LocalPlannerMethod Class Reference

#include <LocalPlannerMethod.h>

Inheritance diagram for LocalPlannerMethod:

Collaboration diagram for LocalPlannerMethod:

Public Types
Motion Planning Types
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
	LocalPlannerMethod (bool _saveIntermediates=false)
	LocalPlannerMethod (XMLNode &_node)
virtual	~LocalPlannerMethod ()=default
MPBaseObject Overrides
virtual void	Print (std::ostream &_os) const override
Local Planner Interface
virtual bool	IsConnected (const Cfg &_start, const Cfg &_end, Cfg &_col, LPOutput *_lpOutput, double _posRes, double _oriRes, bool _checkCollision=true, bool _savePath=false)=0
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...

Protected Attributes
Internal State
bool	m_saveIntermediates {false}
	Save the intermediates in the roadmap? More...
Protected Attributes inherited from MPBaseObject
bool	m_debug
	Print debug info? More...

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

Detailed Description

Base algorithm abstraction for LocalPlanners.

LocalPlannerMethod has two main functions: IsConnected and BlindPath.

IsConnected takes as input two configurations , , an LPOutput, validation resolutions, and optional booleans dictating whether to check collision and save the path. The function both returns true or false to validate the simple path between and , but also populates the LPOutput structure with useful information.

BlindPath is a helper to plan between waypoints without collision checking. This is useful for working with pre-validated paths.

Todo:

All local planners need to use a distance metric to set their edge weights properly; currently many of them are simply using the number of intermediate steps as a weight.

Local planners and Extenders represent the same concepts and should be merged into a single class with both an Extend and LocalPlan function. This will help simplify several other objects within PMPL as well, such as bi-directional RRT.

Examples

LocalPlanner_UseCase.cpp.

Member Typedef Documentation

Formation

typedef GroupCfgType::Formation LocalPlannerMethod::Formation

GroupCfgType

typedef MPBaseObject::GroupCfgType LocalPlannerMethod::GroupCfgType

Constructor & Destructor Documentation

LocalPlannerMethod() [1/2]

LocalPlannerMethod::LocalPlannerMethod

(

bool

_saveIntermediates = false

)

LocalPlannerMethod() [2/2]

LocalPlannerMethod::LocalPlannerMethod

(

XMLNode &

_node

)

~LocalPlannerMethod()

virtual LocalPlannerMethod::~LocalPlannerMethod ( )

virtualdefault

Member Function Documentation

BlindPath() [1/4]

std::vector< Cfg > LocalPlannerMethod::BlindPath

(

const std::vector< Cfg > &

_waypoints

)

BlindPath() [2/4]

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

Blind-plan between a set of waypoints. Also useful for reconstructing previously validated edges.

Parameters

_waypoints	The waypoint configurations.
_posRes	Positional DOF resolution.
_oriRes	Rotational DOF resolution.

Returns

Configurations along path through _waypoints up to a resolution (_posRes, _oriRes). Does not include the first or last configuration.

@usage

LocalPlannerPointer lp = this->GetLocalPlanner(m_lpLabel);
Environment* env = this->GetEnvironment();
Cfg c1, c2;
lp->BlindPath({c1, c2}, env->GetPositionRes(), env->GetOrientationRes());

Examples

LocalPlanner_UseCase.cpp.

BlindPath() [3/4]

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

BlindPath() [4/4]

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

IsConnected() [1/4]

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

pure 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());

Implemented in HierarchicalLP, and StraightLine.

Examples

LocalPlanner_UseCase.cpp.

IsConnected() [2/4]

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

inline

This version does not return a collision node. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

IsConnected() [3/4]

bool LocalPlannerMethod::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()  )

virtual

This version is for group configurations. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Reimplemented in StraightLine.

IsConnected() [4/4]

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

inline

This version for group configurations does not return a collision node. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Print()

void LocalPlannerMethod::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 StraightLine, and HierarchicalLP.

Field Documentation

m_saveIntermediates

bool LocalPlannerMethod::m_saveIntermediates {false}

protected

Save the intermediates in the roadmap?

---

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

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