#include <MPTools.h>

Public Member Functions

Construction

MPToolsType (MPLibrary *const _library)

void ParseXML (XMLNode &_node)

void Initialize ()

Initialize the clearance and MA tools prior to use. More...

void Uninitialize ()

Uninitialize the clearance and MA tools. More...

~MPToolsType ()

Clearance Utility

ClearanceUtility * GetClearanceUtility (const std::string &_label) const

void SetClearanceUtility (const std::string &_label, ClearanceUtility *const _utility)

Medial Axis Utility

MedialAxisUtility * GetMedialAxisUtility (const std::string &_label) const

void SetMedialAxisUtility (const std::string &_label, MedialAxisUtility *const _utility)

Skeleton Clearance Utility

SkeletonClearanceUtility * GetSkeletonClearanceUtility (const std::string &_label) const

void SetSkeletonClearanceUtility (const std::string &_label, SkeletonClearanceUtility *const _utility)

Topological Map

TopologicalMap * GetTopologicalMap (const std::string &_label) const

void SetTopologicalMap (const std::string &_label, TopologicalMap *const _utility)

Safe Interval Tool

SafeIntervalTool * GetSafeIntervalTool (const std::string &_label) const

void SetSafeIntervalTool (const std::string &_label, SafeIntervalTool *const _utility)

Decompositions

const WorkspaceDecomposition * GetDecomposition (const std::string &_label)

void SetDecomposition (const std::string &_label, const WorkspaceDecomposition *_decomposition)

Reachability

ReachabilityUtil * GetReachabilityUtil (const std::string &_label) const

void SetReachabilityUtil (const std::string &_label, ReachabilityUtil *_util)

Point Construction

PointConstruction * GetPointConstruction (const std::string &_label) const

void SetPointConstruction (const std::string &_label, PointConstruction *_util)

Wrench Accessibility Tool

Get a WrenchAccessibilityTool by label.

Parameters

_label The string label of the desired utility as defined in the XML file.

Returns: The labeled utility.

WrenchAccessibilityTool * GetWrenchAccessibilityTool (const std::string &_label) const

void SetWrenchAccessibilityTool (const std::string &_label, WrenchAccessibilityTool *const _utility)

Detailed Description

This class is a general tool box for stateful objects that don't belong elsewhere. It gives us a way to do XML parsing and uniform access for these odd-balls like medial axis tools.

For most utilities, this object creates and maintains a map of string -> instance. One instance will be generated for each MedialAxisUtility node in the XML file (with corresponding label). Instances can also be added manually with the Set functions.

For the other tools, this object parses a single XML node to set default parameters for the tool classes. Default-constructed tools then use those values. This effectively uses the XML to set default parameters so that we don't have to create an instance of the tool right away (or at all) in order to parse the input file. For these, there is no label attribute, and using multiple XML nodes will throw a parse error.

Constructor & Destructor Documentation

◆ MPToolsType()

MPToolsType::MPToolsType ( MPLibrary *const _library )

Construct a tool set.

Parameters

_library The owning library.

◆ ~MPToolsType()

MPToolsType::~MPToolsType ( )

Member Function Documentation

◆ GetClearanceUtility()

ClearanceUtility * MPToolsType::GetClearanceUtility ( const std::string & _label ) const

Get a ClearanceUtility by label.

Parameters

_label The string label of the desired utility as defined in the XML file.

Returns: The labeled utility.

◆ GetDecomposition()

const WorkspaceDecomposition * MPToolsType::GetDecomposition ( const std::string & _label )

Get a decomposition.

Parameters

_label The label of the decomposition to use.

◆ GetMedialAxisUtility()

MedialAxisUtility * MPToolsType::GetMedialAxisUtility ( const std::string & _label ) const

Get a MedialAxisUtility by label.

Parameters

_label The string label of the desired utility as defined in the XML file.

Returns: The labeled utility.

◆ GetPointConstruction()

PointConstruction * MPToolsType::GetPointConstruction ( const std::string & _label ) const

Get a Point Construction

Parameters

_label The label of the decomposition to use.

◆ GetReachabilityUtil()

ReachabilityUtil * MPToolsType::GetReachabilityUtil ( const std::string & _label ) const

Get a Reachability Utility

Parameters

_label The label of the decomposition to use.

◆ GetSafeIntervalTool()

SafeIntervalTool * MPToolsType::GetSafeIntervalTool ( const std::string & _label ) const

Get a SafeIntervalTool by label.

Parameters

_label The string label of the desired utility as defined in the XML file.

Returns: The labeled utility.

◆ GetSkeletonClearanceUtility()

SkeletonClearanceUtility * MPToolsType::GetSkeletonClearanceUtility ( const std::string & _label ) const

Get a SkeletonClearanceUtility by label.

Parameters

_label The string label of the desired utility as defined in the XML file.

Returns: The labeled utility.

◆ GetTopologicalMap()

TopologicalMap * MPToolsType::GetTopologicalMap ( const std::string & _label ) const

Get a TopologicalMap by label.

Parameters

_label The string label of the desired utility as defined in the XML file.

Returns: The labeled utility.

◆ GetWrenchAccessibilityTool()

WrenchAccessibilityTool * MPToolsType::GetWrenchAccessibilityTool ( const std::string & _label ) const

◆ Initialize()

void MPToolsType::Initialize ( )

Initialize the clearance and MA tools prior to use.

◆ ParseXML()

void MPToolsType::ParseXML ( XMLNode & _node )

Parse an XML node.

Parameters

_node The XML node object.

◆ SetClearanceUtility()

void MPToolsType::SetClearanceUtility	(	const std::string &	_label,
		ClearanceUtility *const	_utility
	)

Set a ClearanceUtility. This object will take ownership of the utility and delete it when necessary.

Parameters

_label	The string label for the new utility.
_utility	The ClearanceUtility to use.

◆ SetDecomposition()

void MPToolsType::SetDecomposition	(	const std::string &	_label,
		const WorkspaceDecomposition *	_decomposition
	)

Set a workspace decomposition by label. This object will take ownership the decomposition and delete it when necessary.

Parameters

_label	The label for this decomposition.
_decomposition	The decomposition object to set.

◆ SetMedialAxisUtility()

void MPToolsType::SetMedialAxisUtility	(	const std::string &	_label,
		MedialAxisUtility *const	_utility
	)

Set a MedialAxisUtility. This object will take ownership of the utility and delete it when necessary.

Parameters

_label	The string label for the new utility.
_utility	The MedialAxisUtility to use.

◆ SetPointConstruction()

void MPToolsType::SetPointConstruction	(	const std::string &	_label,
		PointConstruction *	_util
	)

Set a Point Construction by label.

Parameters

_label	The label for this utility
_decomposition	the point construction

◆ SetReachabilityUtil()

void MPToolsType::SetReachabilityUtil	(	const std::string &	_label,
		ReachabilityUtil *	_util
	)

Set a reachability utility by label.

Parameters

_label	The label for this utility
_decomposition	the reachability utility

◆ SetSafeIntervalTool()

void MPToolsType::SetSafeIntervalTool	(	const std::string &	_label,
		SafeIntervalTool *const	_utility
	)

Set a SafeIntervalTool. This object will take ownership of the utility and delete it when necessary.

Parameters

_label	The string label for the new utility.
_utility	The TopologicalMap to use.

◆ SetSkeletonClearanceUtility()

void MPToolsType::SetSkeletonClearanceUtility	(	const std::string &	_label,
		SkeletonClearanceUtility *const	_utility
	)

Set a SkeletonClearanceUtility. This object will take ownership of the utility and delete it when necessary.

Parameters

_label	The string label for the new utility.
_utility	The SkeletonClearanceUtility to use.

◆ SetTopologicalMap()

void MPToolsType::SetTopologicalMap	(	const std::string &	_label,
		TopologicalMap *const	_utility
	)

Set a TopologicalMap. This object will take ownership of the utility and delete it when necessary.

Parameters

_label	The string label for the new utility.
_utility	The TopologicalMap to use.

◆ SetWrenchAccessibilityTool()

void MPToolsType::SetWrenchAccessibilityTool	(	const std::string &	_label,
		WrenchAccessibilityTool *const	_utility
	)

Set a WrenchAccessibilityTool. This object will take ownership of the utility and delete it when necessary.

Parameters

_label	The string label for the new utility.
_utility	The GetWrenchAccessibilityTool to use.

◆ Uninitialize()

void MPToolsType::Uninitialize ( )

Uninitialize the clearance and MA tools.

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

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