This sampler validity checks the input sample and accepts it iff it passes the bridge test - i.e., a random, Gaussian ray places the sample in the center of a ray and it only passes if the sample is valid but the ray's two endpoints are invalid. More...

#include <BridgeTestSampler.h>

Inheritance diagram for BridgeTestSampler:

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Collaboration diagram for BridgeTestSampler:

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Public Types
Motion Planning Types
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef std::map< Robot , const Boundary >	BoundaryMap

Public Types inherited from SamplerMethod
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef std::vector< Cfg >::iterator	InputIterator

typedef std::back_insert_iterator< std::vector< Cfg > >	OutputIterator

typedef std::vector< GroupCfgType >::iterator	GroupInputIterator

typedef std::back_insert_iterator< std::vector< GroupCfgType > >	GroupOutputIterator

typedef std::map< Robot , const Boundary >	BoundaryMap
	A map from robots to sampling boundaries. More...

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
	BridgeTestSampler (string _vcLabel="", string _dmLabel="", double _d=0.5, bool _useBoundary=false)

	BridgeTestSampler (XMLNode &_node)

virtual	~BridgeTestSampler ()=default

MPBaseObjectOverrides
virtual void	Print (ostream &_os) const override

Parser
void	ParseXML (XMLNode &_node)

Sampler Rule
virtual bool	Sampler (GroupCfgType &_cfg, const Boundary *const _boundary, vector< GroupCfgType > &_valid, vector< GroupCfgType > &_invalid)

virtual bool	Sampler (Cfg &_cfg, const Boundary *const _boundary, vector< Cfg > &_valid, vector< Cfg > &_invalid)

virtual bool	Sampler (GroupCfgType &_cfg, const BoundaryMap &_boundaryMap, std::vector< GroupCfgType > &_valid, std::vector< GroupCfgType > &_invalid)

Public Member Functions inherited from SamplerMethod
	SamplerMethod ()=default

	SamplerMethod (XMLNode &_node)

virtual	~SamplerMethod ()=0

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid, OutputIterator _invalid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary const _robotBoundary, const Boundary const _eeBoundary, OutputIterator _valid, OutputIterator _invalid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary const _robotBoundary, const Boundary const _eeBoundary, OutputIterator _valid)

virtual void	Filter (InputIterator _first, InputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid, OutputIterator _invalid)

void	Filter (InputIterator _first, InputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid, GroupOutputIterator _invalid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const BoundaryMap &_boundary, GroupOutputIterator _valid, GroupOutputIterator _invalid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const BoundaryMap &_boundary, GroupOutputIterator _valid)

virtual void	Filter (GroupInputIterator _first, GroupInputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid, GroupOutputIterator _invalid)

void	Filter (GroupInputIterator _first, GroupInputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. 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	GroupInBounds (GroupCfgType &_gcfg, const BoundaryMap &_boundaryMap)

Protected Member Functions inherited from SamplerMethod
virtual bool	Sampler (Cfg &_cfg, const Boundary const _robotBoundary, const Boundary const _eeBoundary, std::vector< Cfg > &_valid, std::vector< Cfg > &_invalid)

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

const std::string &	GetBaseFilename () const

Protected Attributes
Internal State

double	m_d
	Gaussian d-value obtained from distribution. More...

bool	m_useBoundary
	use Bbox as obstacle? More...

std::string	m_vcLabel

std::string	m_dmLabel
	The distance metric to use. More...

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

Detailed Description

This sampler validity checks the input sample and accepts it iff it passes the bridge test - i.e., a random, Gaussian ray places the sample in the center of a ray and it only passes if the sample is valid but the ray's two endpoints are invalid.

Member Typedef Documentation

◆ BoundaryMap

typedef std::map<Robot*, const Boundary*> BridgeTestSampler::BoundaryMap

◆ GroupCfgType

typedef MPBaseObject::GroupCfgType BridgeTestSampler::GroupCfgType

Constructor & Destructor Documentation

◆ BridgeTestSampler() [1/2]

BridgeTestSampler::BridgeTestSampler	(	std::string	_vcLabel = `""`,
		std::string	_dmLabel = `""`,
		double	_d = `0.5`,
		bool	_useBoundary = `false`
	)

◆ BridgeTestSampler() [2/2]

BridgeTestSampler::BridgeTestSampler ( XMLNode & _node )

◆ ~BridgeTestSampler()

virtual BridgeTestSampler::~BridgeTestSampler ( )

virtualdefault

Member Function Documentation

◆ GroupInBounds()

bool BridgeTestSampler::GroupInBounds	(	GroupCfgType &	_gcfg,
		const BoundaryMap &	_boundaryMap
	)

protected

Check if all configurations within a group are inside their respective boundaries

◆ ParseXML()

void BridgeTestSampler::ParseXML ( XMLNode & _node )

◆ Print()

void BridgeTestSampler::Print ( ostream & _os ) const

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from MPBaseObject.

◆ Sampler() [1/3]

bool BridgeTestSampler::Sampler	(	Cfg &	_cfg,
		const Boundary *const	_boundary,
		vector< Cfg > &	_valid,
		vector< Cfg > &	_invalid
	)

virtual

Takes a single input configuration and applies the sampler rule to generate one or more output configurations.

Parameters

_cfg	The input configuration.
_boundary	The sampling boundary.
_valid	The resulting output configurations.
_invalid	The (optional) return for failed attempts.

Returns: True if a valid configuration was generated, false otherwise.

Reimplemented from SamplerMethod.

◆ Sampler() [2/3]

bool BridgeTestSampler::Sampler	(	GroupCfgType &	_cfg,
		const Boundary *const	_boundary,
		vector< GroupCfgType > &	_valid,
		vector< GroupCfgType > &	_invalid
	)

virtual

Takes a single input configuration and applies the sampler rule to generate one or more output configurations.

Parameters

_cfg	The input group configuration.
_boundary	The sampling boundary.
_valid	The resulting output configurations.
_invalid	The (optional) return for failed attempts.

Returns: True if a valid configuration was generated, false otherwise.

Reimplemented from SamplerMethod.

◆ Sampler() [3/3]

bool BridgeTestSampler::Sampler	(	GroupCfgType &	_cfg,
		const BoundaryMap &	_boundaryMap,
		std::vector< GroupCfgType > &	_valid,
		std::vector< GroupCfgType > &	_invalid
	)

virtual

This version specifies a (possibly different) boundary for each robot. Robots which are not in the boundary map will use the environment boundary. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Reimplemented from SamplerMethod.

Field Documentation

◆ m_d

double BridgeTestSampler::m_d

protected

Gaussian d-value obtained from distribution.

◆ m_dmLabel

std::string BridgeTestSampler::m_dmLabel

protected

The distance metric to use.

◆ m_useBoundary

bool BridgeTestSampler::m_useBoundary

protected

use Bbox as obstacle?

◆ m_vcLabel

std::string BridgeTestSampler::m_vcLabel

protected

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/Samplers/BridgeTestSampler.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/Samplers/BridgeTestSampler.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ BoundaryMap

◆ GroupCfgType

Constructor & Destructor Documentation

◆ BridgeTestSampler() [1/2]

◆ BridgeTestSampler() [2/2]

◆ ~BridgeTestSampler()

Member Function Documentation

◆ GroupInBounds()

◆ ParseXML()

◆ Print()

◆ Sampler() [1/3]

◆ Sampler() [2/3]

◆ Sampler() [3/3]

Field Documentation

◆ m_d

◆ m_dmLabel

◆ m_useBoundary

◆ m_vcLabel