#include <CollisionDetectionValidityMethod.h>

Inheritance diagram for CollisionDetectionValidityMethod:

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Collaboration diagram for CollisionDetectionValidityMethod:

Public Types
Local Types
typedef ValidityCheckerMethod::GroupCfgType	GroupCfg

Public Types inherited from ValidityCheckerMethod
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

Public Member Functions
Construction
	CollisionDetectionValidityMethod ()=default

	CollisionDetectionValidityMethod (XMLNode &_node)

virtual	~CollisionDetectionValidityMethod ()=default

CollisionDetection Interface
virtual CollisionDetectionMethod *	GetCDMethod () const noexcept

virtual bool	IsInsideObstacle (const Point3d &_p)=0

virtual bool	IsInsideObstacle (const Point3d &_p, vector< size_t > *_obstIdxs)=0

virtual bool	WorkspaceVisibility (const Point3d &_a, const Point3d &_b)=0

virtual bool	IsMultiBodyCollision (CDInfo &_cdInfo, const MultiBody const _a, const MultiBody const _b, const std::string &_caller)=0

Public Member Functions inherited from ValidityCheckerMethod
	ValidityCheckerMethod ()=default

	ValidityCheckerMethod (XMLNode &_node)

virtual	~ValidityCheckerMethod ()=default

bool	GetValidity () const
	Get the current meaning of "valid" (true is default). More...

void	ToggleValidity ()
	Switches the meaning of "valid" to "invalid" and vice versa. More...

bool	IsValid (Cfg &_cfg, CDInfo &_cdInfo, const std::string &_caller)

bool	IsValid (Cfg &_cfg, const std::string &_caller)

bool	IsValid (GroupCfgType &_cfg, CDInfo &_cdInfo, const std::string &_caller)

bool	IsValid (GroupCfgType &_cfg, const std::string &_caller)

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	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 ValidityCheckerMethod
virtual bool	IsValidImpl (Cfg &_cfg, CDInfo &_cdInfo, const std::string &_caller)=0

virtual bool	IsValidImpl (GroupCfgType &_cfg, CDInfo &_cdInfo, const std::string &_caller)

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

const std::string &	GetBaseFilename () const

Protected Attributes inherited from ValidityCheckerMethod
bool	m_validity {true}
	Use standard validity? False indicates negation. More...

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

Detailed Description

Base algorithm abstraction for Collision Detectors.

Collision detectors check for collisions between obstacles and multibodies. They evaluate the validity of a configuration in terms of whether it is in collision with another body.

A CDInfo object may carry additional information about the check.

Member Typedef Documentation

◆ GroupCfg

typedef ValidityCheckerMethod::GroupCfgType CollisionDetectionValidityMethod::GroupCfg

Constructor & Destructor Documentation

◆ CollisionDetectionValidityMethod() [1/2]

CollisionDetectionValidityMethod::CollisionDetectionValidityMethod ( )

default

◆ CollisionDetectionValidityMethod() [2/2]

CollisionDetectionValidityMethod::CollisionDetectionValidityMethod ( XMLNode & _node )

inline

◆ ~CollisionDetectionValidityMethod()

virtual CollisionDetectionValidityMethod::~CollisionDetectionValidityMethod ( )

virtualdefault

Member Function Documentation

◆ GetCDMethod()

virtual CollisionDetectionMethod* CollisionDetectionValidityMethod::GetCDMethod ( ) const

inlinevirtualnoexcept

Returns: Collision Detection object

Reimplemented in CollisionDetectionValidity.

◆ IsInsideObstacle() [1/2]

virtual bool CollisionDetectionValidityMethod::IsInsideObstacle ( const Point3d & _p )

pure virtual

Determine whether a workspace point lies inside of an obstacle.

Parameters

_p	The workspace point.

Returns: True if _p is inside an obstacle.

Implemented in ComposeCollision, and CollisionDetectionValidity.

◆ IsInsideObstacle() [2/2]

virtual bool CollisionDetectionValidityMethod::IsInsideObstacle	(	const Point3d &	_p,
		vector< size_t > *	_obstIdxs
	)

pure virtual

Determine whether a workspace point lies inside of an obstacle from a specific subset of obstacles

Parameters

_p	The workspace point.
_obstIdxs	The indices of the subset of obstacles

Returns: True if _p is inside an obstacle.

Implemented in ComposeCollision, and CollisionDetectionValidity.

◆ IsMultiBodyCollision()

virtual bool CollisionDetectionValidityMethod::IsMultiBodyCollision	(	CDInfo &	_cdInfo,
		const MultiBody *const	_a,
		const MultiBody *const	_b,
		const std::string &	_caller
	)

pure virtual

Check for collision between two multibodies.

Parameters

_cdInfo	CDInfo
_a	The first multibody.
_b	The second multibody.
_caller	Function calling validity checker.

Returns: True if _a and _b collide in their present configurations.

Implemented in ComposeCollision, and CollisionDetectionValidity.

◆ WorkspaceVisibility()

virtual bool CollisionDetectionValidityMethod::WorkspaceVisibility	(	const Point3d &	_a,
		const Point3d &	_b
	)

pure virtual

Check if two workspace points are mutually visible.

Parameters

_a	The first point.
_b	The second point.

Returns: True if _a is visible from _b and vice versa.

Implemented in ComposeCollision, and CollisionDetectionValidity.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/ValidityCheckers/CollisionDetectionValidityMethod.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ GroupCfg

Constructor & Destructor Documentation

◆ CollisionDetectionValidityMethod() [1/2]

◆ CollisionDetectionValidityMethod() [2/2]

◆ ~CollisionDetectionValidityMethod()

Member Function Documentation

◆ GetCDMethod()

◆ IsInsideObstacle() [1/2]

◆ IsInsideObstacle() [2/2]

◆ IsMultiBodyCollision()

◆ WorkspaceVisibility()