#include <MPBaseObject.h>

Inheritance diagram for MPBaseObject:

[legend]

Public Types
Local Types
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
	MPBaseObject (const std::string &_label="", const std::string &_name="", bool _debug=false)

	MPBaseObject (XMLNode &_node)

virtual	~MPBaseObject ()

I/O
virtual void	Print (std::ostream &_os) const

Initialization
virtual void	Initialize ()

Name and Label Accessors
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...

MPLibrary Accessors
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...

Problem Accessors
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...

Solution Accessors
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
void	SetName (const std::string &_s)

const std::string &	GetBaseFilename () const

Protected Attributes
bool	m_debug
	Print debug info? More...

Friends
template<typename U >
class	MethodSet

Detailed Description

Abstract base class for all algorithm abstractions in PMPL.

The MPBaseObject carries a class name m_name and unique label m_label for each algorithm. The name refers to the class from which the object was instantiated, while the label refers to a specific instantiation of that class.

All algorithms are owned by an MPLibrary, which is referenced here as m_library. When initially created, these objects will have no knowledge of the MPProblem that they will be used on: they will only have access to parameter settings provided in their XML nodes. Derived classes that have problem-dependent internal state should override the Initialize() method to set that data: this method will be called whenever the owning MPLibrary's current MPProblem is changed.

Member Typedef Documentation

◆ GroupCfgType

typedef GroupCfg<RoadmapType> MPBaseObject::GroupCfgType

◆ GroupRoadmapType

typedef GroupRoadmap<GroupCfgType, GroupWeightType> MPBaseObject::GroupRoadmapType

◆ GroupWeightType

typedef GroupLocalPlan<RoadmapType> MPBaseObject::GroupWeightType

◆ RoadmapType

typedef GenericStateGraph<Cfg, WeightType> MPBaseObject::RoadmapType

◆ WeightType

typedef DefaultWeight<Cfg> MPBaseObject::WeightType

Constructor & Destructor Documentation

◆ MPBaseObject() [1/2]

MPBaseObject::MPBaseObject	(	const std::string &	_label = `""`,
		const std::string &	_name = `""`,
		bool	_debug = `false`
	)

Default constructor explicitly gives name, label, and debug.

Parameters

_label	ID of the object, i.e., user defined label
_name	Name of the object, i.e., derived class name
_debug	Turn debug output on or off

◆ MPBaseObject() [2/2]

MPBaseObject::MPBaseObject ( XMLNode & _node )

XML constructor pulls label and debug from an XML node.

Parameters

_node XMLNode to parse for this object

◆ ~MPBaseObject()

MPBaseObject::~MPBaseObject ( )

virtual

Member Function Documentation

◆ GetBaseFilename()

const std::string & MPBaseObject::GetBaseFilename ( ) const

protected

Returns: base file name from MPProblem

◆ GetBlockRoadmap()

MPBaseObject::RoadmapType * MPBaseObject::GetBlockRoadmap ( Robot *const _r = nullptr ) const

noexcept

Get the current obstacle-space roadmap.

◆ GetEnvironment()

Environment * MPBaseObject::GetEnvironment ( ) const

noexcept

Get the current environment.

◆ GetGroupPath()

GroupPath * MPBaseObject::GetGroupPath ( RobotGroup *const _g = nullptr ) const

noexcept

Get the current best group path.

◆ GetGroupRoadmap()

MPBaseObject::GroupRoadmapType * MPBaseObject::GetGroupRoadmap ( RobotGroup *const _g = nullptr ) const

noexcept

Get the current free-space group roadmap.

◆ GetGroupTask()

GroupTask * MPBaseObject::GetGroupTask ( ) const

noexcept

Get the current group task.

◆ GetLabel()

const std::string & MPBaseObject::GetLabel ( ) const

Get the unique label for this object.

◆ GetLocalObstacleMap()

LocalObstacleMap * MPBaseObject::GetLocalObstacleMap ( ) const

noexcept

Get the local obstacle map.

◆ GetMPLibrary()

MPLibrary * MPBaseObject::GetMPLibrary ( ) const

noexcept

Get the owning MPLibrary.

◆ GetMPProblem()

MPProblem * MPBaseObject::GetMPProblem ( ) const

noexcept

Get the library's current MPProblem.

◆ GetMPSolution()

MPSolutionType * MPBaseObject::GetMPSolution ( ) const

noexcept

◆ GetName()

const std::string & MPBaseObject::GetName ( ) const

Get the class name for this object.

◆ GetNameAndLabel()

std::string MPBaseObject::GetNameAndLabel ( ) const

Get the unique string identifier for this object "m_name::m_label".

◆ GetPath()

Path * MPBaseObject::GetPath ( Robot *const _r = nullptr ) const

noexcept

◆ GetRoadmap()

MPBaseObject::RoadmapType * MPBaseObject::GetRoadmap ( Robot *const _r = nullptr ) const

noexcept

Get the current free-space roadmap.

◆ GetStatClass()

StatClass * MPBaseObject::GetStatClass ( ) const

noexcept

Get the current StatClass.

◆ GetTask()

MPTask * MPBaseObject::GetTask ( ) const

noexcept

Get the current task.

◆ Initialize()

virtual void MPBaseObject::Initialize ( )

inlinevirtual

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.

Reimplemented in EdgeValidityCheckerMethod, ObstacleClearanceValidity, KdTreeNF, TopologicalMap, SafeIntervalTool, ReachabilityUtil, PointConstruction, ClearanceUtility, TogglePRMStrategy, Syclop, PathStrategy, GroupPRM, EET, DynamicRegionsPRM, DynamicRegionRRT, DynamicDomainRRT, BasicRRTStrategy, BasicPRM, AdaptiveRRT, TimeMetric, TimeEvaluator, SIPPMethod, QueryMethod, PathEvaluator, MinimumDistanceEvaluator, LazyQuery, GroupQuery, ComposeEvaluator, ClearanceQuery, CBSQuery, IntermediatesEdgeValidityChecker, ConnectorMethod, WrenchAccessibilityTool, MPStrategyMethod, and ModifyPath.

◆ IsRunning()

bool MPBaseObject::IsRunning ( ) const

noexcept

Check the library's running flag.

◆ Print()

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

virtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented in ObstacleClearanceValidity, NodeClearanceValidity, UniformRandomSampler, RandomNF, RadiusNF, NeighborhoodFinderMethod, KdTreeNF, BruteForceNF, TogglePRMStrategy, MPStrategyMethod, GroupPRM, GroupDecoupledStrategy, DynamicRegionsPRM, DynamicRegionRRT, DynamicDomainRRT, BasicPRM, SIPPMethod, QueryMethod, NegateEvaluator, LazyQuery, ComposeEvaluator, ClearanceQuery, StraightLine, LocalPlannerMethod, ExtenderMethod, BasicExtender, LPSweptDistance, NeighborhoodConnector, ConnectorMethod, CCsConnector, ModifyPath, BasicRRTStrategy, AdaptiveRRT, MinkowskiDistance, UniformObstacleBasedSampler, ObstacleBasedSampler, BridgeTestSampler, PathModifierMethod, MedialAxisUtility, ClearanceUtility, PathStrategy, ScaledEuclideanDistance, BinaryLPSweptDistance, MixSampler, GaussianSampler, ShortcuttingPathModifier, PrintMapEvaluation, ConditionalEvaluator, and HierarchicalLP.

◆ SetLabel()

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

Set the unique label for this object.

◆ SetMPLibrary()

void MPBaseObject::SetMPLibrary ( MPLibrary * _l )

noexcept

Set the owning MPLibrary.

◆ SetName()

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

inlineprotected

Parameters

_s	Class name

Friends And Related Function Documentation

◆ MethodSet

template<typename U >

friend class MethodSet

friend

Field Documentation

◆ m_debug

bool MPBaseObject::m_debug

protected

Print debug info?

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

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ GroupCfgType

◆ GroupRoadmapType

◆ GroupWeightType

◆ RoadmapType

◆ WeightType

Constructor & Destructor Documentation

◆ MPBaseObject() [1/2]

◆ MPBaseObject() [2/2]

◆ ~MPBaseObject()

Member Function Documentation

◆ GetBaseFilename()

◆ GetBlockRoadmap()

◆ GetEnvironment()

◆ GetGroupPath()

◆ GetGroupRoadmap()

◆ GetGroupTask()

◆ GetLabel()

◆ GetLocalObstacleMap()

◆ GetMPLibrary()

◆ GetMPProblem()

◆ GetMPSolution()

◆ GetName()

◆ GetNameAndLabel()

◆ GetPath()

◆ GetRoadmap()

◆ GetStatClass()

◆ GetTask()

◆ Initialize()

◆ IsRunning()

◆ Print()

◆ SetLabel()

◆ SetMPLibrary()

◆ SetName()

Friends And Related Function Documentation

◆ MethodSet

Field Documentation

◆ m_debug