#include <ComposeCollision.h>

Inheritance diagram for ComposeCollision:

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Collaboration diagram for ComposeCollision:

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Public Types
Local Types
enum	LogicalOperator { AND , OR }

typedef MPBaseObject::GroupCfgType	GroupCfg

Public Types inherited from CollisionDetectionValidityMethod
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
	ComposeCollision ()

	ComposeCollision (XMLNode &_node)

virtual	~ComposeCollision ()=default

CollisionDetection Interface
virtual bool	IsInsideObstacle (const Point3d &_p) override

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

virtual bool	WorkspaceVisibility (const Point3d &_a, const Point3d &_b) override

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

Public Member Functions inherited from CollisionDetectionValidityMethod
	CollisionDetectionValidityMethod ()=default

	CollisionDetectionValidityMethod (XMLNode &_node)

virtual	~CollisionDetectionValidityMethod ()=default

virtual CollisionDetectionMethod *	GetCDMethod () const noexcept

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...

Protected Member Functions
ValidityCheckerMethod Overrides
virtual bool	IsValidImpl (Cfg &_cfg, CDInfo &_cdInfo, const std::string &_caller) override

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

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

const std::string &	GetBaseFilename () const

Protected Attributes
Internal State
LogicalOperator	m_operator
	The logical operator joining CD's. More...

std::vector< std::string >	m_cdLabels
	The CD labels to combine. More...

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

Composed collision detector which applies two or more detection conditions.

Member Typedef Documentation

◆ GroupCfg

typedef MPBaseObject::GroupCfgType ComposeCollision::GroupCfg

Member Enumeration Documentation

◆ LogicalOperator

enum ComposeCollision::LogicalOperator

Enumerator
AND
OR

Constructor & Destructor Documentation

◆ ComposeCollision() [1/2]

ComposeCollision::ComposeCollision ( )

◆ ComposeCollision() [2/2]

ComposeCollision::ComposeCollision ( XMLNode & _node )

◆ ~ComposeCollision()

virtual ComposeCollision::~ComposeCollision ( )

virtualdefault

Member Function Documentation

◆ IsInsideObstacle() [1/2]

bool ComposeCollision::IsInsideObstacle ( const Point3d & _p )

overridevirtual

Determine whether a workspace point lies inside of an obstacle.

Parameters

_p	The workspace point.

Returns: True if _p is inside an obstacle.

Implements CollisionDetectionValidityMethod.

◆ IsInsideObstacle() [2/2]

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

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.

Implements CollisionDetectionValidityMethod.

◆ IsMultiBodyCollision()

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

overridevirtual

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.

Implements CollisionDetectionValidityMethod.

◆ IsValidImpl() [1/2]

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

overrideprotectedvirtual

Implementation of the classification of a configuration to either cfree or cobst.

Parameters

_cfg	The individual configuration.
_cdInfo	Output for extra computed information such as clearance.
_caller	Name of the calling function.

Returns: True if _cfg is in cfree.

Implements ValidityCheckerMethod.

◆ IsValidImpl() [2/2]

bool ComposeCollision::IsValidImpl	(	GroupCfg &	_cfg,
		CDInfo &	_cdInfo,
		const std::string &	_caller
	)

overrideprotectedvirtual

Implementation of group cfg classification.

Parameters

_cfg	The group configuration.
_cdInfo	Output for extra computed information such as clearance.
_caller	Name of the calling function.

Returns: True if _cfg is in cfree.

Reimplemented from ValidityCheckerMethod.

◆ WorkspaceVisibility()

bool ComposeCollision::WorkspaceVisibility	(	const Point3d &	_a,
		const Point3d &	_b
	)

overridevirtual

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.

Implements CollisionDetectionValidityMethod.

Field Documentation

◆ m_cdLabels

std::vector<std::string> ComposeCollision::m_cdLabels

protected

The CD labels to combine.

◆ m_operator

LogicalOperator ComposeCollision::m_operator

protected

The logical operator joining CD's.

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

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ GroupCfg

Member Enumeration Documentation

◆ LogicalOperator

Constructor & Destructor Documentation

◆ ComposeCollision() [1/2]

◆ ComposeCollision() [2/2]

◆ ~ComposeCollision()

Member Function Documentation

◆ IsInsideObstacle() [1/2]

◆ IsInsideObstacle() [2/2]

◆ IsMultiBodyCollision()

◆ IsValidImpl() [1/2]

◆ IsValidImpl() [2/2]

◆ WorkspaceVisibility()

Field Documentation

◆ m_cdLabels

◆ m_operator