#include <MPStrategyMethod.h>

Inheritance diagram for MPStrategyMethod:

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Collaboration diagram for MPStrategyMethod:

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Public Types
Motion Planning Types
typedef size_t	VID

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
	MPStrategyMethod ()=default

	MPStrategyMethod (XMLNode &_node)

virtual	~MPStrategyMethod ()

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

Interface
void	operator() ()
	Execute the strategy by calling Initialize, Run, and Finalize. More...

void	EnableOutputFiles (const bool _enable=true)

virtual void	Initialize ()

Public Member Functions inherited from MPBaseObject
	MPBaseObject (const std::string &_label="", const std::string &_name="", bool _debug=false)

	MPBaseObject (XMLNode &_node)

virtual	~MPBaseObject ()

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
virtual void	Run ()
	Call Iterate until EvaluateMap is true. More...

virtual bool	EvaluateMap ()
	Check if we satisfied all map evaluators. More...

virtual void	Iterate ()
	Execute one iteration of the strategy. More...

virtual void	Finalize ()
	Clean-up and output results. More...

virtual void	ClearRoadmap ()
	Pre-clear the roadmap(s) if requested. More...

Start/Goal Generation
virtual size_t	GenerateStart (const std::string &_samplerLabel="")

virtual std::vector< size_t >	GenerateGoals (const std::string &_samplerLabel="")

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

const std::string &	GetBaseFilename () const

Protected Attributes
Internal State
std::string	m_querySampler
	Sampler for generating start/goal. More...

std::vector< std::string >	m_meLabels
	The list of map evaluators to use. More...

size_t	m_iterations {0}
	The number of executed iterations. More...

bool	m_writeOutput {true}
	Write output at the end? More...

bool	m_clearMap {false}
	Clear the roadmap(s) before run? More...

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

Friends
template<typename >
class	AOAnalyzer
	Needs access to Iterate for other methods. More...

Detailed Description

Base algorithm abstraction for MotionPlanningStrategies.

MPStrategyMethod has one main function, operator(), which performs preprocessing, processing, and postprocessing functionalities of the motion planning algorithm.

@usage

MPStrategyPointer mps = this->GetMPStrategy(m_mpsLabel);
(*mps)(); //call as a function object
mps->operator()(); //call with pointer notation

Todo:: Incorporate path constraints when generating the start and goal.

Examples: MPStrategies_UseCase.cpp.

Member Typedef Documentation

◆ VID

typedef size_t MPStrategyMethod::VID

Constructor & Destructor Documentation

◆ MPStrategyMethod() [1/2]

MPStrategyMethod::MPStrategyMethod ( )

default

◆ MPStrategyMethod() [2/2]

MPStrategyMethod::MPStrategyMethod ( XMLNode & _node )

◆ ~MPStrategyMethod()

MPStrategyMethod::~MPStrategyMethod ( )

virtual

Member Function Documentation

◆ ClearRoadmap()

void MPStrategyMethod::ClearRoadmap ( )

protectedvirtual

Pre-clear the roadmap(s) if requested.

Todo:: This uses the STAPL graph 'clear' function, which doesn't activate any roadmap hooks. Methods which use hooks may have stale data after clearing the map. To fix we'll need to replace with our own function in RoadmapGraph.

◆ EnableOutputFiles()

void MPStrategyMethod::EnableOutputFiles ( const bool _enable = true )

Set output file writing to on or off (on by default). This is used to suppress generation of roadmap, path, and stat files.

Parameters

_enable True to enable, false to disable.

◆ EvaluateMap()

bool MPStrategyMethod::EvaluateMap ( )

protectedvirtual

Check if we satisfied all map evaluators.

◆ Finalize()

void MPStrategyMethod::Finalize ( )

protectedvirtual

Clean-up and output results.

Reimplemented in ValidationStrategy< MPTraits >, PathStrategy, GroupStrategyMethod, GroupDecoupledStrategy, and ModifyPath.

◆ GenerateGoals()

std::vector< size_t > MPStrategyMethod::GenerateGoals ( const std::string & _samplerLabel = "" )

protectedvirtual

Generate 'goal' node(s) for the task and add it(them) to the roadmap.

Parameters

_samplerLabel The label for the sampler to use if no query sampler was provided, or empty to require a query sampler.

Returns: The VIDs of the generated configurations.

Note: This returns size_t so that it will work for both individual and group strategies (all VID types are typedefs for size_t).

Reimplemented in GroupStrategyMethod.

◆ GenerateStart()

size_t MPStrategyMethod::GenerateStart ( const std::string & _samplerLabel = "" )

protectedvirtual

Generate a 'start' node for the task and add it to the roadmap.

Parameters

_samplerLabel The label for the sampler to use if no query sampler was provided, or empty to require a query sampler.

Returns: The VID of the generated configuration.

Note: This returns size_t so that it will work for both individual and group strategies (all VID types are typedefs for size_t).

Reimplemented in GroupStrategyMethod.

◆ 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 from MPBaseObject.

◆ Iterate()

virtual void MPStrategyMethod::Iterate ( )

inlineprotectedvirtual

Execute one iteration of the strategy.

Reimplemented in WrenchAccessibilityStrategy, TogglePRMStrategy, GroupPRM, GroupDecoupledStrategy, EET, DynamicRegionsPRM, BasicRRTStrategy, BasicPRM, and ModifyPath.

◆ operator()()

void MPStrategyMethod::operator() ( )

Execute the strategy by calling Initialize, Run, and Finalize.

◆ Print()

void MPStrategyMethod::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 TogglePRMStrategy, GroupPRM, GroupDecoupledStrategy, DynamicRegionsPRM, DynamicRegionRRT, DynamicDomainRRT, BasicPRM, ModifyPath, BasicRRTStrategy, AdaptiveRRT, and PathStrategy.

◆ Run()

void MPStrategyMethod::Run ( )

protectedvirtual

Call Iterate until EvaluateMap is true.

Reimplemented in ValidationStrategy< MPTraits >, and PathStrategy.

Friends And Related Function Documentation

◆ AOAnalyzer

template<typename >

friend class AOAnalyzer

friend

Needs access to Iterate for other methods.

Field Documentation

◆ m_clearMap

bool MPStrategyMethod::m_clearMap {false}

protected

Clear the roadmap(s) before run?

◆ m_iterations

size_t MPStrategyMethod::m_iterations {0}

protected

The number of executed iterations.

◆ m_meLabels

std::vector<std::string> MPStrategyMethod::m_meLabels

protected

The list of map evaluators to use.

◆ m_querySampler

std::string MPStrategyMethod::m_querySampler

protected

Sampler for generating start/goal.

◆ m_writeOutput

bool MPStrategyMethod::m_writeOutput {true}

protected

Write output at the end?

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

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ VID

Constructor & Destructor Documentation

◆ MPStrategyMethod() [1/2]

◆ MPStrategyMethod() [2/2]

◆ ~MPStrategyMethod()

Member Function Documentation

◆ ClearRoadmap()

◆ EnableOutputFiles()

◆ EvaluateMap()

◆ Finalize()

◆ GenerateGoals()

◆ GenerateStart()

◆ Initialize()

◆ Iterate()

◆ operator()()

◆ Print()

◆ Run()

Friends And Related Function Documentation

◆ AOAnalyzer

Field Documentation

◆ m_clearMap

◆ m_iterations

◆ m_meLabels

◆ m_querySampler

◆ m_writeOutput