GeneticSearch.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_GEOMETRIC_GENETIC_SEARCH_
38#define OMPL_GEOMETRIC_GENETIC_SEARCH_
39
40#include "ompl/base/SpaceInformation.h"
41#include "ompl/base/goals/GoalRegion.h"
42#include "ompl/geometric/HillClimbing.h"
43#include "ompl/util/Console.h"
44
45namespace ompl
46{
47 namespace geometric
48 {
61 {
62 public:
65 GeneticSearch(const base::SpaceInformationPtr &si);
67
69 bool solve(double solveTime, const base::GoalRegion &goal, base::State *result,
70 const std::vector<base::State *> &hint = std::vector<base::State *>());
71
74 void setMaxImproveSteps(unsigned int maxSteps)
75 {
76 hc_.setMaxImproveSteps(maxSteps);
77 }
78
81 unsigned int getMaxImproveSteps() const
82 {
83 return hc_.getMaxImproveSteps();
84 }
85
87 void setValidityCheck(bool valid)
88 {
89 checkValidity_ = valid;
90 hc_.setValidityCheck(valid);
91 }
92
94 bool getValidityCheck() const
95 {
96 return checkValidity_;
97 }
98
101 void setTryImprove(bool flag)
102 {
103 tryImprove_ = flag;
104 }
105
108 bool getTryImprove() const
109 {
110 return tryImprove_;
111 }
112
114 void setPoolSize(unsigned int size)
115 {
116 poolSize_ = size;
117 }
118
120 unsigned int getPoolSize() const
121 {
122 return poolSize_;
123 }
124
126 void setPoolMutationSize(unsigned int size)
127 {
128 poolMutation_ = size;
129 }
130
132 unsigned int getPoolMutationSize() const
133 {
134 return poolMutation_;
135 }
136
138 void setPoolRandomSize(unsigned int size)
139 {
140 poolRandom_ = size;
141 }
142
144 unsigned int getPoolRandomSize() const
145 {
146 return poolRandom_;
147 }
148
150 void setRange(double distance)
151 {
152 maxDistance_ = distance;
153 }
154
156 double getRange() const
157 {
158 return maxDistance_;
159 }
160
162 void clear();
163
164 private:
166 void tryToImprove(const base::GoalRegion &goal, base::State *state, double distance);
167
170 bool valid(const base::State *state) const
171 {
172 return checkValidity_ ? si_->isValid(state) : true;
173 }
174
175 struct Individual
176 {
177 base::State *state;
178 double distance;
179 bool valid;
180 };
181
182 struct IndividualSort
183 {
184 bool operator()(const Individual &a, const Individual &b)
185 {
186 if (a.valid == b.valid)
187 return a.distance < b.distance;
188 return a.valid;
189 }
190 };
191
192 HillClimbing hc_;
193 base::SpaceInformationPtr si_;
194 base::StateSamplerPtr sampler_;
195 std::vector<Individual> pool_;
196 unsigned int poolSize_;
197 unsigned int poolMutation_;
198 unsigned int poolRandom_;
199 unsigned int generations_;
200 bool checkValidity_;
201 bool tryImprove_;
202
203 double maxDistance_;
204 };
205 }
206}
207
208#endif
Definition of a goal region.
Definition: GoalRegion.h:48
Definition of an abstract state.
Definition: State.h:50
Genetic Algorithm for searching valid states.
Definition: GeneticSearch.h:61
void setMaxImproveSteps(unsigned int maxSteps)
Set the number of steps to perform when using hill climbing to improve an individual in the populatio...
Definition: GeneticSearch.h:74
GeneticSearch(const base::SpaceInformationPtr &si)
Construct an instance of a genetic algorithm for inverse kinematics given the space information to se...
unsigned int getMaxImproveSteps() const
Get the number of steps to perform when using hill climbing to improve an individual in the populatio...
Definition: GeneticSearch.h:81
double getRange() const
Get the range GeneticSearch is using.
bool getValidityCheck() const
Get the state validity flag; if this is false, states are not checked for validity.
Definition: GeneticSearch.h:94
void setValidityCheck(bool valid)
Set the state validity flag; if this is false, states are not checked for validity.
Definition: GeneticSearch.h:87
unsigned int getPoolSize() const
Get the number number of individuals in the population.
bool solve(double solveTime, const base::GoalRegion &goal, base::State *result, const std::vector< base::State * > &hint=std::vector< base::State * >())
Find a state that fits the request.
void setRange(double distance)
Set the range (distance) to be used when sampling around a state.
unsigned int getPoolMutationSize() const
Get the number of individuals that are mutated at each generation.
void setPoolRandomSize(unsigned int size)
Set the number of individuals to randomly sample at each generation.
void setPoolSize(unsigned int size)
Set the number of individuals in the population.
void setTryImprove(bool flag)
Set the flag that determines whether improvements using hill climbing should be attempted for solutio...
unsigned int getPoolRandomSize() const
Get the number of individuals to randomly sample at each generation.
bool getTryImprove() const
Returns true if improvements using hill climbing should be attempted for solutions generated by the g...
void setPoolMutationSize(unsigned int size)
Set the number of individuals to mutate at each generation.
void clear()
Clear the pool of samples.
void setValidityCheck(bool valid)
Set the state validity flag; if this is false, states are not checked for validity.
Definition: HillClimbing.h:90
unsigned int getMaxImproveSteps() const
Get the number of steps to perform.
Definition: HillClimbing.h:84
void setMaxImproveSteps(unsigned int steps)
Set the number of steps to perform.
Definition: HillClimbing.h:78
Main namespace. Contains everything in this library.