#include <ExtenderMethod.h>

Inheritance diagram for ExtenderMethod:

[legend]

Collaboration diagram for ExtenderMethod:

Public Types
Motion Planning Types
typedef MPBaseObject::RoadmapType	RoadmapType

typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef GroupLocalPlan< RoadmapType >	GroupWeightType

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
	ExtenderMethod ()=default

	ExtenderMethod (XMLNode &_node)

virtual	~ExtenderMethod ()=default

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

Required Interface
virtual double	GetMinDistance () const
	Get the minimum extension distance. More...

virtual double	GetMaxDistance () const
	Get the maximum extension distance. More...

virtual bool	Extend (const Cfg &_start, const Cfg &_end, Cfg &_new, LPOutput &_lp)=0

virtual bool	Extend (const Cfg &_start, const Cfg &_end, Cfg &_new, LPOutput &_lp, CDInfo &_cdInfo)
	An optional version if CDInfo is desired. Not required to implement. More...

virtual bool	Extend (const GroupCfgType &_start, const GroupCfgType &_end, GroupCfgType &_new, GroupLPOutput &_lp, const std::vector< size_t > &_robotIndexes={})

virtual bool	Extend (const GroupCfgType &_start, const GroupCfgType &_end, GroupCfgType &_new, GroupLPOutput &_lp, CDInfo &_cdInfo, const std::vector< size_t > &_robotIndexes={})

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	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 Attributes
Extender Properties
double	m_minDist {.1}
	The minimum valid extension distance. More...

double	m_maxDist {1.}
	The maximum valid extension distance. More...

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

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

const std::string &	GetBaseFilename () const

Detailed Description

Base algorithm abstraction for Extenders.

ExtenderMethod has one main method, Extend, to grow a simple path from a starting node in some input direction - note that not all expansion methods go in straight lines through @cspace.

@usage

ExtenderPointer e = this->GetExtender(m_exLabel);
CfgType start, goal, new;
LPOutput lp;
bool pass = e->Extend(start, goal, new, lp);

Todo:: Local planners and Extenders represent the same concepts and should be merged into a single class with both an Extend and LocalPlan function. This will help simplify several other objects within PMPL as well, such as bi-directional RRT.

Member Typedef Documentation

◆ GroupCfgType

typedef MPBaseObject::GroupCfgType ExtenderMethod::GroupCfgType

◆ GroupWeightType

typedef GroupLocalPlan<RoadmapType> ExtenderMethod::GroupWeightType

◆ RoadmapType

typedef MPBaseObject::RoadmapType ExtenderMethod::RoadmapType

Constructor & Destructor Documentation

◆ ExtenderMethod() [1/2]

ExtenderMethod::ExtenderMethod ( )

default

◆ ExtenderMethod() [2/2]

ExtenderMethod::ExtenderMethod ( XMLNode & _node )

◆ ~ExtenderMethod()

virtual ExtenderMethod::~ExtenderMethod ( )

virtualdefault

Member Function Documentation

◆ Extend() [1/4]

virtual bool ExtenderMethod::Extend	(	const Cfg &	_start,
		const Cfg &	_end,
		Cfg &	_new,
		LPOutput &	_lp
	)

pure virtual

Extends a local plan from a starting configuration towards a target configuration.

Parameters

_start	Initial configuration to grow from.
_end	Target configuration to grow towards.
_new	Placeholder for resulting configuration.
_lp	Placeholder for polygonal chain configurations for non-straight-line extention operations and associated weight.

Returns: True if the extension produced a valid configuration that was at least the minimum distance away from the starting point.

Implemented in RotationThenTranslation, and BasicExtender.

◆ Extend() [2/4]

bool ExtenderMethod::Extend	(	const Cfg &	_start,
		const Cfg &	_end,
		Cfg &	_new,
		LPOutput &	_lp,
		CDInfo &	_cdInfo
	)

virtual

An optional version if CDInfo is desired. Not required to implement.

Reimplemented in BasicExtender.

◆ Extend() [3/4]

bool ExtenderMethod::Extend	(	const GroupCfgType &	_start,
		const GroupCfgType &	_end,
		GroupCfgType &	_new,
		GroupLPOutput &	_lp,
		CDInfo &	_cdInfo,
		const std::vector< size_t > &	_robotIndexes = `{}`
	)

virtual

For groups, with CD info. @override

Parameters

_robotIndexes The indexes of the robots which should move (empty for all).

Reimplemented in BasicExtender.

◆ Extend() [4/4]

bool ExtenderMethod::Extend	(	const GroupCfgType &	_start,
		const GroupCfgType &	_end,
		GroupCfgType &	_new,
		GroupLPOutput &	_lp,
		const std::vector< size_t > &	_robotIndexes = `{}`
	)

virtual

For groups. @override

Parameters

_robotIndexes The indexes of the robots which should move (empty for all).

Reimplemented in BasicExtender.

◆ GetMaxDistance()

double ExtenderMethod::GetMaxDistance ( ) const

virtual

Get the maximum extension distance.

◆ GetMinDistance()

double ExtenderMethod::GetMinDistance ( ) const

virtual

Get the minimum extension distance.

◆ Print()

void ExtenderMethod::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 BasicExtender.

Field Documentation

◆ m_maxDist

double ExtenderMethod::m_maxDist {1.}

protected

The maximum valid extension distance.

◆ m_minDist

double ExtenderMethod::m_minDist {.1}

protected

The minimum valid extension distance.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/Extenders/ExtenderMethod.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/Extenders/ExtenderMethod.cpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ GroupCfgType

◆ GroupWeightType

◆ RoadmapType

Constructor & Destructor Documentation

◆ ExtenderMethod() [1/2]

◆ ExtenderMethod() [2/2]

◆ ~ExtenderMethod()

Member Function Documentation

◆ Extend() [1/4]

◆ Extend() [2/4]

◆ Extend() [3/4]

◆ Extend() [4/4]

◆ GetMaxDistance()

◆ GetMinDistance()

◆ Print()

Field Documentation

◆ m_maxDist

◆ m_minDist