Parasol Planning Library (PPL)
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#include <GroupPRM.h>
Data Structures | |
struct | SamplerSetting |
Settings for a specific sampler. More... | |
Public Types | |
Motion Planning Types | |
typedef MPBaseObject::GroupCfgType | GroupCfgType |
typedef MPBaseObject::GroupRoadmapType | GroupRoadmapType |
typedef GroupRoadmapType::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 | |
GroupPRM () | |
GroupPRM (XMLNode &_node) | |
virtual | ~GroupPRM ()=default |
MPBaseObject Overrides | |
virtual void | Print (std::ostream &_os) const override |
virtual void | Initialize () override |
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... | |
Protected Member Functions | |
MPStrategyMethod Overrides | |
virtual void | Iterate () override |
Execute one iteration of the strategy. More... | |
Helpers | |
std::vector< VID > | Sample () |
void | Connect (const std::vector< VID > &_vids) |
Protected Member Functions inherited from GroupStrategyMethod | |
virtual void | Finalize () override |
Clean-up and output results. More... | |
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 | |
Internal State | |
std::vector< SamplerSetting > | m_samplers |
Sampler labels with number and attempts of sampler. More... | |
std::vector< std::string > | m_connectorLabels |
Connector labels for node-to-node. 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... | |
Basic PRM algorithm for multirobot teams using composite c-space.
typedef GroupRoadmapType::VID GroupPRM::VID |
GroupPRM::GroupPRM | ( | ) |
GroupPRM::GroupPRM | ( | XMLNode & | _node | ) |
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virtualdefault |
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protected |
Connect nodes in the roadmap.
_vids | A set of node VIDs to connect to the rest of the roadmap. |
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overridevirtual |
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.
Reimplemented from MPBaseObject.
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overrideprotectedvirtual |
Execute one iteration of the strategy.
Reimplemented from MPStrategyMethod.
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overridevirtual |
Print internal state of this object.
_os | The std::ostream to print to. |
Reimplemented from MPStrategyMethod.
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protected |
Sample and add configurations to the roadmap.
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protected |
Connector labels for node-to-node.
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protected |
Sampler labels with number and attempts of sampler.