Maintains a set of GoalMap for multiple roadmap/task pairs. More...

#include <GoalTracker.h>

Inheritance diagram for GoalTrackerType:

Collaboration diagram for GoalTrackerType:

Public Types
Motion Planning Types
typedef MPBaseObject::RoadmapType	RoadmapType

typedef MPBaseObject::GroupRoadmapType	GroupRoadmapType

typedef RoadmapType::VID	VID

Local Types
typedef std::unordered_set< VID >	VIDSet

Public Member Functions
Construction
	GoalTrackerType (MPLibrary *const _library)

	~GoalTrackerType ()

Interface
template<typename Roadmap , typename Task >
const VIDSet &	GetStartVIDs (Roadmap const _roadmap, const Task const _task) const

const VIDSet &	GetStartVIDs () const

template<typename Roadmap , typename Task >
const VIDSet &	GetGoalVIDs (Roadmap const _roadmap, const Task const _task, const size_t _index) const

const VIDSet &	GetGoalVIDs (const size_t _index) const

template<typename Roadmap , typename Task >
size_t	UnreachedGoalCount (Roadmap const _roadmap, const Task const _task) const

size_t	UnreachedGoalCount () const

template<typename Roadmap , typename Task >
std::vector< size_t >	UnreachedGoalIndexes (Roadmap const _roadmap, const Task const _task) const

std::vector< size_t >	UnreachedGoalIndexes () const

void	AddMap (RoadmapType const _roadmap, const MPTask const _task)

void	AddMap (GroupRoadmapType const _roadmap, const GroupTask const _task)

bool	IsMap (RoadmapType const _roadmap, const MPTask const _task) const

bool	IsMap (GroupRoadmapType const _roadmap, const GroupTask const _task) const

void	Clear ()
	Clear all goal maps. More...

Detailed Description

Maintains a set of GoalMap for multiple roadmap/task pairs.

Member Typedef Documentation

◆ GroupRoadmapType

typedef MPBaseObject::GroupRoadmapType GoalTrackerType::GroupRoadmapType

◆ RoadmapType

typedef MPBaseObject::RoadmapType GoalTrackerType::RoadmapType

◆ VID

typedef RoadmapType::VID GoalTrackerType::VID

◆ VIDSet

typedef std::unordered_set<VID> GoalTrackerType::VIDSet

Constructor & Destructor Documentation

◆ GoalTrackerType()

GoalTrackerType::GoalTrackerType ( MPLibrary *const _library )

Construct a goal tracker, which must be owned by a specific MPLibrary.

Parameters

_library The owning library.

◆ ~GoalTrackerType()

GoalTrackerType::~GoalTrackerType ( )

Member Function Documentation

◆ AddMap() [1/2]

void GoalTrackerType::AddMap	(	GroupRoadmapType *const	_roadmap,
		const GroupTask *const	_task
	)

Add a goal map for a group roadmap/task pair.

Parameters

_roadmap	The group roadmap.
_task	The task.

◆ AddMap() [2/2]

void GoalTrackerType::AddMap	(	RoadmapType *const	_roadmap,
		const MPTask *const	_task
	)

Add a goal map for a roadmap/task pair.

Parameters

_roadmap	The roadmap.
_task	The task.

◆ Clear()

void GoalTrackerType::Clear ( )

Clear all goal maps.

◆ GetGoalVIDs() [1/2]

const GoalTrackerType::VIDSet & GoalTrackerType::GetGoalVIDs ( const size_t _index ) const

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

Exceptions

If	both a group and individual 'current' task are set.

◆ GetGoalVIDs() [2/2]

template<typename Roadmap , typename Task >

const GoalTrackerType::VIDSet & GoalTrackerType::GetGoalVIDs	(	Roadmap *const	_roadmap,
		const Task *const	_task,
		const size_t	_index
	)		const

Find the VIDs which satisfy a particular goal constraint for a roadmap/task pair.

Parameters

_roadmap	The roadmap.
_task	The task.
_index	The goal constraint index.

Returns: The set of VIDs from _roadmap which satisfy goal constraint _index from task _task.

◆ GetStartVIDs() [1/2]

const GoalTrackerType::VIDSet & GoalTrackerType::GetStartVIDs ( ) const

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

Exceptions

If	both a group and individual 'current' task are set.

◆ GetStartVIDs() [2/2]

template<typename Roadmap , typename Task >

const GoalTrackerType::VIDSet & GoalTrackerType::GetStartVIDs	(	Roadmap *const	_roadmap,
		const Task *const	_task
	)		const

Find the VIDs which satisfy the start constraint for a roadmap/task pair.

Parameters

_roadmap	The roadmap.
_task	The task.

Returns: The set of VIDs from _roadmap which satisfy the start constraints for _task.

◆ IsMap() [1/2]

bool GoalTrackerType::IsMap	(	GroupRoadmapType *const	_roadmap,
		const GroupTask *const	_task
	)		const

Check for a goal map for a group roadmap/task pair.

Parameters

_roadmap	The group roadmap.
_task	The task.

◆ IsMap() [2/2]

bool GoalTrackerType::IsMap	(	RoadmapType *const	_roadmap,
		const MPTask *const	_task
	)		const

Check for a goal map for a roadmap/task pair.

Parameters

_roadmap	The roadmap.
_task	The task.

◆ UnreachedGoalCount() [1/2]

size_t GoalTrackerType::UnreachedGoalCount ( ) const

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

Exceptions

If	both a group and individual 'current' task are set.

◆ UnreachedGoalCount() [2/2]

template<typename Roadmap , typename Task >

size_t GoalTrackerType::UnreachedGoalCount	(	Roadmap *const	_roadmap,
		const Task *const	_task
	)		const

Check the number of unreached goals for a roadmap/task.

Parameters

_roadmap	The roadmap.
_task	The task.

Returns: The number of unreached goals.

◆ UnreachedGoalIndexes() [1/2]

std::vector< size_t > GoalTrackerType::UnreachedGoalIndexes ( ) const

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

Exceptions

If	both a group and individual 'current' task are set.

◆ UnreachedGoalIndexes() [2/2]

template<typename Roadmap , typename Task >

std::vector< size_t > GoalTrackerType::UnreachedGoalIndexes	(	Roadmap *const	_roadmap,
		const Task *const	_task
	)		const

Get the indexes of the goal constraints which have not yet been satisfied.

Parameters

_roadmap	The roadmap.
_task	The task.

Returns: The unreached goal indexes.

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

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

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ GroupRoadmapType

◆ RoadmapType

◆ VID

◆ VIDSet

Constructor & Destructor Documentation

◆ GoalTrackerType()

◆ ~GoalTrackerType()

Member Function Documentation

◆ AddMap() [1/2]

◆ AddMap() [2/2]

◆ Clear()

◆ GetGoalVIDs() [1/2]

◆ GetGoalVIDs() [2/2]

◆ GetStartVIDs() [1/2]

◆ GetStartVIDs() [2/2]

◆ IsMap() [1/2]

◆ IsMap() [2/2]

◆ UnreachedGoalCount() [1/2]

◆ UnreachedGoalCount() [2/2]

◆ UnreachedGoalIndexes() [1/2]

◆ UnreachedGoalIndexes() [2/2]