#include <GroupStrategyMethod.h>

Inheritance diagram for GroupStrategyMethod:

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Collaboration diagram for GroupStrategyMethod:

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Public Types
Motion Planning Types
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
	GroupStrategyMethod ()=default

	GroupStrategyMethod (XMLNode &_node)

virtual	~GroupStrategyMethod ()=default

Public Member Functions inherited from MPStrategyMethod
	MPStrategyMethod ()=default

	MPStrategyMethod (XMLNode &_node)

virtual	~MPStrategyMethod ()

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

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	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

Helpers
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	Iterate ()
	Execute one iteration of the strategy. 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

Additional Inherited Members
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

Base algorithm abstraction for MPStrategies that plan for robot groups.

Todo:: Incorporate path constraints when generating the start and goal.

Member Typedef Documentation

◆ BoundaryMap

typedef SamplerMethod::BoundaryMap GroupStrategyMethod::BoundaryMap

◆ GroupCfgType

typedef MPBaseObject::GroupCfgType GroupStrategyMethod::GroupCfgType

◆ GroupRoadmapType

typedef MPBaseObject::GroupRoadmapType GroupStrategyMethod::GroupRoadmapType

◆ VID

typedef GroupRoadmapType::VID GroupStrategyMethod::VID

Constructor & Destructor Documentation

◆ GroupStrategyMethod() [1/2]

GroupStrategyMethod::GroupStrategyMethod ( )

default

◆ GroupStrategyMethod() [2/2]

GroupStrategyMethod::GroupStrategyMethod ( XMLNode & _node )

◆ ~GroupStrategyMethod()

virtual GroupStrategyMethod::~GroupStrategyMethod ( )

virtualdefault

Member Function Documentation

◆ Finalize()

void GroupStrategyMethod::Finalize ( )

overrideprotectedvirtual

Clean-up and output results.

Reimplemented from MPStrategyMethod.

Reimplemented in GroupDecoupledStrategy.

◆ GenerateGoals()

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

overrideprotectedvirtual

Generate 'goal' node(s) for the task and add it(them) to the roadmap.

Parameters

_samplerLabel The label for the sampler to use if no query sampler was provided, or empty to require a query sampler.

Returns: The VIDs of the generated configurations.

Note: This returns size_t so that it will work for both individual and group strategies (all VID types are typedefs for size_t).

Todo:: For now we will only support one task per robot. Generalize this to support more task arrangements.

Reimplemented from MPStrategyMethod.

◆ GenerateStart()

size_t GroupStrategyMethod::GenerateStart ( const std::string & _samplerLabel )

overrideprotectedvirtual

Generate a 'start' node for the task and add it to the roadmap.

Parameters

_samplerLabel The label for the sampler to use if no query sampler was provided, or empty to require a query sampler.

Returns: The VID of the generated configuration.

Note: This returns size_t so that it will work for both individual and group strategies (all VID types are typedefs for size_t).

Todo:: For now we will only support one task per robot. Generalize this to support more task arrangements.

Reimplemented from MPStrategyMethod.

◆ GetGoalBoundaryMaps()

std::vector< typename GroupStrategyMethod::BoundaryMap > GroupStrategyMethod::GetGoalBoundaryMaps ( ) const

protectednoexcept

Get a map from robot -> boundary for each of the current group task's goal constraints.

Todo:: For now we will only support one task per robot. Generalize this to support more task arrangements.

◆ GetStartBoundaryMap()

GroupStrategyMethod::BoundaryMap GroupStrategyMethod::GetStartBoundaryMap ( ) const

protectednoexcept

Get a map from robot -> boundary for the current group task's start constraints.

Todo:: For now we will only support one task per robot. Generalize this to support more task arrangements.

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

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

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BoundaryMap

◆ GroupCfgType

◆ GroupRoadmapType

◆ VID

Constructor & Destructor Documentation

◆ GroupStrategyMethod() [1/2]

◆ GroupStrategyMethod() [2/2]

◆ ~GroupStrategyMethod()

Member Function Documentation

◆ Finalize()

◆ GenerateGoals()

◆ GenerateStart()

◆ GetGoalBoundaryMaps()

◆ GetStartBoundaryMap()