Apply a sequence of local planners until one succeeds, or all fail. More...

#include <HierarchicalLP.h>

Inheritance diagram for HierarchicalLP:

Collaboration diagram for HierarchicalLP:

Public Types
Local Types
typedef MPBaseObject::WeightType	WeightType

Public Types inherited from LocalPlannerMethod
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef GroupCfgType::Formation	Formation

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
Constructors
	HierarchicalLP (const vector< string > &_lpLabels=vector< string >(), bool _saveIntermediates=false)

	HierarchicalLP (XMLNode &_node)

Overrides
virtual void	Print (ostream &_os) const

virtual bool	IsConnected (const Cfg &_c1, const Cfg &_c2, Cfg &_col, LPOutput *_lpOutput, double _posRes, double _oriRes, bool _checkCollision=true, bool _savePath=false)

Public Member Functions inherited from LocalPlannerMethod
	LocalPlannerMethod (bool _saveIntermediates=false)

	LocalPlannerMethod (XMLNode &_node)

virtual	~LocalPlannerMethod ()=default

bool	IsConnected (const Cfg &_start, const Cfg &_end, LPOutput *_lpOutput, double _posRes, double _oriRes, bool _checkCollision=true, bool _savePath=false)

virtual bool	IsConnected (const GroupCfgType &_start, const GroupCfgType &_end, GroupCfgType &_col, GroupLPOutput *_lpOutput, double _posRes, double _oriRes, bool _checkCollision=true, bool _savePath=false, const Formation &_formation=Formation())

bool	IsConnected (const GroupCfgType &_start, const GroupCfgType &_end, GroupLPOutput *_lpOutput, double _posRes, double _oriRes, bool _checkCollision=true, bool _savePath=false, const Formation &_formation=Formation())

std::vector< Cfg >	BlindPath (const std::vector< Cfg > &_waypoints, const double _posRes, const double _oriRes)

std::vector< Cfg >	BlindPath (const std::vector< Cfg > &_waypoints)

std::vector< GroupCfgType >	BlindPath (const std::vector< GroupCfgType > &_waypoints, const double _posRes, const double _oriRes, const Formation &_formation=Formation())

std::vector< GroupCfgType >	BlindPath (const std::vector< GroupCfgType > &_waypoints, const Formation &_formation=Formation())

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	Initialize ()

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 MPBaseObject
void	SetName (const std::string &_s)

const std::string &	GetBaseFilename () const

Protected Attributes inherited from LocalPlannerMethod
bool	m_saveIntermediates {false}
	Save the intermediates in the roadmap? More...

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

Detailed Description

Apply a sequence of local planners until one succeeds, or all fail.

Hierarchical local planning applies a sequence of local planners until one succeeds or they all fail. It will return the information of the successful local plan.

Member Typedef Documentation

◆ WeightType

typedef MPBaseObject::WeightType HierarchicalLP::WeightType

Constructor & Destructor Documentation

◆ HierarchicalLP() [1/2]

HierarchicalLP::HierarchicalLP	(	const vector< string > &	_lpLabels = `vector<string>()`,
		bool	_saveIntermediates = `false`
	)

◆ HierarchicalLP() [2/2]

HierarchicalLP::HierarchicalLP ( XMLNode & _node )

Member Function Documentation

◆ IsConnected()

bool HierarchicalLP::IsConnected	(	const Cfg &	_start,
		const Cfg &	_end,
		Cfg &	_col,
		LPOutput *	_lpOutput,
		double	_posRes,
		double	_oriRes,
		bool	_checkCollision = `true`,
		bool	_savePath = `false`
	)

virtual

Validate a simple path between two nodes.

Parameters

_start	The starting configuration.
_end	The ending configuration.
_col	The witness configuration on failure.
_lpOutput	Weight and path computed from local plan.
_posRes	Positional DOF resolution.
_oriRes	Rotational DOF resolution.
_checkCollision	Use validity checking?
_savePath	Save all configurations along the path?

Returns: A boolean indicating whether the connection succeeded.

@usage

LocalPlannerPointer lp = this->GetLocalPlanner(m_lpLabel);
Environment* env = this->GetEnvironment();
CfgType c1, c2, col;
LPOutput lpOut;
lp->IsConnected(c1, c2, col, &lpOut, env->GetPositionRes(),
    env->GetOrientationRes());

Implements LocalPlannerMethod.

◆ Print()

void HierarchicalLP::Print ( ostream & _os ) const

virtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from LocalPlannerMethod.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/LocalPlanners/HierarchicalLP.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/LocalPlanners/HierarchicalLP.cpp

Public Types

Public Member Functions

Additional Inherited Members