#include <Planner.hh>

Classes
struct	AbstractPlan
	Represents a formulated plan as a sequence of actions and a cost. More...

struct	Config
	The Planner's run-time configuration parameters. More...

Public Member Functions
	Planner (std::unique_ptr< WorldState > initialState, const Config &config=Config{})

void	SetIterationLimit (std::size_t iterationLimit)
	SetIterationLimit - sets maximum number of iterations per each execution of the planning problem. Each iteration ends with one candidate plan. More...

void	SetMaxPlanLength (int maxLength)
	SetMaxPlanLength - Limits generated plans to not exceed given number of steps to achieve goal conditions. More...

void	SetMaxPlanCost (double maxCost)
	SetMaxPlanCost - Limits generated plans cost (measured as the sum of costs of actions it consists of) needed to achieve goal conditions. More...

void	SetHeuristic (PlannerHeuristic heuristic)

void	SetConfig (const Config &config)
	ResetConfig - Sets planner config: max iteration, cost, length, plan heuristic, and node count. More...

void	PushCondition (ConditionFunction condition)

AbstractPlan	GetPartialPlan () const
	GetPartialPlan - returns currently best plan, regardless if goal conditions are met. Will return an empty plan if no calculations were finished. More...

data::PlannerIterationSnapshot	GetPlanSnapshot (std::size_t goalNodeIndex, std::size_t iteration) const
	GetPlanSnapshot - Get debug data on a single iteration of a plan. More...

void	Iterate (std::size_t iterationCount) noexcept
	Formulate a plan trying to meet goalConditions from initialState. It will call "OnPlanningFailed" or "OnPlanFound" when finished. More...

void	IterateWithSnapshot (std::size_t iterationCount, data::PlannerReasonerSnapshot &snapshot, std::size_t minDebugSnapshotIteration=0, std::size_t maxDebugSnapshotIteration=std::numeric_limits< std::size_t >::max()) noexcept
	IterateWithSnapshot - Formulates a plan trying to meet goalConditions from initialState. Outputs debug data during every iteration if not limited by min or max snapshot iteration parameters. More...

void	SetPlanFoundCallback (const std::function< void(const AbstractPlan &)> callbackFunction)
	SetPlanFoundCallback - Binds a function handle to call if a sufficient plan is found. Best plan will be passed as function argument. More...

void	SetPlanningFailedCallback (const std::function< void()> callbackFunction)
	SetPlanningFailedCallback - Binds a function handle to call if no sufficient plan was found. More...

void	Reset (std::unique_ptr< WorldState > initialState)
	Reset - Resets planner to given world state. Any existing plans and goal conditions will be cleared. More...

bool	IsComputing () const
	IsComputing - Returns true if no suitable plan was found and planning hasn't failed. This does not mean that planner is currently formulating a plan. More...

Detailed Description

The main class encapsulating the planning algorithm in Grail. Responsible for finding paths in an abstract plans space. You can use this class directly (as a raw algorithm) or indirectly through a Reasoners::PlannerReasoner instead.

Constructor & Destructor Documentation

◆ Planner()

grail::planner::Planner::Planner	(	std::unique_ptr< WorldState >	initialState,
		const Config &	config = `Config{}`
	)

Constructs a new planner object with a provided initial state and a default configuration.

Parameters

initialState	- the initial state of the planning space. The plans will be created from this state to the goal state.
config	- optional configuration parameters.

Member Function Documentation

◆ GetPartialPlan()

Planner::AbstractPlan grail::planner::Planner::GetPartialPlan ( ) const

GetPartialPlan - returns currently best plan, regardless if goal conditions are met. Will return an empty plan if no calculations were finished.

Returns: Currently best plan

◆ GetPlanSnapshot()

data::PlannerIterationSnapshot grail::planner::Planner::GetPlanSnapshot	(	std::size_t	goalNodeIndex,
		std::size_t	iteration
	)		const

GetPlanSnapshot - Get debug data on a single iteration of a plan.

Parameters

goalNodeIndex	Index of Planner generatedNodes
iteration	Plan iteration to gather debug data from

Returns: Plan iteration debug data

◆ IsComputing()

bool grail::planner::Planner::IsComputing ( ) const

IsComputing - Returns true if no suitable plan was found and planning hasn't failed. This does not mean that planner is currently formulating a plan.

Returns: Plan hasn't finished

◆ Iterate()

void grail::planner::Planner::Iterate ( std::size_t iterationCount )

noexcept

Formulate a plan trying to meet goalConditions from initialState. It will call "OnPlanningFailed" or "OnPlanFound" when finished.

Runs the planning process for the given number of iterations.

Parameters

iterationCount - the max number of plan iterations to calculate.

◆ IterateWithSnapshot()

void grail::planner::Planner::IterateWithSnapshot	(	std::size_t	iterationCount,
		data::PlannerReasonerSnapshot &	snapshot,
		std::size_t	minDebugSnapshotIteration = `0`,
		std::size_t	maxDebugSnapshotIteration = `std::numeric_limits<std::size_t>::max()`
	)

noexcept

IterateWithSnapshot - Formulates a plan trying to meet goalConditions from initialState. Outputs debug data during every iteration if not limited by min or max snapshot iteration parameters.

Parameters

iterationCount	Max number of plan iterations to calculate
snapshot	Plan debug data
minDebugSnapshotIteration	Min number of plan iterations to include in debug data from
maxDebugSnapshotIteration	Max number of plan iteration to include in debug data

◆ PushCondition()

void grail::planner::Planner::PushCondition ( ConditionFunction condition )

Adds a single goal condition to the planner. The planner may have multiple independent conditions defined.

Parameters

condition - a boolean function representing a single goal condition

◆ Reset()

void grail::planner::Planner::Reset ( std::unique_ptr< WorldState > initialState )

Reset - Resets planner to given world state. Any existing plans and goal conditions will be cleared.

Parameters

initialState New WorldState planner will start formulating plans from

◆ SetConfig()

void grail::planner::Planner::SetConfig ( const Config & config )

ResetConfig - Sets planner config: max iteration, cost, length, plan heuristic, and node count.

Parameters

config New planner config

◆ SetHeuristic()

void grail::planner::Planner::SetHeuristic ( PlannerHeuristic heuristic )

Enables the planner to heuristically evaluate the calculated plans. Similarly to A* pathfinding heuristic, it should return the estimation of the distance (cost) between an arbitrary state and the goal state.

Parameters

heuristic Plan evaluation heuristic

◆ SetIterationLimit()

void grail::planner::Planner::SetIterationLimit ( std::size_t iterationLimit )

SetIterationLimit - sets maximum number of iterations per each execution of the planning problem. Each iteration ends with one candidate plan.

Parameters

iterationLimit Iteration limit

◆ SetMaxPlanCost()

void grail::planner::Planner::SetMaxPlanCost ( double maxCost )

SetMaxPlanCost - Limits generated plans cost (measured as the sum of costs of actions it consists of) needed to achieve goal conditions.

Parameters

maxCost Maximum plan cost. Set -1 for no limit.

◆ SetMaxPlanLength()

void grail::planner::Planner::SetMaxPlanLength ( int maxLength )

SetMaxPlanLength - Limits generated plans to not exceed given number of steps to achieve goal conditions.

Parameters

maxLength - the maximum number of plan steps. Set -1 for unlimited plans.

◆ SetPlanFoundCallback()

void grail::planner::Planner::SetPlanFoundCallback ( const std::function< void(const AbstractPlan &)> callbackFunction )

SetPlanFoundCallback - Binds a function handle to call if a sufficient plan is found. Best plan will be passed as function argument.

Parameters

callbackFunction Function to call if plan is found

◆ SetPlanningFailedCallback()

void grail::planner::Planner::SetPlanningFailedCallback ( const std::function< void()> callbackFunction )

SetPlanningFailedCallback - Binds a function handle to call if no sufficient plan was found.

Parameters

callbackFunction Function to call if planning failed

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

GrailPlanners/Planner/Planner.hh
GrailPlanners/Planner/Planner.cpp

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Planner()

Member Function Documentation

◆ GetPartialPlan()

◆ GetPlanSnapshot()

◆ IsComputing()

◆ Iterate()

◆ IterateWithSnapshot()

◆ PushCondition()

◆ Reset()

◆ SetConfig()

◆ SetHeuristic()

◆ SetIterationLimit()

◆ SetMaxPlanCost()

◆ SetMaxPlanLength()

◆ SetPlanFoundCallback()

◆ SetPlanningFailedCallback()