Reachability model checker. More...
#include <reachability.h>
Public Member Functions | |
| model_checker_reachability (const region_t ®ion_goal) | |
| Constructor that initializes the goal region. | |
| int | set_goal_region (const region_t ®ion_goal) |
| Modifies the goal region. | |
| int | mc_update_insert_vertex (vertex_t *vertex_in) |
| Update function for vertex insertion. | |
| int | mc_update_insert_edge (edge_t *edge_in) |
| Update function for edge insertion. | |
| int | mc_update_delete_vertex (vertex_t *vertex_in) |
| Update function for vertex deletion. | |
| int | mc_update_delete_edge (edge_t *edge_in) |
| Update function for edge insertion. | |
| int | get_solution (trajectory_t &trajectory_out) |
| Returns a trajectory, if one exists, that solves the problem. | |
Reachability model checker.
The reachability model checker incrementally checks whether the graph includes a vertex that reaches the goal region. The dimensionality of the state space is provided as a template parameter. This reachability model checker is designed to work with incremental planners that maintain a necessarily connected graph such that for any vertex in the graph there exists at least one trajectory that starts from the root vertex and reaches this particular vertex. RRT, RRT*, and RRG planners all satsify this criterion.
libbot_rrg_double_integrator.cpp, libbot_rrg_dubins_car.cpp, libbot_rrg_dubins_double_integrator_airplane.cpp, libbot_rrg_single_integrator.cpp, libbot_rrt_double_integrator.cpp, libbot_rrt_dubins_car.cpp, libbot_rrt_dubins_double_integrator_airplane.cpp, libbot_rrt_single_integrator.cpp, standalone_rrg_double_integrator.cpp, standalone_rrg_dubins_car.cpp, standalone_rrg_dubins_double_integrator_airplane.cpp, standalone_rrg_single_integrator.cpp, standalone_rrt_double_integrator.cpp, standalone_rrt_dubins_car.cpp, standalone_rrt_dubins_double_integrator_airplane.cpp, and standalone_rrt_single_integrator.cpp.
| smp::model_checker_reachability< typeparams, NUM_DIMENSIONS >::model_checker_reachability | ( | const region_t & | region_goal | ) |
Constructor that initializes the goal region.
This constructor initializes the goal region. Note that the there is a constructor with no arguments. If initiated that constructor will initialize the goal region to its default values derived from the region class, which amounts to a point in the origin.
| region_goal | New goal region. |
| int smp::model_checker_reachability< typeparams, NUM_DIMENSIONS >::get_solution | ( | trajectory_t & | trajectory_out | ) | [virtual] |
Returns a trajectory, if one exists, that solves the problem.
This function can be called by the user to get a trajectory that solves the particular problem at hand. If the problem involves reaching a goal set, then this function will return a trajectory that does so, if such a trajectory currently exists in the graph.
| trajectory_out | The trajectory output by the function. Set to an empty trajectory if no trajectory that solves the problem is present in the graph. |
Implements smp::model_checker_base< typeparams >.
| int smp::model_checker_reachability< typeparams, NUM_DIMENSIONS >::mc_update_delete_edge | ( | edge_t * | edge_in | ) | [virtual] |
Update function for edge insertion.
This function is called by the planner whenever an edge is delete from the graph. A pointer to the edge is given as an argument.
| edge_in | A pointer to deleted edge. |
Implements smp::model_checker_base< typeparams >.
| int smp::model_checker_reachability< typeparams, NUM_DIMENSIONS >::mc_update_delete_vertex | ( | vertex_t * | vertex_in | ) | [virtual] |
Update function for vertex deletion.
This function is called by the planner whenever a vertex is deleted from the graph. A pointer to the vertex is given as an argument.
| vertex_in | A pointer to deleted vertex. |
Implements smp::model_checker_base< typeparams >.
| int smp::model_checker_reachability< typeparams, NUM_DIMENSIONS >::mc_update_insert_edge | ( | edge_t * | edge_in | ) | [virtual] |
Update function for edge insertion.
This function is called by the planner whenever a new edge is added to the graph. A pointer to the new edge is given as an argument.
| edge_in | A pointer to the new edge. |
Implements smp::model_checker_base< typeparams >.
| int smp::model_checker_reachability< typeparams, NUM_DIMENSIONS >::mc_update_insert_vertex | ( | vertex_t * | vertex_in | ) | [virtual] |
Update function for vertex insertion.
This function is called by the planner whenever a new vertex is added to the graph. A pointer to the new vertex is given as an argument.
| vertex_in | A pointer to the new vertex. |
Implements smp::model_checker_base< typeparams >.
| int smp::model_checker_reachability< typeparams, NUM_DIMENSIONS >::set_goal_region | ( | const region_t & | region_goal | ) |
Modifies the goal region.
This function sets the goal region to its new value given as an argument.
| region_goal | New goal region. |
