#include <GroupQuery.h>

Inheritance diagram for GroupQuery:

Collaboration diagram for GroupQuery:

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Public Types
Motion Planning Types
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef MPBaseObject::GroupRoadmapType	GroupRoadmapType

typedef MPBaseObject::GroupWeightType	WeightType

typedef GroupRoadmapType::VID	VID

typedef std::unordered_set< VID >	VIDSet

Public Types inherited from MapEvaluatorMethod
typedef std::unordered_map< size_t, std::unordered_map< size_t, std::vector< Range< double > > > >	EdgeIntervals

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
	GroupQuery ()

	GroupQuery (XMLNode &_node)

virtual	~GroupQuery ()=default

MPBaseObject Overrides
virtual void	Initialize () override

MapEvaluator Overrides
virtual bool	operator() () override

Query Interface
std::vector< VID >	GeneratePath (const VID _start, const VIDSet &_end)

virtual void	SetPathWeightFunction (SSSPPathWeightFunction< GroupRoadmapType > _f)

Public Member Functions inherited from MapEvaluatorMethod
virtual void	SetEdgeIntervals (EdgeIntervals _edgeIntervals)
	Set the edge intervals of a roadmap. More...

virtual void	SetMinEndtime (double _minEndtime)
	Set the minimum end time of a path. More...

void	SetActiveRobots (const std::vector< size_t > &_activeRobots)
	Set the active robots. More...

std::vector< size_t >	GetActiveRobots () const
	Get the active robots. More...

	MapEvaluatorMethod ()=default

	MapEvaluatorMethod (XMLNode &_node)

virtual	~MapEvaluatorMethod ()=default

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	Print (std::ostream &_os) const

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
Helpers
void	Reset (GroupRoadmapType *const _r)

bool	PerformSubQuery (const VID _start, const VIDSet &_goal)

double	StaticPathWeight (typename GroupRoadmapType::adj_edge_iterator &_ei, const double _sourceDistance, const double _targetDistance) const

double	DynamicPathWeight (typename GroupRoadmapType::adj_edge_iterator &_ei, const double _sourceDistance, const double _targetDistance) const

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

const std::string &	GetBaseFilename () const

Protected Attributes
Internal State
GroupRoadmapType *	m_roadmap {nullptr}

size_t	m_goalIndex {0}
	Index of next unreached goal. More...

SSSPPathWeightFunction< GroupRoadmapType >	m_weightFunction

std::string	m_vcLabel

Protected Attributes inherited from MapEvaluatorMethod
std::vector< size_t >	m_activeRobots

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

Detailed Description

Evaluates the current group roadmap to determine whether a (group) path exists which satisfies the current group task.

Todo:: There is a lot of copy-pasted code from QueryMethod because that method calls several other objects which are not ready for groups yet. We should be able to merge these two after a bit more flush-out of the group support. I have marked it final to remind us that we should not extend this as it will be merged.

Member Typedef Documentation

◆ GroupCfgType

typedef MPBaseObject::GroupCfgType GroupQuery::GroupCfgType

◆ GroupRoadmapType

typedef MPBaseObject::GroupRoadmapType GroupQuery::GroupRoadmapType

◆ VID

typedef GroupRoadmapType::VID GroupQuery::VID

◆ VIDSet

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

◆ WeightType

typedef MPBaseObject::GroupWeightType GroupQuery::WeightType

Constructor & Destructor Documentation

◆ GroupQuery() [1/2]

GroupQuery::GroupQuery ( )

◆ GroupQuery() [2/2]

GroupQuery::GroupQuery ( XMLNode & _node )

◆ ~GroupQuery()

virtual GroupQuery::~GroupQuery ( )

virtualdefault

Member Function Documentation

◆ DynamicPathWeight()

double GroupQuery::DynamicPathWeight	(	typename GroupRoadmapType::adj_edge_iterator &	_ei,
		const double	_sourceDistance,
		const double	_targetDistance
	)		const

protected

◆ GeneratePath()

std::vector< typename GroupQuery::VID > GroupQuery::GeneratePath	(	const VID	_start,
		const VIDSet &	_end
	)

◆ Initialize()

void GroupQuery::Initialize ( )

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.

Warning: This member will be called for every compiled algorithm in the planning library - even those that will not be used. If an algorithm needs to do expenisve setup, then this method should only set a flag that tells it to do so on first use. The only exceptions are the MPStrategies, which will only have their initialize called on first use.

Reimplemented from MPBaseObject.

◆ operator()()

bool GroupQuery::operator() ( )

overridevirtual

Evaluate a roadmap.

Returns: True if this roadmap meets the evaluation criteria.

Implements MapEvaluatorMethod.

◆ PerformSubQuery()

bool GroupQuery::PerformSubQuery	(	const VID	_start,
		const VIDSet &	_goal
	)

protected

◆ Reset()

void GroupQuery::Reset ( GroupRoadmapType *const _r )

protected

◆ SetPathWeightFunction()

void GroupQuery::SetPathWeightFunction ( SSSPPathWeightFunction< GroupRoadmapType > _f )

virtual

◆ StaticPathWeight()

double GroupQuery::StaticPathWeight	(	typename GroupRoadmapType::adj_edge_iterator &	_ei,
		const double	_sourceDistance,
		const double	_targetDistance
	)		const

protected

Field Documentation

◆ m_goalIndex

size_t GroupQuery::m_goalIndex {0}

protected

Index of next unreached goal.

◆ m_roadmap

GroupRoadmapType* GroupQuery::m_roadmap {nullptr}

protected

◆ m_vcLabel

std::string GroupQuery::m_vcLabel

protected

◆ m_weightFunction

SSSPPathWeightFunction<GroupRoadmapType> GroupQuery::m_weightFunction

protected

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

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ GroupCfgType

◆ GroupRoadmapType

◆ VID

◆ VIDSet

◆ WeightType

Constructor & Destructor Documentation

◆ GroupQuery() [1/2]

◆ GroupQuery() [2/2]

◆ ~GroupQuery()

Member Function Documentation

◆ DynamicPathWeight()

◆ GeneratePath()

◆ Initialize()

◆ operator()()

◆ PerformSubQuery()

◆ Reset()

◆ SetPathWeightFunction()

◆ StaticPathWeight()

Field Documentation

◆ m_goalIndex

◆ m_roadmap

◆ m_vcLabel

◆ m_weightFunction