#include <BinaryLPSweptDistance.h>

Inheritance diagram for BinaryLPSweptDistance:

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Collaboration diagram for BinaryLPSweptDistance:

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Public Member Functions
Construction
	BinaryLPSweptDistance (string _lp="sl", double _posRes=.1, double _oriRes=.1, double _tolerance=.01, int _maxAttempts=100, bool _bbox=false)

	BinaryLPSweptDistance (XMLNode &_node)

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

LPSweptDistance Overrides
virtual double	Distance (const Cfg &_c1, const Cfg &_c2) override

Public Member Functions inherited from LPSweptDistance
	LPSweptDistance (string _lpLabel="sl", double _positionRes=0.1, double _orientationRes=0.1, bool _bbox=false)

	LPSweptDistance (XMLNode &_node)

virtual	~LPSweptDistance ()=default

Public Member Functions inherited from DistanceMetricMethod
	DistanceMetricMethod ()=default

	DistanceMetricMethod (XMLNode &_node)

virtual	~DistanceMetricMethod ()=default

virtual double	Distance (const GroupCfgType &_c1, const GroupCfgType &_c2)

double	EdgeWeight (const RoadmapType *const _r, const typename RoadmapType::CEI &_edge) noexcept

double	EdgeWeight (const RoadmapType *const _r, const VID _source, const VID _target) noexcept

virtual void	ScaleCfg (double _length, Cfg &_c, const Cfg &_o)

void	ScaleCfg (double _length, Cfg &_c)

virtual void	ScaleCfg (double _length, GroupCfgType &_c, const GroupCfgType &_o)

void	ScaleCfg (double _length, GroupCfgType &_c)

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...

Additional Inherited Members
Public Types inherited from LPSweptDistance
typedef MPBaseObject::GroupCfgType	GroupCfgType

Public Types inherited from DistanceMetricMethod
typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

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

Protected Member Functions inherited from LPSweptDistance
double	SweptDistance (const std::vector< GMSPolyhedron > &_poly1, const std::vector< GMSPolyhedron > &_poly2)

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

const std::string &	GetBaseFilename () const

Protected Attributes inherited from LPSweptDistance
string	m_lpLabel
	For Local Planner type. More...

double	m_positionRes
	For position resolution. More...

double	m_orientationRes
	For orientation resolution. More...

bool	m_useBBox
	for whether to use bounding box More...

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

Detailed Description

BinaryLPSwept Distance is LPSwept Distance with positon and orientation resolutions initially set and then doubled in granularity until distance converges, the environmental resolutions are met, or maxAttempts are reached

Constructor & Destructor Documentation

◆ BinaryLPSweptDistance() [1/2]

BinaryLPSweptDistance::BinaryLPSweptDistance	(	string	_lp = `"sl"`,
		double	_posRes = `.1`,
		double	_oriRes = `.1`,
		double	_tolerance = `.01`,
		int	_maxAttempts = `100`,
		bool	_bbox = `false`
	)

◆ BinaryLPSweptDistance() [2/2]

BinaryLPSweptDistance::BinaryLPSweptDistance ( XMLNode & _node )

Member Function Documentation

◆ Distance()

double BinaryLPSweptDistance::Distance	(	const Cfg &	_c1,
		const Cfg &	_c2
	)

overridevirtual

Compute a distance between two configurations.

Parameters

_c1	The first configuration.
_c2	The second configuration.

Returns: The computed distance between _c1 and _c2.

Reimplemented from LPSweptDistance.

◆ Print()

void BinaryLPSweptDistance::Print ( ostream & _os ) const