#include <Weight.h>

Collaboration diagram for DefaultWeight< CfgType >:

[legend]

Public Member Functions
Construction
	DefaultWeight (const std::string &_label="", const double _w=0, const std::vector< CfgType > &_intermediates=std::vector< CfgType >())

virtual	~DefaultWeight ()=default

Assignment
virtual const DefaultWeight &	operator= (const DefaultWeight &_w)

Ordering and Equality
virtual bool	operator== (const DefaultWeight &_w) const noexcept

virtual bool	operator!= (const DefaultWeight &_w) const noexcept

virtual bool	operator< (const DefaultWeight &_other) const noexcept

Properties
const std::string &	GetLPLabel () const noexcept
	Get the string label value. More...

void	SetLPLabel (const std::string &_lpLabel) noexcept
	Set the string label value. More...

std::vector< CfgType > &	GetIntermediates () noexcept

const std::vector< CfgType > &	GetIntermediates () const noexcept

void	SetIntermediates (const std::vector< CfgType > &_intermediates) noexcept
	Set the intermediate configurations corresponding to the current weight. More...

void	SetIntermediates (std::vector< CfgType > &&_intermediates) noexcept
	Set the intermediate configurations corresponding to the current weight. More...

double	GetWeight () const noexcept
	Get the numerical weight value. More...

void	SetWeight (const double _w) noexcept
	Set the numerical weight value. More...

void	SetControl (const Control &_c) noexcept
	Set a singular control corresponding to the path given by the weight. More...

const ControlSet &	GetControlSet () const noexcept
	Get a vector of controls corresponding to the path given by the weight. More...

ControlSet &	GetControlSet () noexcept
	Get a vector of controls corresponding to the path given by the weight. More...

void	SetControlSet (const ControlSet &_c) noexcept
	Set a vector of controls corresponding to the path given by the weight. More...

bool	IsChecked (const int _mult) const noexcept
	Is the checked resolution multiple at most _mult? More...

void	SetChecked (const int _mult) noexcept

bool	HasClearance () const noexcept

double	GetClearance () const noexcept
	Get the clearance value of the current weight. More...

void	SetClearance (const double _c) noexcept

size_t	GetTimeSteps () const noexcept

void	SetTimeSteps (std::size_t _steps) noexcept

Protected Attributes
Internal State
std::string	m_lpLabel
	Label of local planner that built this edge. More...

double	m_weight {0.}
	The edge length. More...

std::vector< CfgType >	m_intermediates
	Intermediate configurations. More...

int	m_checkedMult {std::numeric_limits<int>::max()}
	The checked resolution multiple (for lazy query), or max if none. More...

double	m_clearance {std::numeric_limits<double>::infinity()}
	The clearance value, or inf if not evaluated. More...

ControlSet	m_controls
	The controls used. More...

size_t	m_timeSteps {0}
	The number of timesteps to apply the controls. More...

I/O
static Robot *	inputRobot = nullptr

virtual void	Read (std::istream &_is)

virtual void	Write (std::ostream &_os) const

void	Clear ()
	Clear all of the contents of the object to a reinitialized state. More...

Stuff for stapl graph interface
virtual DefaultWeight	operator+ (const DefaultWeight &_other) const
	This only adds weights, it doesn't take intermediates into account. More...

double	Weight () const noexcept

static DefaultWeight	MaxWeight () noexcept

Detailed Description

template<class CfgType>
class DefaultWeight< CfgType >

Default weight class for roadmap edges. Defined as a value and a set of intermediate configurations.

Weight is the concept for what is stored on the graph edges. Essentially, edges are defined as polygonal chains I = {q_1, q_2, ..., q_n} through @cspace. They have two essential properties: a weight value representing some idea of distance between the two end points of the edge and a set of intermediate configurations defining the polygonal chain (not including the start and goal configurations).

Constructor & Destructor Documentation

◆ DefaultWeight()

template<typename CfgType >

DefaultWeight< CfgType >::DefaultWeight	(	const std::string &	_label = `""`,
		const double	_w = `0`,
		const std::vector< CfgType > &	_intermediates = `std::vector<CfgType>()`
	)

Construct a weight.

Parameters

_label	An initial string label for identification.
_w	An initial weight value.
_intermediates	A vector of intermediate configurations.

◆ ~DefaultWeight()

template<class CfgType >

virtual DefaultWeight< CfgType >::~DefaultWeight ( )

virtualdefault

Member Function Documentation

◆ Clear()

template<typename CfgType >

void DefaultWeight< CfgType >::Clear

Clear all of the contents of the object to a reinitialized state.

Clears out the contents of all vectors and zeros out all member values. Intended to reinitialize an object to its default-constructed state. This was found to be required by Read(), due to stapl's reuse of a temp obj.

◆ GetClearance()

template<typename CfgType >

double DefaultWeight< CfgType >::GetClearance

noexcept

Get the clearance value of the current weight.

◆ GetControlSet() [1/2]

template<typename CfgType >

const ControlSet & DefaultWeight< CfgType >::GetControlSet

noexcept

Get a vector of controls corresponding to the path given by the weight.

◆ GetControlSet() [2/2]

template<typename CfgType >

ControlSet & DefaultWeight< CfgType >::GetControlSet

noexcept

Get a vector of controls corresponding to the path given by the weight.

◆ GetIntermediates() [1/2]

template<typename CfgType >

const std::vector< CfgType > & DefaultWeight< CfgType >::GetIntermediates

noexcept

Get a vector of intermediate configurations corresponding to the current weight.

◆ GetIntermediates() [2/2]

template<typename CfgType >

std::vector< CfgType > & DefaultWeight< CfgType >::GetIntermediates

noexcept

Get a vector of intermediate configurations corresponding to the current weight.

◆ GetLPLabel()

template<typename CfgType >

const std::string & DefaultWeight< CfgType >::GetLPLabel

noexcept

Get the string label value.

◆ GetTimeSteps()

template<typename CfgType >

std::size_t DefaultWeight< CfgType >::GetTimeSteps

noexcept

Get the number of timesteps of the local plan corresponding to the weight's intermediates' path.

◆ GetWeight()

template<typename CfgType >

double DefaultWeight< CfgType >::GetWeight

noexcept

Get the numerical weight value.

◆ HasClearance()

template<class CfgType >

bool DefaultWeight< CfgType >::HasClearance ( ) const

noexcept

◆ IsChecked()

template<typename CfgType >

bool DefaultWeight< CfgType >::IsChecked ( const int _mult ) const

noexcept

Is the checked resolution multiple at most _mult?

◆ MaxWeight()

template<typename CfgType >

DefaultWeight< CfgType > DefaultWeight< CfgType >::MaxWeight

staticnoexcept

◆ operator!=()

template<typename CfgType >

bool DefaultWeight< CfgType >::operator!= ( const DefaultWeight< CfgType > & _w ) const

virtualnoexcept

Check if the current and given weights are unequal.

Parameters

_w	The given weight.

Returns: True is unequal, false otherwise.

◆ operator+()

template<typename CfgType >

DefaultWeight< CfgType > DefaultWeight< CfgType >::operator+ ( const DefaultWeight< CfgType > & _other ) const

virtual

This only adds weights, it doesn't take intermediates into account.

◆ operator<()

template<typename CfgType >

bool DefaultWeight< CfgType >::operator< ( const DefaultWeight< CfgType > & _other ) const

virtualnoexcept

Check if the current weight is less than a given weight by numerical weight value.

Parameters

_w	The given weight.

Returns: True is current weight value is less, false otherwise.

◆ operator=()

template<typename CfgType >

const DefaultWeight< CfgType > & DefaultWeight< CfgType >::operator= ( const DefaultWeight< CfgType > & _w )

virtual

Set the current weight to a copy of a given weight.

Parameters

_w	The given weight.

◆ operator==()

template<typename CfgType >

bool DefaultWeight< CfgType >::operator== ( const DefaultWeight< CfgType > & _w ) const

virtualnoexcept

Check if the current and given weights are equal.

Parameters

_w	The given weight.

Returns: True is equal, false otherwise.

◆ Read()

template<typename CfgType >

void DefaultWeight< CfgType >::Read ( std::istream & _is )

virtual

Read an edge in from an input stream.

Parameters

_is	The input stream to read from.

@TODO an easy optimization would be to make coast controls not print the 0's signal, it could reduce some roadmaps significantly, I'd bet

◆ SetChecked()

template<typename CfgType >

void DefaultWeight< CfgType >::SetChecked ( const int _mult )

noexcept

Set the checked resolution multiple to a lesser value than current.

Parameters

_mult The new desired value.

◆ SetClearance()

template<typename CfgType >

void DefaultWeight< CfgType >::SetClearance ( const double _c )

noexcept

Set the clearance value of the current weight.

Parameters

The	desired new clearance value.

◆ SetControl()

template<typename CfgType >

void DefaultWeight< CfgType >::SetControl ( const Control & _c )

noexcept

Set a singular control corresponding to the path given by the weight.

◆ SetControlSet()

template<typename CfgType >

void DefaultWeight< CfgType >::SetControlSet ( const ControlSet & _c )

noexcept

Set a vector of controls corresponding to the path given by the weight.

◆ SetIntermediates() [1/2]

template<typename CfgType >

void DefaultWeight< CfgType >::SetIntermediates ( const std::vector< CfgType > & _intermediates )

noexcept

Set the intermediate configurations corresponding to the current weight.

◆ SetIntermediates() [2/2]

template<typename CfgType >

void DefaultWeight< CfgType >::SetIntermediates ( std::vector< CfgType > && _intermediates )

noexcept

Set the intermediate configurations corresponding to the current weight.

◆ SetLPLabel()

template<typename CfgType >

void DefaultWeight< CfgType >::SetLPLabel ( const std::string & _lpLabel )

noexcept

Set the string label value.

◆ SetTimeSteps()

template<typename CfgType >

void DefaultWeight< CfgType >::SetTimeSteps ( std::size_t _steps )

noexcept

Set the number of timesteps of the local plan corresponding to the weight's intermediates' path.

◆ SetWeight()

template<typename CfgType >

void DefaultWeight< CfgType >::SetWeight ( const double _w )

noexcept

Set the numerical weight value.

◆ Weight()

template<typename CfgType >

double DefaultWeight< CfgType >::Weight

noexcept

◆ Write()

template<typename CfgType >

void DefaultWeight< CfgType >::Write ( std::ostream & _os ) const

virtual

Write an edge to an output stream.

Parameters

_os	The output stream to write to.

@TODO Now that we read/write the control signals for nonholonomic, we should remove the writing of intermediates for conciseness.

@TODO an easy optimization would be to make coast controls not print the 0 signal, it could reduce some roadmaps significantly, I'd bet.

Field Documentation

◆ inputRobot

template<typename CfgType >

Robot * DefaultWeight< CfgType >::inputRobot = nullptr

static

A static pointer to the current robot, which is needed to parse any intermediate configurations in the edge.

◆ m_checkedMult

template<class CfgType >

int DefaultWeight< CfgType >::m_checkedMult {std::numeric_limits<int>::max()}

protected

The checked resolution multiple (for lazy query), or max if none.

◆ m_clearance

template<class CfgType >

double DefaultWeight< CfgType >::m_clearance {std::numeric_limits<double>::infinity()}

protected

The clearance value, or inf if not evaluated.

◆ m_controls

template<class CfgType >

ControlSet DefaultWeight< CfgType >::m_controls

protected

The controls used.

◆ m_intermediates

template<class CfgType >

std::vector<CfgType> DefaultWeight< CfgType >::m_intermediates

protected

Intermediate configurations.

◆ m_lpLabel

template<class CfgType >

std::string DefaultWeight< CfgType >::m_lpLabel

protected

Label of local planner that built this edge.

◆ m_timeSteps

template<class CfgType >

size_t DefaultWeight< CfgType >::m_timeSteps {0}

protected

The number of timesteps to apply the controls.

◆ m_weight

template<class CfgType >

double DefaultWeight< CfgType >::m_weight {0.}

protected

The edge length.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/ConfigurationSpace/Weight.h

Public Member Functions

Protected Attributes

I/O

Stuff for stapl graph interface

Detailed Description

template<class CfgType> class DefaultWeight< CfgType >

Constructor & Destructor Documentation

◆ DefaultWeight()

◆ ~DefaultWeight()

Member Function Documentation

◆ Clear()

◆ GetClearance()

◆ GetControlSet() [1/2]

◆ GetControlSet() [2/2]

◆ GetIntermediates() [1/2]

◆ GetIntermediates() [2/2]

◆ GetLPLabel()

◆ GetTimeSteps()

◆ GetWeight()

◆ HasClearance()

◆ IsChecked()

◆ MaxWeight()

◆ operator!=()

◆ operator+()

◆ operator<()

◆ operator=()

◆ operator==()

◆ Read()

◆ SetChecked()

◆ SetClearance()

◆ SetControl()

◆ SetControlSet()

◆ SetIntermediates() [1/2]

◆ SetIntermediates() [2/2]

◆ SetLPLabel()

◆ SetTimeSteps()

◆ SetWeight()

◆ Weight()

◆ Write()

Field Documentation

◆ inputRobot

◆ m_checkedMult

◆ m_clearance

◆ m_controls

◆ m_intermediates

◆ m_lpLabel

◆ m_timeSteps

◆ m_weight

template<class CfgType>
class DefaultWeight< CfgType >