#include <GroupDecoupledStrategy.h>

Inheritance diagram for GroupDecoupledStrategy:

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Collaboration diagram for GroupDecoupledStrategy:

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Public Types
Motion Planning Types
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef MPBaseObject::WeightType	WeightType

typedef MPBaseObject::RoadmapType	RoadmapType

typedef MPBaseObject::GroupWeightType	GroupWeightType

typedef RoadmapType::VID	VID

Public Types inherited from GroupStrategyMethod
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef MPBaseObject::GroupRoadmapType	GroupRoadmapType

typedef GroupRoadmapType::VID	VID

typedef SamplerMethod::BoundaryMap	BoundaryMap

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
Construction
	GroupDecoupledStrategy ()

	GroupDecoupledStrategy (XMLNode &_node)

virtual	~GroupDecoupledStrategy ()=default

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

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

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

Public Member Functions inherited from GroupStrategyMethod
	GroupStrategyMethod ()=default

	GroupStrategyMethod (XMLNode &_node)

virtual	~GroupStrategyMethod ()=default

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...

Additional Inherited Members
Protected Member Functions inherited from GroupStrategyMethod
virtual size_t	GenerateStart (const std::string &_samplerLabel) override

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

BoundaryMap	GetStartBoundaryMap () const noexcept

std::vector< BoundaryMap >	GetGoalBoundaryMaps () const noexcept

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

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

const std::string &	GetBaseFilename () const

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...

Detailed Description

Runs a single-robot planner for each robot in the group, and manages inter-robot conflicts at query time.

Member Typedef Documentation

◆ GroupCfgType

typedef MPBaseObject::GroupCfgType GroupDecoupledStrategy::GroupCfgType

◆ GroupWeightType

typedef MPBaseObject::GroupWeightType GroupDecoupledStrategy::GroupWeightType

◆ RoadmapType

typedef MPBaseObject::RoadmapType GroupDecoupledStrategy::RoadmapType

◆ VID

typedef RoadmapType::VID GroupDecoupledStrategy::VID

◆ WeightType

typedef MPBaseObject::WeightType GroupDecoupledStrategy::WeightType

Constructor & Destructor Documentation

◆ GroupDecoupledStrategy() [1/2]

GroupDecoupledStrategy::GroupDecoupledStrategy ( )

◆ GroupDecoupledStrategy() [2/2]

GroupDecoupledStrategy::GroupDecoupledStrategy ( XMLNode & _node )

◆ ~GroupDecoupledStrategy()

virtual GroupDecoupledStrategy::~GroupDecoupledStrategy ( )

virtualdefault

Member Function Documentation

◆ Finalize()

void GroupDecoupledStrategy::Finalize ( )

overridevirtual

Clean-up and output results.

Reimplemented from GroupStrategyMethod.

◆ Iterate()

void GroupDecoupledStrategy::Iterate ( )

overridevirtual

Execute one iteration of the strategy.

Reimplemented from MPStrategyMethod.

◆ Print()

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

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from MPStrategyMethod.

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

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

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ GroupCfgType

◆ GroupWeightType

◆ RoadmapType

◆ VID

◆ WeightType

Constructor & Destructor Documentation

◆ GroupDecoupledStrategy() [1/2]

◆ GroupDecoupledStrategy() [2/2]

◆ ~GroupDecoupledStrategy()

Member Function Documentation

◆ Finalize()

◆ Iterate()

◆ Print()