |
Helper debug method to return the sequence of high-level product graph states corresponding to a sequence of low-level continous system states, beginning from an optional initial high-level state.
Definition at line 155 of file LTLPlanner.cpp.
◆ getTree()
void ompl::control::LTLPlanner::getTree | ( | std::vector< base::State * > & | tree | ) | const |
Helper debug method to access this planner's underlying tree of states.
Definition at line 147 of file LTLPlanner.cpp.
◆ initAbstractInfo()
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protectedvirtual |
Initializes the info object for a new high-level state.
Definition at line 190 of file LTLPlanner.cpp.
◆ setup()
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overridevirtual |
Initializes LTLPlanner data structures.
Reimplemented from ompl::base::Planner.
Definition at line 66 of file LTLPlanner.cpp.
◆ solve()
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overridevirtual |
Continues solving until a solution is found or a given planner termination condition is met. Returns true if a solution was found.
Implements ompl::base::Planner.
Definition at line 79 of file LTLPlanner.cpp.
◆ updateWeight()
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protectedvirtual |
Updates and returns the weight of an abstraction state.
Definition at line 181 of file LTLPlanner.cpp.
Member Data Documentation
◆ abstractInfo_
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protected |
Map of abstraction states to their details.
Definition at line 201 of file LTLPlanner.h.
◆ abstraction_
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protected |
The high level abstaction used to grow the tree structure.
Definition at line 183 of file LTLPlanner.h.
◆ availDist_
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protected |
Used to sample nonempty regions in which to promote expansion.
Definition at line 186 of file LTLPlanner.h.
◆ controlSampler_
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protected |
Control sampler.
Definition at line 177 of file LTLPlanner.h.
◆ exploreTime_
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protected |
Time to spend exploring each lead.
Definition at line 198 of file LTLPlanner.h.
◆ ltlsi_
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protected |
Handle to the control::SpaceInformation object.
Definition at line 180 of file LTLPlanner.h.
◆ motions_
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protected |
Set of all motions.
Definition at line 192 of file LTLPlanner.h.
◆ prodStart_
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protected |
Start state in product graph.
Definition at line 195 of file LTLPlanner.h.
◆ rng_
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protected |
A random number generator.
Definition at line 189 of file LTLPlanner.h.
◆ sampler_
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protected |
State sampler.
Definition at line 174 of file LTLPlanner.h.
The documentation for this class was generated from the following files:
- ompl/control/planners/ltl/LTLPlanner.h
- ompl/control/planners/ltl/src/LTLPlanner.cpp