#include <ClearanceQuery.h>

Inheritance diagram for ClearanceQuery:

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Collaboration diagram for ClearanceQuery:

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Public Types
Motion Planning Types
typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

typedef RoadmapType::EdgeID	EdgeID

typedef std::unordered_set< size_t >	VIDSet

typedef RoadmapType::adj_edge_iterator	EI

Public Types inherited from QueryMethod
enum	GraphSearchAlg { DIJKSTRAS , ASTAR }

typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

typedef RoadmapType::VertexSet	VertexSet

typedef std::unordered_set< size_t >	VIDSet

Public Types inherited from MapEvaluatorMethod
typedef std::unordered_map< size_t, std::unordered_map< size_t, std::vector< Range< double > > > >	EdgeIntervals

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
	ClearanceQuery ()

	ClearanceQuery (XMLNode &_node)

virtual	~ClearanceQuery ()=default

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

virtual void	Initialize () override

Public Member Functions inherited from QueryMethod
	QueryMethod ()

	QueryMethod (XMLNode &_node)

virtual	~QueryMethod ()=default

virtual bool	operator() () override

std::vector< VID >	GeneratePath (const VID _start, const VIDSet &_end)

void	SetDMLabel (const std::string &_dmLabel)

virtual void	SetPathWeightFunction (SSSPPathWeightFunction< RoadmapType > _f)

void	SetLastConstraintTime (double _last)

void	SetLastGoalConstraintTime (double _time)

void	SetStartTime (double _start)

void	SetEndTime (double _end)

Public Member Functions inherited from MapEvaluatorMethod
virtual void	SetEdgeIntervals (EdgeIntervals _edgeIntervals)
	Set the edge intervals of a roadmap. More...

virtual void	SetMinEndtime (double _minEndtime)
	Set the minimum end time of a path. More...

void	SetActiveRobots (const std::vector< size_t > &_activeRobots)
	Set the active robots. More...

std::vector< size_t >	GetActiveRobots () const
	Get the active robots. More...

	MapEvaluatorMethod ()=default

	MapEvaluatorMethod (XMLNode &_node)

virtual	~MapEvaluatorMethod ()=default

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

	MPBaseObject (XMLNode &_node)

virtual	~MPBaseObject ()

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
QueryMethod Overrides
virtual void	Reset (RoadmapType *const _r) override

virtual double	StaticPathWeight (typename RoadmapType::adj_edge_iterator &_ei, const double _sourceDistance, const double _targetDistance) const override
	Set the path weights as minimum 1/clearance. More...

Protected Member Functions inherited from QueryMethod
virtual void	Reset (RoadmapType *const _r)

void	SetSearchAlgViaString (std::string _alg, const std::string &_where)

virtual bool	PerformSubQuery (const VID _start, const VIDSet &_goal)

virtual double	DynamicPathWeight (typename RoadmapType::adj_edge_iterator &_ei, const double _sourceDistance, const double _targetDistance) const

std::vector< typename QueryMethod::VID >	TwoVariableQuery (const VID _start, const VIDSet &_goals)

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

const std::string &	GetBaseFilename () const

Protected Attributes
std::string	m_intermediateEdgeVCLabel

Protected Attributes inherited from QueryMethod
RoadmapType *	m_roadmap {nullptr}
	Last roadmap queried. More...

MPTask *	m_task {nullptr}
	Last task we looked at. More...

size_t	m_goalIndex {0}
	Index of next unreached goal. More...

GraphSearchAlg	m_searchAlg {DIJKSTRAS}
	The sssp algorithm to use. More...

std::string	m_safeIntervalLabel
	The SafeIntervalTool label. More...

std::string	m_dmLabel
	The DistanceMetric label. More...

bool	m_twoVariable {false}
	Temporary flag to use two varibale state search. More...

SSSPPathWeightFunction< RoadmapType >	m_weightFunction
	The function for computing total path weight. More...

double	m_lastConstraint {0}
	The time of the last constraint. More...

double	m_lastGoalConstraint {0}
	The time of the last goal constraint. More...

double	m_startTime {0}
	The start time of the query. More...

double	m_endTime {0}
	The end time of the query. More...

Protected Attributes inherited from MapEvaluatorMethod
std::vector< size_t >	m_activeRobots

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

Detailed Description

Finds path using weighted clearance rather than path length.

Note: We use 1/clearance as path weights; this can be changed as programmer sees fit in StaticPathWeight.

Member Typedef Documentation

◆ EdgeID

typedef RoadmapType::EdgeID ClearanceQuery::EdgeID

◆ EI

typedef RoadmapType::adj_edge_iterator ClearanceQuery::EI

◆ RoadmapType

typedef MPBaseObject::RoadmapType ClearanceQuery::RoadmapType

◆ VID

typedef RoadmapType::VID ClearanceQuery::VID

◆ VIDSet

typedef std::unordered_set<size_t> ClearanceQuery::VIDSet

Constructor & Destructor Documentation

◆ ClearanceQuery() [1/2]

ClearanceQuery::ClearanceQuery ( )

◆ ClearanceQuery() [2/2]

ClearanceQuery::ClearanceQuery ( XMLNode & _node )

◆ ~ClearanceQuery()

virtual ClearanceQuery::~ClearanceQuery ( )

virtualdefault

Member Function Documentation

◆ Initialize()

void ClearanceQuery::Initialize ( )

overridevirtual

Initialize this object for the current MPProblem. This should reset any internal state of the algorithms so that they are ready for execution. It is also the place to initialize any state that depends on the current problem.

Warning: This member will be called for every compiled algorithm in the planning library - even those that will not be used. If an algorithm needs to do expenisve setup, then this method should only set a flag that tells it to do so on first use. The only exceptions are the MPStrategies, which will only have their initialize called on first use.

Reimplemented from QueryMethod.

◆ Print()

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

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from QueryMethod.

◆ Reset()

void ClearanceQuery::Reset ( RoadmapType *const _r )

overrideprotectedvirtual

Reset the path and list of undiscovered goals

Parameters

_r	The roadmap to use.

◆ StaticPathWeight()

double ClearanceQuery::StaticPathWeight	(	typename RoadmapType::adj_edge_iterator &	_ei,
		const double	_sourceDistance,
		const double	_targetDistance
	)		const

overrideprotectedvirtual

Set the path weights as minimum 1/clearance.

Reimplemented from QueryMethod.

Field Documentation

◆ m_intermediateEdgeVCLabel

std::string ClearanceQuery::m_intermediateEdgeVCLabel

protected

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MapEvaluators/ClearanceQuery.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MapEvaluators/ClearanceQuery.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ EdgeID

◆ EI

◆ RoadmapType

◆ VID

◆ VIDSet

Constructor & Destructor Documentation

◆ ClearanceQuery() [1/2]

◆ ClearanceQuery() [2/2]

◆ ~ClearanceQuery()

Member Function Documentation

◆ Initialize()

◆ Print()

◆ Reset()

◆ StaticPathWeight()

Field Documentation

◆ m_intermediateEdgeVCLabel