#include <BasicExtender.h>

Inheritance diagram for BasicExtender:

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Collaboration diagram for BasicExtender:

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Public Types
Motion Planning Types
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef MPBaseObject::GroupWeightType	GroupWeightType

typedef GroupCfgType::Formation	Formation

Public Types inherited from ExtenderMethod
typedef MPBaseObject::RoadmapType	RoadmapType

typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef GroupLocalPlan< RoadmapType >	GroupWeightType

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
	BasicExtender ()

	BasicExtender (XMLNode &_node)

virtual	~BasicExtender ()=default

MPBaseObject Overrides
virtual void	Print (std::ostream &_os) const override

ExtenderMethod Overrides
virtual bool	Extend (const Cfg &_start, const Cfg &_end, Cfg &_new, LPOutput &_lp) override

virtual bool	Extend (const Cfg &_start, const Cfg &_end, Cfg &_new, LPOutput &_lp, CDInfo &_cdInfo) override
	An optional version if CDInfo is desired. Not required to implement. More...

virtual bool	Extend (const GroupCfgType &_start, const GroupCfgType &_end, GroupCfgType &_new, GroupLPOutput &_lp, const Formation &_robotIndexes=Formation()) override

virtual bool	Extend (const GroupCfgType &_start, const GroupCfgType &_end, GroupCfgType &_new, GroupLPOutput &_lp, CDInfo &_cdInfo, const Formation &_robotIndexes=Formation()) override

Public Member Functions inherited from ExtenderMethod
	ExtenderMethod ()=default

	ExtenderMethod (XMLNode &_node)

virtual	~ExtenderMethod ()=default

virtual double	GetMinDistance () const
	Get the minimum extension distance. More...

virtual double	GetMaxDistance () const
	Get the maximum extension distance. More...

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	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...

Protected Member Functions
Helpers
bool	Expand (const Cfg &_start, const Cfg &_end, Cfg &_newCfg, double _delta, LPOutput &_lp, double _posRes, double _oriRes)

bool	Expand (const Cfg &_start, const Cfg &_end, Cfg &_newCfg, double _delta, LPOutput &_lp, CDInfo &_cdInfo, double _posRes, double _oriRes)

bool	Expand (const GroupCfgType &_start, const GroupCfgType &_end, GroupCfgType &_newCfg, double _delta, GroupLPOutput &_lp, double _posRes, double _oriRes, const Formation &_robotIndexes=Formation())
	GroupCfg Overrides. More...

bool	Expand (const GroupCfgType &_start, const GroupCfgType &_end, GroupCfgType &_newCfg, double _delta, GroupLPOutput &_lp, CDInfo &_cdInfo, double _posRes, double _oriRes, const Formation &_robotIndexes=Formation())

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

const std::string &	GetBaseFilename () const

Protected Attributes
Internal State
std::string	m_dmLabel
	The distance metric to use. More...

std::string	m_vcLabel
	The validity checker to use. More...

bool	m_randomOrientation {true}
	Setting this to false fixes orientation. More...

Protected Attributes inherited from ExtenderMethod
double	m_minDist {.1}
	The minimum valid extension distance. More...

double	m_maxDist {1.}
	The maximum valid extension distance. More...

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

Detailed Description

Basic straight-line extension.

Extends in straight-line through @cspace until either the target is reached, @cobst is encountered, or the max distance is exceeded.

Member Typedef Documentation

◆ Formation

typedef GroupCfgType::Formation BasicExtender::Formation

◆ GroupCfgType

typedef MPBaseObject::GroupCfgType BasicExtender::GroupCfgType

◆ GroupWeightType

typedef MPBaseObject::GroupWeightType BasicExtender::GroupWeightType

Constructor & Destructor Documentation

◆ BasicExtender() [1/2]

BasicExtender::BasicExtender ( )

◆ BasicExtender() [2/2]

BasicExtender::BasicExtender ( XMLNode & _node )

◆ ~BasicExtender()

virtual BasicExtender::~BasicExtender ( )

virtualdefault

Member Function Documentation

◆ Expand() [1/4]

bool BasicExtender::Expand	(	const Cfg &	_start,
		const Cfg &	_end,
		Cfg &	_newCfg,
		double	_delta,
		LPOutput &	_lp,
		CDInfo &	_cdInfo,
		double	_posRes,
		double	_oriRes
	)

protected

Todo:: No, we don't have to set _newCfg to _end, and it would be better if we didn't use this assumption. We are doing this so that we can use extenders as local planners in multi-tree RRT methods. To fix and remove the assumption, we need to homogenize our extenders and local planners into a single class with methods for both uses (i.e. 'Extend' and 'LocalPlan').

◆ Expand() [2/4]

bool BasicExtender::Expand	(	const Cfg &	_start,
		const Cfg &	_end,
		Cfg &	_newCfg,
		double	_delta,
		LPOutput &	_lp,
		double	_posRes,
		double	_oriRes
	)

protected

Basic utility for "extend" a RRT tree. Assumed to be given a start node and a goal node to grow towards. Resulting node extended towards the goal is passed by reference and modified.

Parameters

_start	Cfg to grow from.
_end	Cfg to grow toward.
_newCfg	Return for newly created cfg.
_delta	Maximum distance to grow

Returns: True if the extension produced a valid configuration that is at least the minimum distance away from the starting point.

◆ Expand() [3/4]

bool BasicExtender::Expand	(	const GroupCfgType &	_start,
		const GroupCfgType &	_end,
		GroupCfgType &	_newCfg,
		double	_delta,
		GroupLPOutput &	_lp,
		CDInfo &	_cdInfo,
		double	_posRes,
		double	_oriRes,
		const Formation &	_robotIndexes = `Formation()`
	)

protected

Set these to true to have single parts treated (less efficiently) as multiple parts, which should now be identical.

TODO: this can likely be optimized. For one, only one Configure call should be necessary here. Also a lot of the group Cfgs here could be made individual if using the leader, then using Configure on that.

◆ Expand() [4/4]

bool BasicExtender::Expand	(	const GroupCfgType &	_start,
		const GroupCfgType &	_end,
		GroupCfgType &	_newCfg,
		double	_delta,
		GroupLPOutput &	_lp,
		double	_posRes,
		double	_oriRes,
		const Formation &	_robotIndexes = `Formation()`
	)

protected

GroupCfg Overrides.

◆ Extend() [1/4]

bool BasicExtender::Extend	(	const Cfg &	_start,
		const Cfg &	_end,
		Cfg &	_new,
		LPOutput &	_lp
	)

overridevirtual

Extends a local plan from a starting configuration towards a target configuration.

Parameters

_start	Initial configuration to grow from.
_end	Target configuration to grow towards.
_new	Placeholder for resulting configuration.
_lp	Placeholder for polygonal chain configurations for non-straight-line extention operations and associated weight.

Returns: True if the extension produced a valid configuration that was at least the minimum distance away from the starting point.

Implements ExtenderMethod.

Reimplemented in RotationThenTranslation.

◆ Extend() [2/4]

bool BasicExtender::Extend	(	const Cfg &	_start,
		const Cfg &	_end,
		Cfg &	_new,
		LPOutput &	_lp,
		CDInfo &	_cdInfo
	)

overridevirtual

An optional version if CDInfo is desired. Not required to implement.

Reimplemented from ExtenderMethod.

◆ Extend() [3/4]

bool BasicExtender::Extend	(	const GroupCfgType &	_start,
		const GroupCfgType &	_end,
		GroupCfgType &	_new,
		GroupLPOutput &	_lp,
		CDInfo &	_cdInfo,
		const Formation &	_robotIndexes = `Formation()`
	)

overridevirtual

For groups, with CD info. @override

Parameters

_robotIndexes The indexes of the robots which should move (empty for all).

Reimplemented from ExtenderMethod.

◆ Extend() [4/4]

bool BasicExtender::Extend	(	const GroupCfgType &	_start,
		const GroupCfgType &	_end,
		GroupCfgType &	_new,
		GroupLPOutput &	_lp,
		const Formation &	_robotIndexes = `Formation()`
	)

overridevirtual

For groups. @override

Parameters

_robotIndexes The indexes of the robots which should move (empty for all).

Reimplemented from ExtenderMethod.

◆ Print()

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

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from ExtenderMethod.

Field Documentation

◆ m_dmLabel

std::string BasicExtender::m_dmLabel

protected

The distance metric to use.

◆ m_randomOrientation

bool BasicExtender::m_randomOrientation {true}

protected

Setting this to false fixes orientation.

◆ m_vcLabel

std::string BasicExtender::m_vcLabel

protected

The validity checker to use.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/Extenders/BasicExtender.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/Extenders/BasicExtender.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Formation

◆ GroupCfgType

◆ GroupWeightType

Constructor & Destructor Documentation

◆ BasicExtender() [1/2]

◆ BasicExtender() [2/2]

◆ ~BasicExtender()

Member Function Documentation

◆ Expand() [1/4]

◆ Expand() [2/4]

◆ Expand() [3/4]

◆ Expand() [4/4]

◆ Extend() [1/4]

◆ Extend() [2/4]

◆ Extend() [3/4]

◆ Extend() [4/4]

◆ Print()

Field Documentation

◆ m_dmLabel

◆ m_randomOrientation

◆ m_vcLabel