ClearanceOptimizer Class Reference

The ClearanceOptimizer implements the C-Retraction algorithms from [1]. More...

#include <ClearanceOptimizer.hpp>

Public Types
typedef rw::core::Ptr< ClearanceOptimizer >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const ClearanceOptimizer >	CPtr
	smart pointer type to this const class

Public Member Functions
	ClearanceOptimizer ()=delete
	Deleted default constructor. More...
	ClearanceOptimizer (const rw::core::Ptr< const rw::models::Device > &device, const rw::kinematics::State &state, const rw::math::QMetric::CPtr &metric, const rw::core::Ptr< const ClearanceCalculator > &clearanceCalculator)
	Constructs clearance optimizer. More...
	~ClearanceOptimizer ()
	Destructor.
rw::trajectory::QPath	optimize (const rw::trajectory::QPath &path, double stepsize, size_t maxcount, double maxtime)
	Runs optimization algorithm. More...
rw::trajectory::QPath	optimize (const rw::trajectory::QPath &path)
	Runs optimization algorithm. More...
rw::core::PropertyMap &	getPropertyMap ()
	Returns the PropertyMap associated with the optimizer. More...
const rw::core::Ptr< const ClearanceCalculator > &	getClearanceCalculator () const
	Returns the ClearanceCalculator associated with the optimizer. More...
void	setMinimumClearance (const double dist)
	Sets the minimum clearance optimized for. Points on the path with clearance greater than _minClearance are not optimized further. Class default value is 0.1 meters. Value must be equal to or greater than zero. More...
double	getMinimumClearance () const
	Returns the minimum clearance optimized for. More...
void	setStateConstraint (const rw::core::Ptr< const rw::pathplanning::StateConstraint > &stateConstraint)
	Set a state constraint in the clearance optimizer. More...
void	setQConstraint (const rw::core::Ptr< const rw::pathplanning::QConstraint > &qConstraint)
	Set a configuration constraint in the clearance optimizer. More...

Static Public Attributes
static const std::string	PROP_LOOPCOUNT
	Property key for the maximal number of loops. Set LOOPCOUNT=0 to deactivate it.
static const std::string	PROP_MAXTIME
	Property key for max time. Set MAXTIME=0 to deactivate it.
static const std::string	PROP_STEPSIZE
	Property key for step size.

Detailed Description

The ClearanceOptimizer implements the C-Retraction algorithms from [1].

[1]: R. Geraerts and M.H. Overmars, Creating High-Quality Paths for Motion Planning, The International Journal of Robotics Research, Vol. 26, No. 8, 845-863 (2007)

The algorithms work by first subdividing the path, to give a dense and even distribution of nodes along the path. Nodes are then tried moved in a random direction to improve the clearance. After having iterated through the entire path some nodes will be moved, thus a validation step is used to insert extra nodes where the density is not high enough. This is then followed by a method for removing undesired branches.

Constructor & Destructor Documentation

ClearanceOptimizer() [1/2]

ClearanceOptimizer ( )

delete

Deleted default constructor.

Todo:

Implement required functionality (setters) for this to be usable.

ClearanceOptimizer() [2/2]

ClearanceOptimizer	(	const rw::core::Ptr< const rw::models::Device > &	device,
		const rw::kinematics::State &	state,
		const rw::math::QMetric::CPtr &	metric,
		const rw::core::Ptr< const ClearanceCalculator > &	clearanceCalculator
	)

Constructs clearance optimizer.

The clearance optimizer currently assumes the configuration space of the device is rectangular.

Parameters

device	[in] Device to plan for
state	[in] State containing position of all other devices and how frames are assembled.
metric	[in] Metric to use for computing distance betweem configurations
clearanceCalculator	[in] Calculator for calculating the clearance

Member Function Documentation

getClearanceCalculator()

const rw::core::Ptr<const ClearanceCalculator>& getClearanceCalculator

(

)

const

Returns the ClearanceCalculator associated with the optimizer.

Returns

Const reference to the ClearanceCalculator.

getMinimumClearance()

double getMinimumClearance

(

)

const

Returns the minimum clearance optimized for.

Returns

The minimum clearance.

getPropertyMap()

rw::core::PropertyMap& getPropertyMap

(

)

Returns the PropertyMap associated with the optimizer.

The PropertyMap defines the following parameters used by the optimizer:

Property Name	Type	Default value
ClearanceOptimizer::PROP_LOOPCOUNT	int	20
ClearanceOptimizer::PROP_MAXTIME	double	200
ClearanceOptimizer::PROP_STEPSIZE	double	0.1

Returns

The PropertyMap

optimize() [1/2]

rw::trajectory::QPath optimize

(

const rw::trajectory::QPath &

path

)

Runs optimization algorithm.

Runs the optimization algorithm using the parameters specified in the property map

Parameters

path	[in] Path to optimize

Returns

The optimized path

optimize() [2/2]

rw::trajectory::QPath optimize	(	const rw::trajectory::QPath &	path,
		double	stepsize,
		size_t	maxcount,
		double	maxtime
	)

Runs optimization algorithm.

Calling this method runs the path optimization algorithm. This call blocks until the optimized path is ready. This may take quite a while, depending on the maxcount specified and the amount of geometry in the scene.

Parameters

path	[in] Path to optimize
stepsize	[in] Maximum size between configurations in the dense path
maxcount	[in] Number of time to attempt optimizing the path using the random direction. If maxcount=0 only the maxtime will be used.
maxtime	[in] The maximal time allowed to optimize. If maxtime<=0 only the maxcount will be used

Returns

The optimized path with node no further than stepsize apart

setMinimumClearance()

void setMinimumClearance

(

const double

dist

)

Sets the minimum clearance optimized for. Points on the path with clearance greater than _minClearance are not optimized further. Class default value is 0.1 meters. Value must be equal to or greater than zero.

Parameters

dist	[in] Minimum clearance.

setQConstraint()

void setQConstraint

(

const rw::core::Ptr< const rw::pathplanning::QConstraint > &

qConstraint

)

Set a configuration constraint in the clearance optimizer.

The optimizer will not generate a path with configurations that is in collision according to the constraint.

Parameters

qConstraint

[in] the constraint.

setStateConstraint()

void setStateConstraint

(

const rw::core::Ptr< const rw::pathplanning::StateConstraint > &

stateConstraint

)

Set a state constraint in the clearance optimizer.

The optimizer will not generate a path with configurations that is in collision according to the state constraint.

Parameters

stateConstraint

[in] the constraint.

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

• ClearanceOptimizer.hpp