#include <AlwaysTrueValidity.h>

Inheritance diagram for AlwaysTrueValidity:

Collaboration diagram for AlwaysTrueValidity:

Public Types
Local Types
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef GroupCfgType::Formation	Formation

Public Types inherited from ValidityCheckerMethod
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef GroupCfgType::Formation	Formation

Public Types inherited from MPBaseObject
typedef DefaultWeight< Cfg >	WeightType

typedef GenericStateGraph< Cfg, WeightType >	RoadmapType

typedef GroupCfg< RoadmapType >	GroupCfgType

typedef GroupLocalPlan< RoadmapType >	GroupWeightType

typedef GroupRoadmap< GroupCfgType, GroupWeightType >	GroupRoadmapType

Public Member Functions
Construction
	AlwaysTrueValidity ()

	AlwaysTrueValidity (XMLNode &_node)

virtual	~AlwaysTrueValidity ()=default

ValidityChecker Interface
virtual bool	IsValidImpl (Cfg &_cfg, CDInfo &_cdInfo, const std::string &_callName) override

bool	IsValidImpl (GroupCfgType &_cfg, CDInfo &_cdInfo, const std::string &_caller) override

Public Member Functions inherited from ValidityCheckerMethod
	ValidityCheckerMethod ()=default

	ValidityCheckerMethod (XMLNode &_node)

virtual	~ValidityCheckerMethod ()=default

bool	GetValidity () const
	Get the current meaning of "valid" (true is default). More...

void	ToggleValidity ()
	Switches the meaning of "valid" to "invalid" and vice versa. More...

bool	IsValid (Cfg &_cfg, CDInfo &_cdInfo, const std::string &_caller)

bool	IsValid (Cfg &_cfg, const std::string &_caller)

bool	IsValid (GroupCfgType &_cfg, CDInfo &_cdInfo, const std::string &_caller)

bool	IsValid (GroupCfgType &_cfg, const std::string &_caller)

Public Member Functions inherited from MPBaseObject
	MPBaseObject (const std::string &_label="", const std::string &_name="", bool _debug=false)

	MPBaseObject (XMLNode &_node)

virtual	~MPBaseObject ()

virtual void	Print (std::ostream &_os) const

virtual void	Initialize ()

const std::string &	GetName () const
	Get the class name for this object. More...

const std::string &	GetLabel () const
	Get the unique label for this object. More...

std::string	GetNameAndLabel () const
	Get the unique string identifier for this object "m_name::m_label". More...

void	SetLabel (const std::string &)
	Set the unique label for this object. More...

void	SetMPLibrary (MPLibrary *) noexcept
	Set the owning MPLibrary. More...

MPLibrary *	GetMPLibrary () const noexcept
	Get the owning MPLibrary. More...

bool	IsRunning () const noexcept
	Check the library's running flag. More...

MPProblem *	GetMPProblem () const noexcept
	Get the library's current MPProblem. More...

Environment *	GetEnvironment () const noexcept
	Get the current environment. More...

MPTask *	GetTask () const noexcept
	Get the current task. More...

GroupTask *	GetGroupTask () const noexcept
	Get the current group task. More...

MPSolutionType *	GetMPSolution () const noexcept

RoadmapType *	GetRoadmap (Robot *const _r=nullptr) const noexcept
	Get the current free-space roadmap. More...

GroupRoadmapType *	GetGroupRoadmap (RobotGroup *const _g=nullptr) const noexcept
	Get the current free-space group roadmap. More...

RoadmapType *	GetBlockRoadmap (Robot *const _r=nullptr) const noexcept
	Get the current obstacle-space roadmap. More...

Path *	GetPath (Robot *const _r=nullptr) const noexcept

GroupPath *	GetGroupPath (RobotGroup *const _g=nullptr) const noexcept
	Get the current best group path. More...

StatClass *	GetStatClass () const noexcept
	Get the current StatClass. More...

LocalObstacleMap *	GetLocalObstacleMap () const noexcept
	Get the local obstacle map. More...

Additional Inherited Members
Helpers
Protected Member Functions inherited from MPBaseObject
void	SetName (const std::string &_s)

const std::string &	GetBaseFilename () const

Protected Attributes inherited from ValidityCheckerMethod
bool	m_validity {true}
	Use standard validity? False indicates negation. More...

Protected Attributes inherited from MPBaseObject
bool	m_debug
	Print debug info? More...

Detailed Description

Always report valid and mark the configuration for lazy validation.

Member Typedef Documentation

◆ Formation

typedef GroupCfgType::Formation AlwaysTrueValidity::Formation

◆ GroupCfgType

typedef MPBaseObject::GroupCfgType AlwaysTrueValidity::GroupCfgType

Constructor & Destructor Documentation

◆ AlwaysTrueValidity() [1/2]

AlwaysTrueValidity::AlwaysTrueValidity ( )

◆ AlwaysTrueValidity() [2/2]

AlwaysTrueValidity::AlwaysTrueValidity ( XMLNode & _node )

◆ ~AlwaysTrueValidity()

virtual AlwaysTrueValidity::~AlwaysTrueValidity ( )

virtualdefault

Member Function Documentation

◆ IsValidImpl() [1/2]

bool AlwaysTrueValidity::IsValidImpl	(	Cfg &	_cfg,
		CDInfo &	_cdInfo,
		const std::string &	_caller
	)

overridevirtual

Implementation of the classification of a configuration to either cfree or cobst.

Parameters

_cfg	The individual configuration.
_cdInfo	Output for extra computed information such as clearance.
_caller	Name of the calling function.

Returns: True if _cfg is in cfree.

Implements ValidityCheckerMethod.

◆ IsValidImpl() [2/2]

bool AlwaysTrueValidity::IsValidImpl	(	GroupCfgType &	_cfg,
		CDInfo &	_cdInfo,
		const std::string &	_caller
	)

overridevirtual

Implementation of group cfg classification.