This namespace contains datastructures and planners to exploit multilevel abstractions, which you have to specify using a sequence of SpaceInformationPtr (each with their own StateValidityChecker). More...
Classes | |
class | BundleSpace |
A single Bundle-space. More... | |
class | BundleSpaceGraph |
A graph on a Bundle-space. More... | |
class | BundleSpaceGraphSampler |
class | BundleSpaceGraphSamplerRandomDegreeVertex |
class | BundleSpaceGraphSamplerRandomEdge |
class | BundleSpaceGraphSamplerRandomVertex |
class | BundleSpaceImportance |
class | BundleSpaceImportanceExponential |
class | BundleSpaceImportanceGreedy |
class | BundleSpaceImportanceUniform |
class | BundleSpaceMetric |
class | BundleSpaceMetricGeodesic |
class | BundleSpacePropagator |
class | BundleSpacePropagatorGeometric |
class | BundleSpaceSequence |
A planner for a sequence of BundleSpaces. More... | |
class | CompoundProjection |
class | FiberedProjection |
class | FindSection |
class | FindSectionSideStep |
class | Head |
A pointer to a specific location on the base path of the path restriction. More... | |
class | HeadAnalyzer |
class | PathRestriction |
Representation of path restriction (union of fibers over a base path). More... | |
class | PathSection |
Representation of a path section (not necessarily feasible). More... | |
class | PlannerDataVertexAnnotated |
An annotated vertex, adding information about its level in the multilevel hierarchy. Class has two modes: Mode 1 (baseMode), we store a reference to its base state element. In Mode 2 (totalMode), we store a deep copy of the lift of the base state into the total space (NOTE: required for PlannerData functions like decoupleFromPlanner()) More... | |
class | PlannerMultiLevel |
MultiLevel Planner Interface. Extends base::Planner by allowing sequences of base::SpaceInformationPtr. More... | |
class | Projection |
class | Projection_EmptySet |
class | Projection_Identity |
class | Projection_None |
class | Projection_Relaxation |
class | Projection_RN_RM |
class | Projection_RNSO2_RN |
class | Projection_SE2_R2 |
class | Projection_SE2RN_R2 |
class | Projection_SE2RN_SE2 |
class | Projection_SE2RN_SE2RM |
class | Projection_SE3_R3 |
class | Projection_SE3RN_R3 |
class | Projection_SE3RN_SE3 |
class | Projection_SE3RN_SE3RM |
class | Projection_SO2N_SO2M |
class | Projection_SO2RN_SO2 |
class | Projection_SO2RN_SO2RM |
class | Projection_SO3RN_SO3 |
class | Projection_SO3RN_SO3RM |
class | Projection_XRN_X |
class | Projection_XRN_XRM |
class | ProjectionFactory |
class | QMPImpl |
Implementation of the Quotient space roadMap Planner. More... | |
class | QMPStarImpl |
class | QRRTImpl |
Implementation of BundleSpace Rapidly-Exploring Random Trees Algorithm. More... | |
class | QRRTStarImpl |
Implementation of BundleSpace Rapidly-Exploring Random Tree Star Algorithm. More... | |
Typedefs | |
using | Configuration = ompl::multilevel::BundleSpaceGraph::Configuration |
using | QMP = BundleSpaceSequence<QMPImpl> |
[Q]uotient space road[M]ap [P]lanner (QMP) Algorithm | |
using | QMPStar = BundleSpaceSequence<QMPStarImpl> |
[Q]uotient space road[M]ap [P]lanner Star (QMP*) Algorithm | |
using | QRRT = BundleSpaceSequence<QRRTImpl> |
[Q]uotient space [R]apidly exploring [R]andom [T]rees (QRRT) Algorithm | |
using | QRRTStar = BundleSpaceSequence<QRRTStarImpl> |
[Q]uotient space [R]apidly exploring [R]andom [T]rees Star (QRRT*) Algorithm | |
Enumerations | |
enum | FindSectionType { NONE = 0 , SIDE_STEP = 1 , PATTERN_DANCE = 2 } |
enum | ProjectionType { PROJECTION_NONE = 0 , PROJECTION_EMPTY_SET = 1 , PROJECTION_IDENTITY = 2 , PROJECTION_CONSTRAINED_RELAXATION = 3 , PROJECTION_RN_RM = 4 , PROJECTION_SE2_R2 = 5 , PROJECTION_SE2RN_R2 = 6 , PROJECTION_SE2RN_SE2 = 7 , PROJECTION_SE2RN_SE2RM = 8 , PROJECTION_SO2RN_SO2 = 9 , PROJECTION_SO2RN_SO2RM = 10 , PROJECTION_SE3_R3 = 11 , PROJECTION_SE3RN_R3 = 12 , PROJECTION_SE3RN_SE3 = 13 , PROJECTION_SE3RN_SE3RM = 14 , PROJECTION_SO3RN_SO3 = 15 , PROJECTION_SO3RN_SO3RM = 16 , PROJECTION_RNSO2_RN = 17 , PROJECTION_SO2N_SO2M = 18 , PROJECTION_TASK_SPACE = 19 , PROJECTION_COMPOUND = -2 , PROJECTION_UNKNOWN = -1 } |
Functions | |
OMPL_CLASS_FORWARD (Projection) | |
OMPL_CLASS_FORWARD (BundleSpaceGraph) | |
OMPL_CLASS_FORWARD (PathRestriction) | |
OMPL_CLASS_FORWARD (FiberedProjection) | |
std::ostream & | operator<< (std::ostream &out, const Head &h) |
std::ostream & | operator<< (std::ostream &out, const PathRestriction &r) |
std::ostream & | operator<< (std::ostream &out, const PathSection &s) |
std::ostream & | operator<< (std::ostream &out, const BundleSpace &bundleSpace) |
std::ostream & | operator<< (std::ostream &out, const Projection &projection) |
OMPL_CLASS_FORWARD (PathGeometric) | |
Detailed Description
This namespace contains datastructures and planners to exploit multilevel abstractions, which you have to specify using a sequence of SpaceInformationPtr (each with their own StateValidityChecker).
Typedef Documentation
◆ Configuration
Definition at line 74 of file FindSection.h.
◆ QMP
[Q]uotient space road[M]ap [P]lanner (QMP) Algorithm
- Short description
- The Quotient-space roadMap Planner (QMP) is a multi-query, probabilistically complete roadmap planner which generalizes PRM to bundle spaces.
- External documentation
- A. Orthey, A. Escande and E. Yoshida, Quotient-Space Motion Planning, in International Conference on Intelligent Robots and Systems, 2018, [PDF]
◆ QMPStar
[Q]uotient space road[M]ap [P]lanner Star (QMP*) Algorithm
- Short description
- Quotient space roadMap Planner Star (QMP*) generalizes the PRM* algorithm to bundle spaces.
- External documentation
- Andreas Orthey and Sohaib Akbar and Marc Toussaint, Multilevel Motion Planning: A Fiber Bundle Formulation, in arXiv:2007.09435 [cs.RO], 2020, [PDF]
◆ QRRT
[Q]uotient space [R]apidly exploring [R]andom [T]rees (QRRT) Algorithm
- Short description
- QRRT is a planner using different abstractions levels, each described by a quotient-space, and grows trees both sequentially and simultaneously on them. The growing of each tree is similar to the RRT algorithm, but it differs that (1) a tree is only started if there exists a solution on a lower-dimensional quotient-space, and (2) a sample is not drawn uniformly, but constraint to the tree of the lower-dimensional quotient-space. The algorithm stops if a planner terminate condition (ptc) is reached, or if a solution has been found on the last quotient-space, which is equivalent to the configuration space.
- External documentation
- A. Orthey and M. Toussaint, Rapidly-Exploring Quotient-Space Trees: Motion Planning using Sequential Simplifications, in International Symposium of Robotics Research, 2019, [PDF]
◆ QRRTStar
[Q]uotient space [R]apidly exploring [R]andom [T]rees Star (QRRT*) Algorithm
- Short description
- QRRTstar is an almost-surely asymptotically optimal planners which generalizes RRTstar to multilevel abstractions, which we formulate using fiber bundle sequences.
- External documentation
- Andreas Orthey and Sohaib Akbar and Marc Toussaint, Multilevel Motion Planning: A Fiber Bundle Formulation, in arXiv:2007.09435 [cs.RO], 2020, [PDF]
Definition at line 64 of file QRRTStar.h.
Enumeration Type Documentation
◆ FindSectionType
enum ompl::multilevel::FindSectionType |
Definition at line 8 of file FindSectionTypes.h.
◆ ProjectionType
Definition at line 46 of file ProjectionTypes.h.
Function Documentation
◆ operator<<() [1/5]
std::ostream & ompl::multilevel::operator<< | ( | std::ostream & | out, |
const BundleSpace & | bundleSpace ) |
Definition at line 478 of file BundleSpace.cpp.
◆ operator<<() [2/5]
std::ostream & ompl::multilevel::operator<< | ( | std::ostream & | out, |
const Head & | h ) |
◆ operator<<() [3/5]
std::ostream & ompl::multilevel::operator<< | ( | std::ostream & | out, |
const PathRestriction & | r ) |
Definition at line 245 of file PathRestriction.cpp.
◆ operator<<() [4/5]
std::ostream & ompl::multilevel::operator<< | ( | std::ostream & | out, |
const PathSection & | s ) |
Definition at line 423 of file PathSection.cpp.
◆ operator<<() [5/5]
std::ostream & ompl::multilevel::operator<< | ( | std::ostream & | out, |
const Projection & | projection ) |
Definition at line 196 of file Projection.cpp.