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ompl::control::ProductGraph Class Reference

A ProductGraph represents the weighted, directed, graph-based Cartesian product of a PropositionalDecomposition object, an Automaton corresponding to a co-safe LTL specification, and an Automaton corresponding to a safe LTL specification. More...

#include <ompl/control/planners/ltl/ProductGraph.h>

Classes

struct  Edge
class  State
 A State of a ProductGraph represents a vertex in the graph-based Cartesian product represented by the ProductGraph. A State is simply a tuple consisting of a PropositionalDecomposition region, a co-safe Automaton state, and a safe Automaton state. More...

Public Member Functions

 ProductGraph (PropositionalDecompositionPtr decomp, AutomatonPtr cosafetyAut, AutomatonPtr safetyAut)
 Initializes a ProductGraph with a given PropositionalDecomposition, co-safe Automaton, and safe Automaton.
 ProductGraph (const PropositionalDecompositionPtr &decomp, AutomatonPtr cosafetyAut)
 Initializes an abstraction with a given propositional decomposition and cosafety automaton. The safety automaton is set to be one that always accepts.
const PropositionalDecompositionPtrgetDecomp () const
 Returns the PropositionalDecomposition contained within this ProductGraph.
const AutomatonPtrgetCosafetyAutom () const
 Returns the co-safe Automaton contained within this ProductGraph.
const AutomatonPtrgetSafetyAutom () const
 Returns the safe Automaton contained within this ProductGraph.
std::vector< State * > computeLead (State *start, const std::function< double(State *, State *)> &edgeWeight)
 Returns a shortest-path sequence of ProductGraph states, beginning with a given initial State and ending with a State for which the corresponding safety Automaton state is accepting, and the corresponding co-safety Automaton state is as close as possible to an accepting state given the adjacency properties of the PropositionalDecomposition. Dijkstra's shortest-path algorithm is used to compute the path with the given edge-weight function.
void clear ()
 Clears all memory belonging to this ProductGraph.
void buildGraph (State *start, const std::function< void(State *)> &initialize=[](State *){})
 Constructs this ProductGraph beginning with a given initial State, using a breadth-first search. Accepts an optional initialization method, which will be called exactly once on each State (including the given initial State) that is added to the ProductGraph. The default argument for the initialization method is a no-op method.
bool isSolution (const State *s) const
 Returns whether the given State is an accepting State in this ProductGraph. We call a State accepting if its safety Automaton state component is accepting, and its co-safety Automaton state component is as close as possible to an accepting state in the co-safety Automaton given the adjacency properties of the PropositionalDecomposition.
StategetStartState () const
 Returns the initial State of this ProductGraph.
double getRegionVolume (const State *s)
 Helper method to return the volume of the PropositionalDecomposition region corresponding to the given ProductGraph State.
int getCosafeAutDistance (const State *s) const
 Helper method to return the distance from a given State's co-safety state to an accepting state in the co-safety Automaton.
int getSafeAutDistance (const State *s) const
 Helper method to return the distance from a given State's safety state to an accepting state in the safety Automaton.
StategetState (const base::State *cs) const
 Returns a ProductGraph State with initial co-safety and safety Automaton states, and the PropositionalDecomposition region that contains a given base::State.
StategetState (const base::State *cs, int cosafe, int safe) const
 Returns a ProductGraph State with given co-safety and safety Automaton states, and the PropositionalDecomposition region that contains a given base::State.
StategetState (const State *parent, int nextRegion) const
 Returns a ProductGraph State with a given PropositionalDecomposition region. The co-safety and safety Automaton states are calculated using a given parent ProductGraph State and the decomposition region.
StategetState (const State *parent, const base::State *cs) const
 Returns a ProductGraph state with the PropositionalDecomposition region that contains a given base::State. The co-safety and safety Automaton states are calculated using a given parent ProductGraph State and the decomposition region.
StategetState (int region, int cosafe, int safe) const
 Returns the ProductGraph state corresponding to the given region, co-safety state, and safety state.

Protected Types

using GraphType = boost::adjacency_list<boost::vecS, boost::vecS, boost::directedS, State *, Edge>
using Vertex = boost::graph_traits<GraphType>::vertex_descriptor
using VertexIter = boost::graph_traits<GraphType>::vertex_iterator
using VertexIndexMap = boost::property_map<GraphType, boost::vertex_index_t>::type
using EdgeIter = boost::graph_traits<GraphType>::edge_iterator

Protected Attributes

PropositionalDecompositionPtr decomp_
AutomatonPtr cosafety_
AutomatonPtr safety_
GraphType graph_
StatestartState_
std::vector< State * > solutionStates_
std::unordered_map< State, State *, HashState > stateToPtr_
std::unordered_map< State *, int > stateToIndex_

Detailed Description

A ProductGraph represents the weighted, directed, graph-based Cartesian product of a PropositionalDecomposition object, an Automaton corresponding to a co-safe LTL specification, and an Automaton corresponding to a safe LTL specification.

Definition at line 66 of file ProductGraph.h.

Member Typedef Documentation

◆ EdgeIter

using ompl::control::ProductGraph::EdgeIter = boost::graph_traits<GraphType>::edge_iterator
protected

Definition at line 236 of file ProductGraph.h.

◆ GraphType

using ompl::control::ProductGraph::GraphType = boost::adjacency_list<boost::vecS, boost::vecS, boost::directedS, State *, Edge>
protected

Definition at line 232 of file ProductGraph.h.

◆ Vertex

using ompl::control::ProductGraph::Vertex = boost::graph_traits<GraphType>::vertex_descriptor
protected

Definition at line 233 of file ProductGraph.h.

◆ VertexIndexMap

using ompl::control::ProductGraph::VertexIndexMap = boost::property_map<GraphType, boost::vertex_index_t>::type
protected

Definition at line 235 of file ProductGraph.h.

◆ VertexIter

using ompl::control::ProductGraph::VertexIter = boost::graph_traits<GraphType>::vertex_iterator
protected

Definition at line 234 of file ProductGraph.h.

Constructor & Destructor Documentation

◆ ProductGraph() [1/2]

ompl::control::ProductGraph::ProductGraph ( PropositionalDecompositionPtr decomp,
AutomatonPtr cosafetyAut,
AutomatonPtr safetyAut )

Initializes a ProductGraph with a given PropositionalDecomposition, co-safe Automaton, and safe Automaton.

Definition at line 104 of file ProductGraph.cpp.

◆ ProductGraph() [2/2]

ompl::control::ProductGraph::ProductGraph ( const PropositionalDecompositionPtr & decomp,
AutomatonPtr cosafetyAut )

Initializes an abstraction with a given propositional decomposition and cosafety automaton. The safety automaton is set to be one that always accepts.

Definition at line 110 of file ProductGraph.cpp.

◆ ~ProductGraph()

ompl::control::ProductGraph::~ProductGraph ( )

Definition at line 115 of file ProductGraph.cpp.

Member Function Documentation

◆ buildGraph()

void ompl::control::ProductGraph::buildGraph ( State * start,
const std::function< void(State *)> & initialize = [](State *){} )

Constructs this ProductGraph beginning with a given initial State, using a breadth-first search. Accepts an optional initialization method, which will be called exactly once on each State (including the given initial State) that is added to the ProductGraph. The default argument for the initialization method is a no-op method.

Definition at line 201 of file ProductGraph.cpp.

◆ clear()

void ompl::control::ProductGraph::clear ( )

Clears all memory belonging to this ProductGraph.

Definition at line 190 of file ProductGraph.cpp.

◆ computeLead()

std::vector< ompl::control::ProductGraph::State * > ompl::control::ProductGraph::computeLead ( State * start,
const std::function< double(State *, State *)> & edgeWeight )

Returns a shortest-path sequence of ProductGraph states, beginning with a given initial State and ending with a State for which the corresponding safety Automaton state is accepting, and the corresponding co-safety Automaton state is as close as possible to an accepting state given the adjacency properties of the PropositionalDecomposition. Dijkstra's shortest-path algorithm is used to compute the path with the given edge-weight function.

Definition at line 135 of file ProductGraph.cpp.

◆ getCosafeAutDistance()

int ompl::control::ProductGraph::getCosafeAutDistance ( const State * s) const

Helper method to return the distance from a given State's co-safety state to an accepting state in the co-safety Automaton.

Definition at line 290 of file ProductGraph.cpp.

◆ getCosafetyAutom()

const ompl::control::AutomatonPtr & ompl::control::ProductGraph::getCosafetyAutom ( ) const

Returns the co-safe Automaton contained within this ProductGraph.

Definition at line 125 of file ProductGraph.cpp.

◆ getDecomp()

const ompl::control::PropositionalDecompositionPtr & ompl::control::ProductGraph::getDecomp ( ) const

Returns the PropositionalDecomposition contained within this ProductGraph.

Definition at line 120 of file ProductGraph.cpp.

◆ getRegionVolume()

double ompl::control::ProductGraph::getRegionVolume ( const State * s)

Helper method to return the volume of the PropositionalDecomposition region corresponding to the given ProductGraph State.

Definition at line 285 of file ProductGraph.cpp.

◆ getSafeAutDistance()

int ompl::control::ProductGraph::getSafeAutDistance ( const State * s) const

Helper method to return the distance from a given State's safety state to an accepting state in the safety Automaton.

Definition at line 295 of file ProductGraph.cpp.

◆ getSafetyAutom()

const ompl::control::AutomatonPtr & ompl::control::ProductGraph::getSafetyAutom ( ) const

Returns the safe Automaton contained within this ProductGraph.

Definition at line 130 of file ProductGraph.cpp.

◆ getStartState()

ompl::control::ProductGraph::State * ompl::control::ProductGraph::getStartState ( ) const

Returns the initial State of this ProductGraph.

Definition at line 280 of file ProductGraph.cpp.

◆ getState() [1/5]

ompl::control::ProductGraph::State * ompl::control::ProductGraph::getState ( const base::State * cs) const

Returns a ProductGraph State with initial co-safety and safety Automaton states, and the PropositionalDecomposition region that contains a given base::State.

Definition at line 300 of file ProductGraph.cpp.

◆ getState() [2/5]

ompl::control::ProductGraph::State * ompl::control::ProductGraph::getState ( const base::State * cs,
int cosafe,
int safe ) const

Returns a ProductGraph State with given co-safety and safety Automaton states, and the PropositionalDecomposition region that contains a given base::State.

Definition at line 305 of file ProductGraph.cpp.

◆ getState() [3/5]

ompl::control::ProductGraph::State * ompl::control::ProductGraph::getState ( const State * parent,
const base::State * cs ) const

Returns a ProductGraph state with the PropositionalDecomposition region that contains a given base::State. The co-safety and safety Automaton states are calculated using a given parent ProductGraph State and the decomposition region.

Definition at line 331 of file ProductGraph.cpp.

◆ getState() [4/5]

ompl::control::ProductGraph::State * ompl::control::ProductGraph::getState ( const State * parent,
int nextRegion ) const

Returns a ProductGraph State with a given PropositionalDecomposition region. The co-safety and safety Automaton states are calculated using a given parent ProductGraph State and the decomposition region.

Definition at line 318 of file ProductGraph.cpp.

◆ getState() [5/5]

State * ompl::control::ProductGraph::getState ( int region,
int cosafe,
int safe ) const
inline

Returns the ProductGraph state corresponding to the given region, co-safety state, and safety state.

Definition at line 214 of file ProductGraph.h.

◆ isSolution()

bool ompl::control::ProductGraph::isSolution ( const State * s) const

Returns whether the given State is an accepting State in this ProductGraph. We call a State accepting if its safety Automaton state component is accepting, and its co-safety Automaton state component is as close as possible to an accepting state in the co-safety Automaton given the adjacency properties of the PropositionalDecomposition.

Definition at line 275 of file ProductGraph.cpp.

Member Data Documentation

◆ cosafety_

AutomatonPtr ompl::control::ProductGraph::cosafety_
protected

Definition at line 239 of file ProductGraph.h.

◆ decomp_

PropositionalDecompositionPtr ompl::control::ProductGraph::decomp_
protected

Definition at line 238 of file ProductGraph.h.

◆ graph_

GraphType ompl::control::ProductGraph::graph_
protected

Definition at line 241 of file ProductGraph.h.

◆ safety_

AutomatonPtr ompl::control::ProductGraph::safety_
protected

Definition at line 240 of file ProductGraph.h.

◆ solutionStates_

std::vector<State *> ompl::control::ProductGraph::solutionStates_
protected

Definition at line 243 of file ProductGraph.h.

◆ startState_

State* ompl::control::ProductGraph::startState_
protected

Definition at line 242 of file ProductGraph.h.

◆ stateToIndex_

std::unordered_map<State *, int> ompl::control::ProductGraph::stateToIndex_
protected

Definition at line 254 of file ProductGraph.h.

◆ stateToPtr_

std::unordered_map<State, State *, HashState> ompl::control::ProductGraph::stateToPtr_
mutableprotected

Definition at line 250 of file ProductGraph.h.


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