#include <ConnectorMethod.h>

Inheritance diagram for ConnectorMethod:

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Collaboration diagram for ConnectorMethod:

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Public Types
Motion Planning Types
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef MPBaseObject::RoadmapType	RoadmapType

typedef MPBaseObject::GroupRoadmapType	GroupRoadmapType

typedef RoadmapType::VID	VID

typedef RoadmapType::VertexSet	VertexSet

Local Types
typedef std::pair< VID, VID >	ConnectionAttempt

typedef std::unordered_set< ConnectionAttempt >	ConnectionAttempts

typedef std::unordered_map< void *, ConnectionAttempts >	ConnectionAttemptsCache

template<typename AbstractRoadmapType >
using	OutputIterator = std::back_insert_iterator< std::vector< typename AbstractRoadmapType::VP > >

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
	ConnectorMethod ()

	ConnectorMethod (XMLNode &_node)

virtual	~ConnectorMethod ()=default

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

virtual void	Initialize () override

Connection Interface
template<typename AbstractRoadmapType >
void	Connect (AbstractRoadmapType const _r, const VertexSet const _targetSet=nullptr, OutputIterator< AbstractRoadmapType > *const _collision=nullptr)

template<typename AbstractRoadmapType >
void	Connect (AbstractRoadmapType const _r, const VID _source, const VertexSet const _targetSet=nullptr, OutputIterator< AbstractRoadmapType > *const _collision=nullptr)

template<typename AbstractRoadmapType , typename InputIterator >
void	Connect (AbstractRoadmapType const _r, InputIterator _sourceBegin, InputIterator _sourceEnd, const VertexSet const _targetSet=nullptr, OutputIterator< AbstractRoadmapType > *const _collision=nullptr)

bool	IsRewiring () const noexcept

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
Connection Helpers
virtual void	ConnectImpl (RoadmapType const _r, const VID _source, const VertexSet const _targetSet=nullptr, OutputIterator< RoadmapType > *const _collision=nullptr)

virtual void	ConnectImpl (GroupRoadmapType const _r, const VID _source, const VertexSet const _targetSet=nullptr, OutputIterator< GroupRoadmapType > *const _collision=nullptr)

template<typename AbstractRoadmapType >
void	ConnectNeighbors (AbstractRoadmapType const _r, const VID _source, const std::vector< Neighbor > &_neighbors, OutputIterator< AbstractRoadmapType > const _collision=nullptr, const bool _earlyQuit=false)

bool	ConnectNodes (RoadmapType const _r, const VID _source, const VID _target, OutputIterator< RoadmapType > const _collision=nullptr)

bool	ConnectNodes (GroupRoadmapType const _r, const VID _source, const VID _target, OutputIterator< GroupRoadmapType > const _collision=nullptr)

template<typename AbstractRoadmapType >
bool	DoNotCheck (AbstractRoadmapType *const _r, const VID _source, const VID _target) const

Connection Caching
void	CacheFailedConnection (void *const _map, const VID _source, const VID _target) noexcept

bool	IsCached (void *const _map, const VID _source, const VID _target) const noexcept

void	ClearConnectionAttempts ()
	Clear the attempts cache. More...

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

const std::string &	GetBaseFilename () const

Protected Attributes
Internal State
ConnectionAttemptsCache	m_attemptsCache
	All failed connection attempts. More...

std::string	m_lpLabel
	Local Planner. More...

bool	m_skipIfSameCC {true}
	Skip connections within the same CC? More...

size_t	m_maxFailures {0}
	Maximum allowed failures per use. More...

size_t	m_failures {0}
	Failures in this use. More...

bool	m_oneWay {false}
	Create one-way edges or two-way? More...

bool	m_rewiring {false}
	Does this connector delete edges? More...

bool	m_selfEdges {false}
	Indicates if roadmap vertices should have self-edges. More...

std::vector< Neighbor >	m_neighborBuffer

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

Detailed Description

Base algorithm abstraction for Connectors. Connectors attempt to connect a set of 'source' roadmap vertices to each of a second 'target' set of vertices. Successes generate new edges in the roadmap.

Examples: Connectors_UseCase.cpp.

Member Typedef Documentation

◆ ConnectionAttempt

typedef std::pair<VID, VID> ConnectorMethod::ConnectionAttempt

◆ ConnectionAttempts

typedef std::unordered_set<ConnectionAttempt> ConnectorMethod::ConnectionAttempts

◆ ConnectionAttemptsCache

typedef std::unordered_map<void*, ConnectionAttempts> ConnectorMethod::ConnectionAttemptsCache

◆ GroupCfgType

typedef MPBaseObject::GroupCfgType ConnectorMethod::GroupCfgType

◆ GroupRoadmapType

typedef MPBaseObject::GroupRoadmapType ConnectorMethod::GroupRoadmapType

◆ OutputIterator

template<typename AbstractRoadmapType >

using ConnectorMethod::OutputIterator = std::back_insert_iterator< std::vector< typename AbstractRoadmapType::VP > >

◆ RoadmapType

typedef MPBaseObject::RoadmapType ConnectorMethod::RoadmapType

◆ VertexSet

typedef RoadmapType::VertexSet ConnectorMethod::VertexSet

◆ VID

typedef RoadmapType::VID ConnectorMethod::VID

Constructor & Destructor Documentation

◆ ConnectorMethod() [1/2]

ConnectorMethod::ConnectorMethod ( )

◆ ConnectorMethod() [2/2]

ConnectorMethod::ConnectorMethod ( XMLNode & _node )

◆ ~ConnectorMethod()

virtual ConnectorMethod::~ConnectorMethod ( )

virtualdefault

Member Function Documentation

◆ CacheFailedConnection()

void ConnectorMethod::CacheFailedConnection	(	void *const	_map,
		const VID	_source,
		const VID	_target
	)

protectednoexcept

Add a failed connection attempt to the cache.

Parameters

_map	The map pointer (either individual or group roadmap).
_source	The source VID.
_target	The target VID.

◆ ClearConnectionAttempts()

void ConnectorMethod::ClearConnectionAttempts ( )

protected

Clear the attempts cache.

◆ Connect() [1/3]

template<typename AbstractRoadmapType >

void ConnectorMethod::Connect	(	AbstractRoadmapType *const	_r,
		const VertexSet *const	_targetSet = `nullptr`,
		OutputIterator< AbstractRoadmapType > *const	_collision = `nullptr`
	)

Generate edges using all vertices in the roadmap as the source.

Parameters

_r	The roadmap to connect.
_targetSet	The set of target vertices, or null for the full roadmap.
_collision	An optional output iterator for collisions.

Examples: Connectors_UseCase.cpp.

◆ Connect() [2/3]

template<typename AbstractRoadmapType >

void ConnectorMethod::Connect	(	AbstractRoadmapType *const	_r,
		const VID	_source,
		const VertexSet *const	_targetSet = `nullptr`,
		OutputIterator< AbstractRoadmapType > *const	_collision = `nullptr`
	)

Generate edges using a single vertex as the source.

Parameters

_r	The roadmap to connect.
_source	The source vertex.
_targetSet	The set of target vertices, or null for the full roadmap.
_collision	An optional output iterator for collisions.

◆ Connect() [3/3]

template<typename AbstractRoadmapType , typename InputIterator >

void ConnectorMethod::Connect	(	AbstractRoadmapType *const	_r,
		InputIterator	_sourceBegin,
		InputIterator	_sourceEnd,
		const VertexSet *const	_targetSet = `nullptr`,
		OutputIterator< AbstractRoadmapType > *const	_collision = `nullptr`
	)

Generate edges using a range of VIDs as the source.

Template Parameters

InputIterator Either a roadmap iterator or any iterator that dereferences to a VID.

Parameters

_r	The roadmap to connect.
_sourceBegin	The beginning of the VID range.
_sourceEnd	The end of the VID range.
_targetSet	The set of target vertices, or null for the full roadmap.
_collision	An optional output iterator for collisions.

◆ ConnectImpl() [1/2]

void ConnectorMethod::ConnectImpl	(	GroupRoadmapType *const	_r,
		const VID	_source,
		const VertexSet *const	_targetSet = `nullptr`,
		OutputIterator< GroupRoadmapType > *const	_collision = `nullptr`
	)

protectedvirtual

Reimplemented in RewireConnector, and NeighborhoodConnector.

◆ ConnectImpl() [2/2]

void ConnectorMethod::ConnectImpl	(	RoadmapType *const	_r,
		const VID	_source,
		const VertexSet *const	_targetSet = `nullptr`,
		OutputIterator< RoadmapType > *const	_collision = `nullptr`
	)

protectedvirtual

Connect a source node to some subset of a target set. Derived classes specify how this will happen.

Parameters

_r	The owning roadmap.
_source	The source node to connect.
_targetSet	The candidate target nodes, or null for the whole roadmap.
_collision	An optional output iterator for collisions.

Reimplemented in RewireConnector, and NeighborhoodConnector.

◆ ConnectNeighbors()

template<typename AbstractRoadmapType >

void ConnectorMethod::ConnectNeighbors	(	AbstractRoadmapType *const	_r,
		const VID	_source,
		const std::vector< Neighbor > &	_neighbors,
		OutputIterator< AbstractRoadmapType > *const	_collision = `nullptr`,
		const bool	_earlyQuit = `false`
	)

protected

Try to connect a given configuration to a set of nearest neighbors.

Parameters

_r	The roadmap.
_source	The configuration.
_neighbors	The set of neighbors to try.
_collision	Output for invalid configurations.
_earlyQuit	Quit after the first successful connection?

◆ ConnectNodes() [1/2]

bool ConnectorMethod::ConnectNodes	(	GroupRoadmapType *const	_r,
		const VID	_source,
		const VID	_target,
		OutputIterator< GroupRoadmapType > *const	_collision = `nullptr`
	)

protected

Attempt a connection between two group configurations.

Parameters

_r	The group roadmap.
_source	The source configuration's VID.
_target	The target configuration's VID.
_collision	Output for invalid configurations.

Returns: True if the connection succeeded.

◆ ConnectNodes() [2/2]

bool ConnectorMethod::ConnectNodes	(	RoadmapType *const	_r,
		const VID	_source,
		const VID	_target,
		OutputIterator< RoadmapType > *const	_collision = `nullptr`
	)

protected

Attempt a connection between two individual configurations.

Parameters

_r	The roadmap.
_source	The source configuration's VID.
_target	The target configuration's VID.
_collision	Output for invalid configurations.

Returns: True if the connection succeeded.

◆ DoNotCheck()

template<typename AbstractRoadmapType >

bool ConnectorMethod::DoNotCheck	(	AbstractRoadmapType *const	_r,
		const VID	_source,
		const VID	_target
	)		const

protected

Check whether a connection should be attempted.

Parameters

_r	The roadmap.
_source	The source vertex.
_target	The target vertex.

Returns: True if the connection should not be attempted.

◆ Initialize()

void ConnectorMethod::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 MPBaseObject.

◆ IsCached()

bool ConnectorMethod::IsCached	(	void *const	_map,
		const VID	_source,
		const VID	_target
	)		const

protectednoexcept

Check if attempt is in the failure cache.

Parameters

_map	The map pointer (either individual or group roadmap).
_source	The source VID.
_target	The target VID.

Returns: True if the attempt to connect _source to _target has already failed.

◆ IsRewiring()

bool ConnectorMethod::IsRewiring ( ) const

noexcept

Check whether this is a rewiring connector (which may delete edges).

Returns: True if this is a rewiring connector.

◆ Print()

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

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from MPBaseObject.

Reimplemented in NeighborhoodConnector, and CCsConnector.

Field Documentation

◆ m_attemptsCache

ConnectionAttemptsCache ConnectorMethod::m_attemptsCache

protected

All failed connection attempts.

◆ m_failures

size_t ConnectorMethod::m_failures {0}

protected

Failures in this use.

◆ m_lpLabel

std::string ConnectorMethod::m_lpLabel

protected

Local Planner.

◆ m_maxFailures

size_t ConnectorMethod::m_maxFailures {0}

protected

Maximum allowed failures per use.

◆ m_neighborBuffer

std::vector<Neighbor> ConnectorMethod::m_neighborBuffer

protected

This is a performance optimization which makes a big impact. The neighbor set can be as large as the roadmap, so it is important to avoid re-allocating it on every call to ConnectImpl.

◆ m_oneWay

bool ConnectorMethod::m_oneWay {false}

protected

Create one-way edges or two-way?

◆ m_rewiring

bool ConnectorMethod::m_rewiring {false}

protected

Does this connector delete edges?

◆ m_selfEdges

bool ConnectorMethod::m_selfEdges {false}

protected

Indicates if roadmap vertices should have self-edges.

◆ m_skipIfSameCC

bool ConnectorMethod::m_skipIfSameCC {true}

protected

Skip connections within the same CC?

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/Connectors/ConnectorMethod.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/Connectors/ConnectorMethod.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConnectionAttempt

◆ ConnectionAttempts

◆ ConnectionAttemptsCache

◆ GroupCfgType

◆ GroupRoadmapType

◆ OutputIterator

◆ RoadmapType

◆ VertexSet

◆ VID

Constructor & Destructor Documentation

◆ ConnectorMethod() [1/2]

◆ ConnectorMethod() [2/2]

◆ ~ConnectorMethod()

Member Function Documentation

◆ CacheFailedConnection()

◆ ClearConnectionAttempts()

◆ Connect() [1/3]

◆ Connect() [2/3]

◆ Connect() [3/3]

◆ ConnectImpl() [1/2]

◆ ConnectImpl() [2/2]

◆ ConnectNeighbors()

◆ ConnectNodes() [1/2]

◆ ConnectNodes() [2/2]

◆ DoNotCheck()

◆ Initialize()

◆ IsCached()

◆ IsRewiring()

◆ Print()

Field Documentation

◆ m_attemptsCache

◆ m_failures

◆ m_lpLabel

◆ m_maxFailures

◆ m_neighborBuffer

◆ m_oneWay

◆ m_rewiring

◆ m_selfEdges

◆ m_skipIfSameCC