#include <GroupPath.h>

Public Types
Motion Planning Types
typedef GenericStateGraph< Cfg, DefaultWeight< Cfg > >	RoadmapType

typedef GroupCfg< RoadmapType >	GroupCfgType

typedef GroupRoadmap< GroupCfgType, GroupLocalPlan< RoadmapType > >	GroupRoadmapType

typedef GroupRoadmapType::VID	VID

Public Member Functions
template<typename MPLibrary >
const std::vector< typename GroupPath::GroupCfgType >	FullCfgs (MPLibrary *const _lib) const

template<typename MPLibrary >
const std::vector< typename GroupPath::GroupCfgType >	FullCfgsWithWait (MPLibrary *const _lib) const

Construction
	GroupPath (GroupRoadmapType *const _r=nullptr)

Path Interface
GroupRoadmapType *	GetRoadmap () const noexcept
	Get the roadmap used by this path. More...

size_t	Size () const noexcept
	Get the number of cfgs in the path. More...

bool	Empty () const noexcept
	Check if the path is empty. More...

double	Length () const
	Get the total edge weight. More...

size_t	TimeSteps () const

const std::vector< VID > &	VIDs () const noexcept
	Get the VIDs in the path. More...

const std::pair< std::vector< VID >, std::vector< size_t > >	VIDsWaiting () const noexcept
	Get the VIDs and timesteps waiting in the path. More...

const std::vector< GroupCfgType > &	Cfgs () const

template<typename MPLibrary >
const std::vector< GroupCfgType >	FullCfgs (MPLibrary *const _lib) const

template<typename MPLibrary >
const std::vector< GroupCfgType >	FullCfgsWithWait (MPLibrary *const _lib) const

GroupPath &	operator+= (const GroupPath &_p)

GroupPath	operator+ (const GroupPath &_p) const

GroupPath &	operator+= (const std::vector< VID > &_vids)

GroupPath	operator+ (const std::vector< VID > &_vids) const

GroupPath &	operator= (const GroupPath &_p)
	Copy assignment operator. More...

void	Clear ()
	Clear all data in the path. More...

void	FlushCache ()
	Clear cached data, but leave the VIDs. More...

void	SetWaitTimes (std::vector< size_t > _waitTimes)

std::vector< size_t >	GetWaitTimes ()
	Get the wait times at each vertex in the path. More...

std::pair< size_t, size_t >	GetEdgeAtTimestep (size_t _timestep)

Detailed Description

A path of connected configurations from a given roadmap.

The implementation uses a vector of VID's as the primary representation. The corresponding configurations are computed lazily upon request.

Member Typedef Documentation

◆ GroupCfgType

typedef GroupCfg<RoadmapType> GroupPath::GroupCfgType

◆ GroupRoadmapType

typedef GroupRoadmap<GroupCfgType, GroupLocalPlan<RoadmapType> > GroupPath::GroupRoadmapType

◆ RoadmapType

typedef GenericStateGraph<Cfg, DefaultWeight<Cfg> > GroupPath::RoadmapType

◆ VID

typedef GroupRoadmapType::VID GroupPath::VID

Constructor & Destructor Documentation

◆ GroupPath()

GroupPath::GroupPath ( GroupRoadmapType *const _r = nullptr )

Construct an empty path.

Parameters

_r	The roadmap used by this path.

Member Function Documentation

◆ Cfgs()

const std::vector< typename GroupPath::GroupCfgType > & GroupPath::Cfgs ( ) const

Get a copy of the Cfgs in the path.

Warning: If the cfgs in the roadmap are later altered (i.e., if the DOF values or labels are edited), this copy will be out-of-date.

◆ Clear()

void GroupPath::Clear ( )

Clear all data in the path.

◆ Empty()

bool GroupPath::Empty ( ) const

noexcept

Check if the path is empty.

◆ FlushCache()

void GroupPath::FlushCache ( )

Clear cached data, but leave the VIDs.

◆ FullCfgs() [1/2]

template<typename MPLibrary >

const std::vector<GroupCfgType> GroupPath::FullCfgs ( MPLibrary *const _lib ) const

Get the current full Cfg path with steps spaced one environment resolution apart. This is not cached due to its size and infrequent usage.

Parameters

_lib	The planning library to use.

Returns: The full path of configurations, including local-plan intermediates between the roadmap nodes.

◆ FullCfgs() [2/2]

template<typename MPLibrary >

const std::vector<typename GroupPath::GroupCfgType> GroupPath::FullCfgs ( MPLibrary *const _lib ) const

◆ FullCfgsWithWait() [1/2]

template<typename MPLibrary >

const std::vector<GroupCfgType> GroupPath::FullCfgsWithWait ( MPLibrary *const _lib ) const

Get the current full Cfg path with wait times. Steps are spaced one environment resolution apart. This is not cached due to its size and infrequent usage.

Parameters

_lib	The planning library to use.

Returns: The full path of configurations, including local-plan intermediates between the roadmap nodes and waiting.

◆ FullCfgsWithWait() [2/2]

template<typename MPLibrary >

const std::vector<typename GroupPath::GroupCfgType> GroupPath::FullCfgsWithWait ( MPLibrary *const _lib ) const

◆ GetEdgeAtTimestep()

std::pair< size_t, size_t > GroupPath::GetEdgeAtTimestep ( size_t _timestep )

Get the (source,target) of the path at the input timestep.

Parameters

_timestep The timestep to find the corresponding edge.

Returns: The source and target of the corresponding edge.

◆ GetRoadmap()

GroupPath::GroupRoadmapType * GroupPath::GetRoadmap ( ) const

noexcept

Get the roadmap used by this path.

◆ GetWaitTimes()

std::vector< size_t > GroupPath::GetWaitTimes ( )

Get the wait times at each vertex in the path.

◆ Length()

double GroupPath::Length ( ) const

Get the total edge weight.

Todo:: This will be an error if we allow self-edges.

◆ operator+() [1/2]

GroupPath GroupPath::operator+ ( const GroupPath & _p ) const

Add another path to the end of this one and return the result.

Parameters

_p	The path to add.

◆ operator+() [2/2]

GroupPath GroupPath::operator+ ( const std::vector< VID > & _vids ) const

Add a new set of VIDs to the end of this path and return the result.

Parameters

_vids The VIDs to add.

◆ operator+=() [1/2]

GroupPath & GroupPath::operator+= ( const GroupPath & _p )

Append another path to the end of this one.

Parameters

_p	The path to append.

◆ operator+=() [2/2]

GroupPath & GroupPath::operator+= ( const std::vector< VID > & _vids )

Append a new set of VIDs to the end of this path.

Parameters

_vids The VIDs to append.

◆ operator=()

GroupPath & GroupPath::operator= ( const GroupPath & _p )

Copy assignment operator.

◆ SetWaitTimes()

void GroupPath::SetWaitTimes ( std::vector< size_t > _waitTimes )

Set the wait times at each vertex in path Used in Safe Interval Path Planning

◆ Size()

size_t GroupPath::Size ( ) const

noexcept

Get the number of cfgs in the path.

◆ TimeSteps()

size_t GroupPath::TimeSteps ( ) const

Todo:: This will be an error if we allow self-edges.

◆ VIDs()

const std::vector< typename GroupPath::VID > & GroupPath::VIDs ( ) const

noexcept

Get the VIDs in the path.

◆ VIDsWaiting()

const std::pair<std::vector<VID>,std::vector<size_t> > GroupPath::VIDsWaiting ( ) const

noexcept

Get the VIDs and timesteps waiting in the path.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/ConfigurationSpace/GroupPath.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/ConfigurationSpace/GroupPath.cpp

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ GroupCfgType

◆ GroupRoadmapType

◆ RoadmapType

◆ VID

Constructor & Destructor Documentation

◆ GroupPath()

Member Function Documentation

◆ Cfgs()

◆ Clear()

◆ Empty()

◆ FlushCache()

◆ FullCfgs() [1/2]

◆ FullCfgs() [2/2]

◆ FullCfgsWithWait() [1/2]

◆ FullCfgsWithWait() [2/2]

◆ GetEdgeAtTimestep()

◆ GetRoadmap()

◆ GetWaitTimes()

◆ Length()

◆ operator+() [1/2]

◆ operator+() [2/2]

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ operator=()

◆ SetWaitTimes()

◆ Size()

◆ TimeSteps()

◆ VIDs()

◆ VIDsWaiting()