#include <EET.h>

Inheritance diagram for EET:

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Collaboration diagram for EET:

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Data Structures
struct	Sphere

Public Types
typedef mathtool::Point3d	Point

typedef MPBaseObject::WeightType	WeightType

typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

typedef RoadmapType::EID	EID

typedef RoadmapType::VertexSet	VertexSet

Public Types inherited from BasicRRTStrategy
typedef size_t	VID

typedef std::unordered_set< VID >	VertexSet

Public Types inherited from MPStrategyMethod
typedef size_t	VID

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
	EET ()

	EET (XMLNode &_node)

Public Member Functions inherited from BasicRRTStrategy
	BasicRRTStrategy ()

	BasicRRTStrategy (XMLNode &_node)

virtual	~BasicRRTStrategy ()

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

Public Member Functions inherited from MPStrategyMethod
	MPStrategyMethod ()=default

	MPStrategyMethod (XMLNode &_node)

virtual	~MPStrategyMethod ()

void	operator() ()
	Execute the strategy by calling Initialize, Run, and Finalize. More...

void	EnableOutputFiles (const bool _enable=true)

virtual void	Initialize ()

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
virtual void	Initialize () override

virtual void	Iterate () override
	Execute one iteration of the strategy. More...

void	Wavefront ()

double	DistanceToObstacles (Point _p)

double	Distance (Point _p1, Point _p2)

virtual Cfg	SelectTarget () override
	Get a random configuration to grow towards. More...

virtual VID	ExpandTree (const VID _nearestVID, const Cfg &_target) override

Protected Member Functions inherited from BasicRRTStrategy
Cfg	SelectDispersedTarget (const VID _v)

virtual VID	FindNearestNeighbor (const Cfg &_cfg, const VertexSet *const _candidates=nullptr)

virtual Neighbor	SelectNeighbor (const Cfg &_cfg, const std::vector< Neighbor > &_neighbors)

virtual VID	Extend (const VID _nearVID, const Cfg &_target, LPOutput &_lp, const bool _requireNew=true)

VID	Extend (const VID _nearVID, const Cfg &_target, const bool _requireNew=true)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

virtual std::pair< VID, bool >	AddNode (const Cfg &_newCfg)

virtual void	AddEdge (const VID _source, const VID _target, const LPOutput &_lpOutput)

void	ConnectNeighbors (const VID _newVID)

void	TryGoalExtension (const VID _newVID)

void	TryGoalExtension (const VID _newVID, const Boundary *const _boundary)

VID	ExpandTree (const Cfg &_target)

void	ConnectTrees (const VID _recentlyGrown)

Protected Member Functions inherited from MPStrategyMethod
virtual void	Run ()
	Call Iterate until EvaluateMap is true. More...

virtual bool	EvaluateMap ()
	Check if we satisfied all map evaluators. More...

virtual void	Finalize ()
	Clean-up and output results. More...

virtual void	ClearRoadmap ()
	Pre-clear the roadmap(s) if requested. More...

virtual size_t	GenerateStart (const std::string &_samplerLabel="")

virtual std::vector< size_t >	GenerateGoals (const std::string &_samplerLabel="")

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

const std::string &	GetBaseFilename () const

Protected Attributes
Point	pGoal

VID	startVID

int	m_nSphereSamples {20}

double	m_minSphereRadius {0.001}

double	m_defaultExploreExploit {1./3.}

double	m_wavefrontExplorationBias {0.1}

double	m_controlManipulation {0.01}

double	m_pGoalState {0.5}

std::string	m_samplerLabel {BasicRRTStrategy::m_samplerLabel}

std::string	m_gaussianSamplerLabel

GenericStateGraph< Sphere, std::vector< Sphere > >	wavefrontExpansion

std::unordered_map< VID, Sphere >	wavefrontExpansionSpheres

Sphere	wavefrontRoot

Protected Attributes inherited from BasicRRTStrategy
std::string	m_samplerLabel
	The sampler label. More...

std::string	m_nfLabel
	The neighborhood finder label. More...

std::string	m_ncLabel
	The connector label (for RRG). More...

std::string	m_exLabel
	The extender label. More...

std::string	m_goalDmLabel
	Dm for checking goal extensions. More...

std::string	m_fallbackNfLabel
	NF for searching the active set, used if the main one fails. More...

bool	m_growGoals {false}
	Grow trees from goals. More...

double	m_growthFocus {0}
	The fraction of goal-biased expansions. More...

double	m_goalThreshold {0}
	Distance threshold for goal extension. More...

size_t	m_numDirections {1}
	Expansion directions per iteration. More...

size_t	m_disperseTrials {3}
	Sample attempts for disperse search. More...

std::vector< VertexSet >	m_trees
	The current tree set. More...

Protected Attributes inherited from MPStrategyMethod
std::string	m_querySampler
	Sampler for generating start/goal. More...

std::vector< std::string >	m_meLabels
	The list of map evaluators to use. More...

size_t	m_iterations {0}
	The number of executed iterations. More...

bool	m_writeOutput {true}
	Write output at the end? More...

bool	m_clearMap {false}
	Clear the roadmap(s) before run? More...

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

Member Typedef Documentation

◆ EID

typedef RoadmapType::EID EET::EID

◆ Point

typedef mathtool::Point3d EET::Point

◆ RoadmapType

typedef MPBaseObject::RoadmapType EET::RoadmapType

◆ VertexSet

typedef RoadmapType::VertexSet EET::VertexSet

◆ VID

typedef RoadmapType::VID EET::VID

◆ WeightType

typedef MPBaseObject::WeightType EET::WeightType

Constructor & Destructor Documentation

◆ EET() [1/2]

EET::EET ( )

◆ EET() [2/2]

EET::EET ( XMLNode & _node )

Member Function Documentation

◆ Distance()

double EET::Distance	(	Point	_p1,
		Point	_p2
	)

protected

◆ DistanceToObstacles()

double EET::DistanceToObstacles ( Point _p )

protected

◆ ExpandTree()

EET::VID EET::ExpandTree	(	const VID	_nearestVID,
		const Cfg &	_target
	)

overrideprotectedvirtual

Attempt to expand the map by growing towards a target configuration from an arbitrary existing node.

Parameters

_nearestVID	The VID to grow from.
_target	The target configuration.

Returns: The VID of a newly created Cfg if successful, INVALID_VID otherwise.

Reimplemented from BasicRRTStrategy.

◆ Initialize()

void EET::Initialize ( )

overrideprotectedvirtual

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 BasicRRTStrategy.

◆ Iterate()

void EET::Iterate ( )

overrideprotectedvirtual

Execute one iteration of the strategy.

Reimplemented from BasicRRTStrategy.

◆ SelectTarget()

Cfg EET::SelectTarget ( )

overrideprotectedvirtual

Get a random configuration to grow towards.

Reimplemented from BasicRRTStrategy.

◆ Wavefront()

void EET::Wavefront ( )

protected

Field Documentation

◆ m_controlManipulation

double EET::m_controlManipulation {0.01}

protected

◆ m_defaultExploreExploit

double EET::m_defaultExploreExploit {1./3.}

protected

◆ m_gaussianSamplerLabel

std::string EET::m_gaussianSamplerLabel

protected

◆ m_minSphereRadius

double EET::m_minSphereRadius {0.001}

protected

◆ m_nSphereSamples

int EET::m_nSphereSamples {20}

protected

◆ m_pGoalState

double EET::m_pGoalState {0.5}

protected

◆ m_samplerLabel

std::string EET::m_samplerLabel {BasicRRTStrategy::m_samplerLabel}

protected

◆ m_wavefrontExplorationBias

double EET::m_wavefrontExplorationBias {0.1}

protected

◆ pGoal

Point EET::pGoal

protected

◆ startVID

VID EET::startVID

protected

◆ wavefrontExpansion

GenericStateGraph<Sphere, std::vector<Sphere> > EET::wavefrontExpansion

protected

◆ wavefrontExpansionSpheres

std::unordered_map<VID, Sphere> EET::wavefrontExpansionSpheres

protected

◆ wavefrontRoot

Sphere EET::wavefrontRoot

protected

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MPStrategies/EET.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MPStrategies/EET.cpp

Data Structures

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Member Typedef Documentation

◆ EID

◆ Point

◆ RoadmapType

◆ VertexSet

◆ VID

◆ WeightType

Constructor & Destructor Documentation

◆ EET() [1/2]

◆ EET() [2/2]

Member Function Documentation

◆ Distance()

◆ DistanceToObstacles()

◆ ExpandTree()

◆ Initialize()

◆ Iterate()

◆ SelectTarget()

◆ Wavefront()

Field Documentation

◆ m_controlManipulation

◆ m_defaultExploreExploit

◆ m_gaussianSamplerLabel

◆ m_minSphereRadius

◆ m_nSphereSamples

◆ m_pGoalState

◆ m_samplerLabel

◆ m_wavefrontExplorationBias

◆ pGoal

◆ startVID

◆ wavefrontExpansion

◆ wavefrontExpansionSpheres

◆ wavefrontRoot