ompl_planning.hpp File Reference

Contains most of the Functions related to OMPL planer. More...

#include <ompl/base/SpaceInformation.h>
#include <ompl/base/objectives/PathLengthOptimizationObjective.h>
#include <ompl/base/objectives/StateCostIntegralObjective.h>
#include <ompl/base/objectives/MaximizeMinClearanceObjective.h>
#include <ompl/base/spaces/RealVectorStateSpace.h>
#include "ompl/util/Console.h"
#include <ompl/geometric/planners/prm/PRMstar.h>
#include <ompl/geometric/planners/rrt/RRTstar.h>
#include <ompl/base/PlannerDataGraph.h>
#include <boost/program_options.hpp>
#include <boost/algorithm/string.hpp>
#include <boost/graph/adjacency_list.hpp>
#include <boost/geometry.hpp>
#include <boost/geometry/geometries/point_xy.hpp>
#include <boost/geometry/geometries/polygon.hpp>
#include <boost/geometry/geometries/linestring.hpp>
#include <boost/graph/dijkstra_shortest_paths.hpp>
#include <memory>
#include <fstream>
#include "utils.hpp"
#include <iostream>

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Classes
class	ClearanceObjective
class	ValidityChecker
	Class to check if new random state is valid or not. More...

Typedefs
typedef bg::model::d2::point_xy< double >	boost_point
typedef bg::model::polygon< boost_point >	boost_polygon
typedef boost::geometry::model::linestring< boost_point >	boost_linestring

Enumerations
enum	optimalPlanner { PLANNER_PRMSTAR, PLANNER_RRTSTAR }
	Choice of Optimal planner. More...
enum	planningObjective { OBJECTIVE_PATHCLEARANCE, OBJECTIVE_PATHLENGTH, OBJECTIVE_THRESHOLDPATHLENGTH, OBJECTIVE_WEIGHTEDCOMBO }
	An enum of the supported optimization objectives. More...

Functions
ob::OptimizationObjectivePtr	getPathLengthObjective (const ob::SpaceInformationPtr &si)
	get path length objective using the space information configured More...
ob::OptimizationObjectivePtr	getThresholdPathLengthObj (const ob::SpaceInformationPtr &si)
	get path length objective with threshold using the space information configured More...
ob::OptimizationObjectivePtr	getClearanceObjective (const ob::SpaceInformationPtr &si)
	get Obstace clearance objective using the space information configured More...
ob::OptimizationObjectivePtr	getPathLengthObjWithCostToGo (const ob::SpaceInformationPtr &si)
	get Path length objective with go to heuristic cost using the space information configured More...
ob::OptimizationObjectivePtr	getBalancedObjective2 (const ob::SpaceInformationPtr &si)
	get balanced objective between Path length optimization and Object clearance More...
ob::OptimizationObjectivePtr	getBalancedObjective1 (const ob::SpaceInformationPtr &si)
	get balanced objective between Path length optimization, Object clearance and Multi Optimization More...
ob::PlannerPtr	allocatePlanner (ob::SpaceInformationPtr si, optimalPlanner plannerType)
	Allocate planner. More...
ob::OptimizationObjectivePtr	allocateObjective (const ob::SpaceInformationPtr &si, planningObjective objectiveType)
	Allocate objective. More...
boost_polygon	convertPolygonToBoostPolygon (const Polygon &poly)
	Convert Polygon To Boost polygon. More...

Detailed Description

Contains most of the Functions related to OMPL planer.

Author

Aravind Swaminathan

Date

10-Jan-2020

Typedef Documentation

typedef boost::geometry::model::linestring<boost_point> boost_linestring

typedef bg::model::d2::point_xy<double> boost_point

typedef bg::model::polygon<boost_point> boost_polygon

Enumeration Type Documentation

enum optimalPlanner

Choice of Optimal planner.

Enumerator
PLANNER_PRMSTAR	PRM STAR implementation.
PLANNER_RRTSTAR	RRT Star implementation.

enum planningObjective

An enum of the supported optimization objectives.

Enumerator
OBJECTIVE_PATHCLEARANCE	Path clearance objective.
OBJECTIVE_PATHLENGTH	Path length objective.
OBJECTIVE_THRESHOLDPATHLENGTH	Path length with threshold based objective.
OBJECTIVE_WEIGHTEDCOMBO	Weighted combination obejctive of all the above three or two.

Function Documentation

ob::OptimizationObjectivePtr allocateObjective	(	const ob::SpaceInformationPtr &	si,
		planningObjective	objectiveType
	)

Allocate objective.

Four objectives of planning

Parameters

si	Space information which includes PATHCLEARANCE, PATHLENGTH, THRESHOLDPATHLENGTH, WEIGHTEDCOMBO
objectiveType	Type of Objective to be used

Returns

Objective Pointer with corresponding planner

ob::PlannerPtr allocatePlanner	(	ob::SpaceInformationPtr	si,
		optimalPlanner	plannerType
	)

Allocate planner.

only two types of planner are considered RRT* and PRM_RRT*

Parameters

si	Space information
plannerType	Type of planner to be used

Returns

Planner Pointer with corresponding planner

boost_polygon convertPolygonToBoostPolygon

(

const Polygon &

poly

)

Convert Polygon To Boost polygon.

Interface polygon struct is converted to boost polygon for easy operation

Parameters

poly	Polygon to be converted

Returns

Boost polygon object

ob::OptimizationObjectivePtr getBalancedObjective1

(

const ob::SpaceInformationPtr &

si

)

get balanced objective between Path length optimization, Object clearance and Multi Optimization

Parameters

si	Space information

Returns

Optimization objective pointer

ob::OptimizationObjectivePtr getBalancedObjective2

(

const ob::SpaceInformationPtr &

si

)

get balanced objective between Path length optimization and Object clearance

Parameters

si	Space information

Returns

Optimization objective pointer

ob::OptimizationObjectivePtr getClearanceObjective

(

const ob::SpaceInformationPtr &

si

)

get Obstace clearance objective using the space information configured

Parameters

si	Space information

Returns

Optimization objective pointer

ob::OptimizationObjectivePtr getPathLengthObjective

(

const ob::SpaceInformationPtr &

si

)

get path length objective using the space information configured

Parameters

si	Space information

Returns

Optimization objective pointer

ob::OptimizationObjectivePtr getPathLengthObjWithCostToGo

(

const ob::SpaceInformationPtr &

si

)

get Path length objective with go to heuristic cost using the space information configured

Parameters

si	Space information

Returns

Optimization objective pointer

ob::OptimizationObjectivePtr getThresholdPathLengthObj

(

const ob::SpaceInformationPtr &

si

)

get path length objective with threshold using the space information configured

Parameters

si	Space information

Returns

Optimization objective pointer