#include <ClearanceMap.h>

Inheritance diagram for ClearanceMap< MPTraits >:

Collaboration diagram for ClearanceMap< MPTraits >:

Public Types
Local Types
typedef stapl::sequential::directed_preds_graph< stapl::MULTIEDGES, Point3d, vector< Point3d > >	GraphType
	Graph type is a directed multiedge graph of points and paths. More...

typedef GraphType::vertex_descriptor	VD

typedef GraphType::edge_descriptor	ED

typedef GraphType::vertex_iterator	vertex_iterator

typedef GraphType::adj_edge_iterator	adj_edge_iterator

typedef MPTraits::CfgType	CfgType

typedef function< bool(double)>	FilterFunction

Public Types inherited from MPBaseObject< MPTraits >
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
map< ED, double > &	GetAnnotatedClearanceMap (FilterFunction &&_f)

WorkspaceSkeleton *	GetAnnotatedSkeleton (FilterFunction &&_f)

map< ED, double > &	GetClearanceMap ()
	Get the clerance map. More...

Construction
	ClearanceMap ()=default

void	Construct (WorkspaceSkeleton *_s)

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

const std::string &	GetBaseFilename () const

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

Detailed Description

template<class MPTraits>
class ClearanceMap< MPTraits >

Clearance map of the workspace skeleton.

To use clearance map, put it before workspace skeleton. Direct() and SetMPlibrary before construct().

Member Typedef Documentation

◆ adj_edge_iterator

template<class MPTraits >

typedef GraphType::adj_edge_iterator ClearanceMap< MPTraits >::adj_edge_iterator

◆ CfgType

template<class MPTraits >

typedef MPTraits::CfgType ClearanceMap< MPTraits >::CfgType

◆ ED

template<class MPTraits >

typedef GraphType::edge_descriptor ClearanceMap< MPTraits >::ED

◆ FilterFunction

template<class MPTraits >

typedef function<bool(double)> ClearanceMap< MPTraits >::FilterFunction

◆ GraphType

template<class MPTraits >

typedef stapl::sequential::directed_preds_graph< stapl::MULTIEDGES, Point3d, vector<Point3d> > ClearanceMap< MPTraits >::GraphType

Graph type is a directed multiedge graph of points and paths.

◆ VD

template<class MPTraits >

typedef GraphType::vertex_descriptor ClearanceMap< MPTraits >::VD

◆ vertex_iterator

template<class MPTraits >

typedef GraphType::vertex_iterator ClearanceMap< MPTraits >::vertex_iterator

Constructor & Destructor Documentation

◆ ClearanceMap()

template<class MPTraits >

ClearanceMap< MPTraits >::ClearanceMap ( )

default

Member Function Documentation

◆ Construct()

template<class MPTraits >

void ClearanceMap< MPTraits >::Construct ( WorkspaceSkeleton * _s )

◆ GetAnnotatedClearanceMap()

template<class MPTraits >

map< typename ClearanceMap< MPTraits >::ED, double > & ClearanceMap< MPTraits >::GetAnnotatedClearanceMap ( FilterFunction && _f )

Annotate the clearance map in terms of filter function. The graph in skeleton won't be touched.

Parameters

_f	Filter functor.

Returns: A reference to the annotated clearance map.

◆ GetAnnotatedSkeleton()

template<class MPTraits >

WorkspaceSkeleton * ClearanceMap< MPTraits >::GetAnnotatedSkeleton ( FilterFunction && _f )

Compute the graph in terms of filter funtion then replace the old graph with the annotated one.

Parameters

_f	Filter functor.

Returns: A reference to the annotated workspace skeleton.

◆ GetClearanceMap()

template<class MPTraits >

map<ED, double>& ClearanceMap< MPTraits >::GetClearanceMap ( )

inline

Get the clerance map.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/Workspace/ClearanceMap.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

template<class MPTraits> class ClearanceMap< MPTraits >

Member Typedef Documentation

◆ adj_edge_iterator

◆ CfgType

◆ ED

◆ FilterFunction

◆ GraphType

◆ VD

◆ vertex_iterator

Constructor & Destructor Documentation

◆ ClearanceMap()

Member Function Documentation

◆ Construct()

◆ GetAnnotatedClearanceMap()

◆ GetAnnotatedSkeleton()

◆ GetClearanceMap()

template<class MPTraits>
class ClearanceMap< MPTraits >