Validates an edge by calling a local planner and collision checking all intermediates created by that local planner separately. More...

#include <IntermediatesEdgeValidityChecker.h>

Inheritance diagram for IntermediatesEdgeValidityChecker:

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Collaboration diagram for IntermediatesEdgeValidityChecker:

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Public Types
typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

typedef RoadmapType::EID	EID

typedef RoadmapType::adj_edge_iterator	EI

Public Types inherited from EdgeValidityCheckerMethod
typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

typedef RoadmapType::EID	EID

typedef RoadmapType::adj_edge_iterator	EI

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
	IntermediatesEdgeValidityChecker ()

	IntermediatesEdgeValidityChecker (XMLNode &_node)

void	Initialize () override

bool	ValidateEdge (VID _u, VID _v, std::vector< size_t > &_collisions) override

bool	ValidateEdge (Cfg &_c1, Cfg &_c2, std::vector< size_t > &_collisions) override
	Cfg version of ValidateEdge. More...

double	EdgeWeightedClearance (VID _u, VID _v)

double	EdgeWeightedClearance (Cfg &_c1, Cfg &_c2)
	Cfg version of EdgeWeightedClearance. More...

Public Member Functions inherited from EdgeValidityCheckerMethod
	EdgeValidityCheckerMethod ()=default

	EdgeValidityCheckerMethod (XMLNode &_node)

virtual	~EdgeValidityCheckerMethod ()=default

void	SetReportCollisions (bool _reportCollisions)

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...

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

const std::string &	GetBaseFilename () const

Protected Attributes inherited from EdgeValidityCheckerMethod
bool	m_reportCollisions {false}

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

Detailed Description

Validates an edge by calling a local planner and collision checking all intermediates created by that local planner separately.

Note: Assumes that the validity checker is a collision detection validity checker.

Member Typedef Documentation

◆ EI

typedef RoadmapType::adj_edge_iterator IntermediatesEdgeValidityChecker::EI

◆ EID

typedef RoadmapType::EID IntermediatesEdgeValidityChecker::EID

◆ RoadmapType

typedef MPBaseObject::RoadmapType IntermediatesEdgeValidityChecker::RoadmapType

◆ VID

typedef RoadmapType::VID IntermediatesEdgeValidityChecker::VID

Constructor & Destructor Documentation

◆ IntermediatesEdgeValidityChecker() [1/2]

IntermediatesEdgeValidityChecker::IntermediatesEdgeValidityChecker ( )

◆ IntermediatesEdgeValidityChecker() [2/2]

IntermediatesEdgeValidityChecker::IntermediatesEdgeValidityChecker ( XMLNode & _node )

Member Function Documentation

◆ EdgeWeightedClearance() [1/2]

double IntermediatesEdgeValidityChecker::EdgeWeightedClearance	(	Cfg &	_c1,
		Cfg &	_c2
	)

virtual

Cfg version of EdgeWeightedClearance.

Implements EdgeValidityCheckerMethod.

◆ EdgeWeightedClearance() [2/2]

double IntermediatesEdgeValidityChecker::EdgeWeightedClearance	(	VID	_u,
		VID	_v
	)

virtual

Determines the clearance of the edge given by two VIDs.

Parameters

_u	The source of the edge
_v	The target of the edge

Returns: The clearance of the edge

Note: Takes into account weighted obstacles

Implements EdgeValidityCheckerMethod.

◆ Initialize()

void IntermediatesEdgeValidityChecker::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.

Implements EdgeValidityCheckerMethod.

◆ ValidateEdge() [1/2]

bool IntermediatesEdgeValidityChecker::ValidateEdge	(	Cfg &	_c1,
		Cfg &	_c2,
		std::vector< size_t > &	_collisions
	)

overridevirtual

Cfg version of ValidateEdge.

Implements EdgeValidityCheckerMethod.

◆ ValidateEdge() [2/2]

bool IntermediatesEdgeValidityChecker::ValidateEdge	(	VID	_u,
		VID	_v,
		std::vector< size_t > &	_collisions
	)

overridevirtual

Checks the validity of an edge using a set of intermediate cfgs each validated independently.

Parameters

_u	The source of the edge to validate
_v	The target of the edge to validate
_collisions	An empty container that will be populated with a list of indices of obstacles with which the edge collides.

Returns: True if all of the intermediate cfgs are in free space.

Implements EdgeValidityCheckerMethod.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/EdgeValidityCheckers/IntermediatesEdgeValidityChecker.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/EdgeValidityCheckers/IntermediatesEdgeValidityChecker.cpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ EI

◆ EID

◆ RoadmapType

◆ VID

Constructor & Destructor Documentation

◆ IntermediatesEdgeValidityChecker() [1/2]

◆ IntermediatesEdgeValidityChecker() [2/2]

Member Function Documentation

◆ EdgeWeightedClearance() [1/2]

◆ EdgeWeightedClearance() [2/2]

◆ Initialize()

◆ ValidateEdge() [1/2]

◆ ValidateEdge() [2/2]