#include <LPSweptDistance.h>

Inheritance diagram for LPSweptDistance:

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Collaboration diagram for LPSweptDistance:

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Public Types
Local Types
typedef MPBaseObject::GroupCfgType	GroupCfgType

Public Types inherited from DistanceMetricMethod
typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

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
Construction
	LPSweptDistance (string _lpLabel="sl", double _positionRes=0.1, double _orientationRes=0.1, bool _bbox=false)

	LPSweptDistance (XMLNode &_node)

virtual	~LPSweptDistance ()=default

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

DistanceMetricMethod Overrides
virtual double	Distance (const Cfg &_c1, const Cfg &_c2) override

Public Member Functions inherited from DistanceMetricMethod
	DistanceMetricMethod ()=default

	DistanceMetricMethod (XMLNode &_node)

virtual	~DistanceMetricMethod ()=default

virtual double	Distance (const GroupCfgType &_c1, const GroupCfgType &_c2)

double	EdgeWeight (const RoadmapType *const _r, const typename RoadmapType::CEI &_edge) noexcept

double	EdgeWeight (const RoadmapType *const _r, const VID _source, const VID _target) noexcept

virtual void	ScaleCfg (double _length, Cfg &_c, const Cfg &_o)

void	ScaleCfg (double _length, Cfg &_c)

virtual void	ScaleCfg (double _length, GroupCfgType &_c, const GroupCfgType &_o)

void	ScaleCfg (double _length, GroupCfgType &_c)

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...

Protected Member Functions
Helpers
double	SweptDistance (const std::vector< GMSPolyhedron > &_poly1, const std::vector< GMSPolyhedron > &_poly2)

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

const std::string &	GetBaseFilename () const

Protected Attributes
Internal State
string	m_lpLabel
	For Local Planner type. More...

double	m_positionRes
	For position resolution. More...

double	m_orientationRes
	For orientation resolution. More...

bool	m_useBBox
	for whether to use bounding box More...

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

Detailed Description

Measures the distance swept by a robot when moving between two configurations. The distance is the summed vertex displacements along the path generated by the LocalPlanner.

Member Typedef Documentation

◆ GroupCfgType

typedef MPBaseObject::GroupCfgType LPSweptDistance::GroupCfgType

Constructor & Destructor Documentation

◆ LPSweptDistance() [1/2]

LPSweptDistance::LPSweptDistance	(	string	_lpLabel = `"sl"`,
		double	_positionRes = `0.1`,
		double	_orientationRes = `0.1`,
		bool	_bbox = `false`
	)

◆ LPSweptDistance() [2/2]

LPSweptDistance::LPSweptDistance ( XMLNode & _node )

◆ ~LPSweptDistance()

virtual LPSweptDistance::~LPSweptDistance ( )

virtualdefault

Member Function Documentation

◆ Distance()

double LPSweptDistance::Distance	(	const Cfg &	_c1,
		const Cfg &	_c2
	)

overridevirtual

Compute a distance between two configurations.

Parameters

_c1	The first configuration.
_c2	The second configuration.

Returns: The computed distance between _c1 and _c2.

Todo:: Verify this, I believe m_path does include _c1 and _c2 for some lps. We need to make sure the usage is consistent across all of them.

Implements DistanceMetricMethod.

Reimplemented in BinaryLPSweptDistance.

◆ Print()

void LPSweptDistance::Print ( std::ostream & _os ) const

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from MPBaseObject.

Reimplemented in BinaryLPSweptDistance.

◆ SweptDistance()

double LPSweptDistance::SweptDistance	(	const std::vector< GMSPolyhedron > &	_poly1,
		const std::vector< GMSPolyhedron > &	_poly2
	)

protected

Field Documentation

◆ m_lpLabel

string LPSweptDistance::m_lpLabel

protected

For Local Planner type.

◆ m_orientationRes

double LPSweptDistance::m_orientationRes

protected

For orientation resolution.

◆ m_positionRes

double LPSweptDistance::m_positionRes

protected

For position resolution.

◆ m_useBBox

bool LPSweptDistance::m_useBBox

protected

for whether to use bounding box

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/DistanceMetrics/LPSweptDistance.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/DistanceMetrics/LPSweptDistance.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ GroupCfgType

Constructor & Destructor Documentation

◆ LPSweptDistance() [1/2]

◆ LPSweptDistance() [2/2]

◆ ~LPSweptDistance()

Member Function Documentation

◆ Distance()

◆ Print()

◆ SweptDistance()

Field Documentation

◆ m_lpLabel

◆ m_orientationRes

◆ m_positionRes

◆ m_useBBox