#include <DistanceMetricMethod.h>

Inheritance diagram for DistanceMetricMethod:

[legend]

Collaboration diagram for DistanceMetricMethod:

Public Types
Motion Planning Types
typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

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
	DistanceMetricMethod ()=default

	DistanceMetricMethod (XMLNode &_node)

virtual	~DistanceMetricMethod ()=default

Distance Interface
virtual double	Distance (const Cfg &_c1, const Cfg &_c2)=0

virtual double	Distance (const GroupCfgType &_c1, const GroupCfgType &_c2)

double	EdgeWeight (const RoadmapType *const _r, const typename RoadmapType::CEI &_edge) noexcept

double	EdgeWeight (const RoadmapType *const _r, const VID _source, const VID _target) noexcept

Configuration Scaling
These functions rescale a configuration vector based on this distance metric.
virtual void	ScaleCfg (double _length, Cfg &_c, const Cfg &_o)

void	ScaleCfg (double _length, Cfg &_c)

virtual void	ScaleCfg (double _length, GroupCfgType &_c, const GroupCfgType &_o)

void	ScaleCfg (double _length, GroupCfgType &_c)

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 MPBaseObject
void	SetName (const std::string &_s)

const std::string &	GetBaseFilename () const

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

Detailed Description

Base algorithm abstraction for DistanceMetrics.

DistanceMetricMethod has two important methods: Distance and ScaleCfg.

Distance takes as input two configurations $c_1$ and $c_2$ and returns the computed transition distance between them. @usage

auto dm = this->GetDistanceMetric(m_dmLabel);
Cfg c1, c2;
double dist = dm->Distance(c1, c2);

ScaleCfg is purposed to scale a $d$ -dimensional ray in @cspace to a certain magnitude based upon a general @dm. @usage

auto dm = this->GetDistanceMetric(m_dmLabel);
CfgType ray, origin;
double length;
dm->ScaleCfg(length, ray, origin);

Examples: DistanceMetric_UseCase.cpp.

Member Typedef Documentation

◆ Formation

typedef GroupCfgType::Formation DistanceMetricMethod::Formation

◆ GroupCfgType

typedef MPBaseObject::GroupCfgType DistanceMetricMethod::GroupCfgType

◆ RoadmapType

typedef MPBaseObject::RoadmapType DistanceMetricMethod::RoadmapType

◆ VID

typedef RoadmapType::VID DistanceMetricMethod::VID

Constructor & Destructor Documentation

◆ DistanceMetricMethod() [1/2]

DistanceMetricMethod::DistanceMetricMethod ( )

default

◆ DistanceMetricMethod() [2/2]

DistanceMetricMethod::DistanceMetricMethod ( XMLNode & _node )

◆ ~DistanceMetricMethod()

virtual DistanceMetricMethod::~DistanceMetricMethod ( )

virtualdefault

Member Function Documentation

◆ Distance() [1/2]

virtual double DistanceMetricMethod::Distance	(	const Cfg &	_c1,
		const Cfg &	_c2
	)

pure virtual

Compute a distance between two configurations.

Parameters

_c1	The first configuration.
_c2	The second configuration.

Returns: The computed distance between _c1 and _c2.

Implemented in WorkspaceTranslationDistance, WeightedEuclideanDistance, TopologicalDistance, ScaledEuclideanDistance, MinkowskiDistance, LPSweptDistance, BinaryLPSweptDistance, and RMSDDistance.

Examples: DistanceMetric_UseCase.cpp.

◆ Distance() [2/2]

double DistanceMetricMethod::Distance	(	const GroupCfgType &	_c1,
		const GroupCfgType &	_c2
	)

virtual

This version is for group configurations. The default implementation returns the summed individual distances. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

◆ EdgeWeight() [1/2]

double DistanceMetricMethod::EdgeWeight	(	const RoadmapType *const	_r,
		const typename RoadmapType::CEI &	_edge
	)

noexcept

Compute the weight of an existing roadmap edge according to this metric.

Parameters

_r	The containing roadmap.
_edge	The edge iterator.

Returns: The total edge weight computed through each intermediate of the edge.

Todo:: We need to make this work for group roadmaps. Probably it needs to take the roadmap as a templated parameter and not be virtual (there is really only one way to do this).

◆ EdgeWeight() [2/2]

double DistanceMetricMethod::EdgeWeight	(	const RoadmapType *const	_r,
		const VID	_source,
		const VID	_target
	)

noexcept

Compute the weight of an existing roadmap edge according to this metric.

Parameters

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

Returns: The total edge weight computed through each intermediate of the edge (_source, _target) in _r.

Exceptions

If	the edge (_source, _target) does not exist in _r.

◆ ScaleCfg() [1/4]

void DistanceMetricMethod::ScaleCfg	(	double	_length,
		Cfg &	_c
	)

This version uses the default origin. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

◆ ScaleCfg() [2/4]

void DistanceMetricMethod::ScaleCfg	(	double	_length,
		Cfg &	_c,
		const Cfg &	_o
	)

virtual

Scale a directional configuration to a certain magnitude.

Parameters

_length	Desired magnitude.
_c	Configuration to be scaled.
_o	Origin of scaling.

Todo:: This is a very expensive way to scale a configuration. We should probably remove it and require derived classes to implement a more efficient function (this is the best we can do for a base class that does not know anything about the properties of the metric space).

Reimplemented in RMSDDistance, and MinkowskiDistance.

Examples: DistanceMetric_UseCase.cpp.

◆ ScaleCfg() [3/4]

void DistanceMetricMethod::ScaleCfg	(	double	_length,
		GroupCfgType &	_c
	)

This version is for group configurations with default origin. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

◆ ScaleCfg() [4/4]

void DistanceMetricMethod::ScaleCfg	(	double	_length,
		GroupCfgType &	_c,
		const GroupCfgType &	_o
	)

virtual

This version is for group configurations. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/DistanceMetrics/DistanceMetricMethod.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/DistanceMetrics/DistanceMetricMethod.cpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Formation

◆ GroupCfgType

◆ RoadmapType

◆ VID

Constructor & Destructor Documentation

◆ DistanceMetricMethod() [1/2]

◆ DistanceMetricMethod() [2/2]

◆ ~DistanceMetricMethod()

Member Function Documentation

◆ Distance() [1/2]

◆ Distance() [2/2]

◆ EdgeWeight() [1/2]

◆ EdgeWeight() [2/2]

◆ ScaleCfg() [1/4]

◆ ScaleCfg() [2/4]

◆ ScaleCfg() [3/4]

◆ ScaleCfg() [4/4]