MapEvaluatorMethod Class Reference

#include <MapEvaluatorMethod.h>

Inheritance diagram for MapEvaluatorMethod:

Collaboration diagram for MapEvaluatorMethod:

Public Member Functions
MapEvaluator Interface
virtual bool	operator() ()=0
virtual void	SetEdgeIntervals (EdgeIntervals _edgeIntervals)
	Set the edge intervals of a roadmap. More...
virtual void	SetMinEndtime (double _minEndtime)
	Set the minimum end time of a path. More...
Active Robots
Todo: This is an artifact of developing robot groups. It should be replaced by using a proper subgroup where each robot within is active.
void	SetActiveRobots (const std::vector< size_t > &_activeRobots)
	Set the active robots. More...
std::vector< size_t >	GetActiveRobots () const
	Get the active robots. More...
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	Print (std::ostream &_os) const
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
std::vector< size_t >	m_activeRobots
Protected Attributes inherited from MPBaseObject
bool	m_debug
	Print debug info? More...

Construction
typedef std::unordered_map< size_t, std::unordered_map< size_t, std::vector< Range< double > > > >	EdgeIntervals
	MapEvaluatorMethod ()=default
	MapEvaluatorMethod (XMLNode &_node)
virtual	~MapEvaluatorMethod ()=default

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

Detailed Description

Base algorithm abstraction for MapEvaluators.

All MapEvaluators have one main function, operator(), which evaluates the current roadmap and returns true iff it satisfies a specific set of criteria.

Examples

MapEvaluator_UseCase.cpp.

Member Typedef Documentation

EdgeIntervals

typedef std::unordered_map<size_t, std::unordered_map<size_t, std::vector<Range<double> > > > MapEvaluatorMethod::EdgeIntervals

Constructor & Destructor Documentation

MapEvaluatorMethod() [1/2]

MapEvaluatorMethod::MapEvaluatorMethod ( )

default

MapEvaluatorMethod() [2/2]

MapEvaluatorMethod::MapEvaluatorMethod

(

XMLNode &

_node

)

~MapEvaluatorMethod()

virtual MapEvaluatorMethod::~MapEvaluatorMethod ( )

virtualdefault

Member Function Documentation

GetActiveRobots()

std::vector< size_t > MapEvaluatorMethod::GetActiveRobots

(

)

const

Get the active robots.

operator()()

virtual bool MapEvaluatorMethod::operator() ( )

pure virtual

Evaluate a roadmap.

Returns

True if this roadmap meets the evaluation criteria.

Implemented in TimeEvaluator, SIPPMethod, QueryMethod, PathEvaluator, NegateEvaluator, MinimumDistanceEvaluator, GroupQuery, ComposeEvaluator, CBSQuery, PrintMapEvaluation, ConditionalEvaluator, and CollisionEvaluator.

SetActiveRobots()

void MapEvaluatorMethod::SetActiveRobots

(

const std::vector< size_t > &

_activeRobots

)

Set the active robots.

SetEdgeIntervals()

virtual void MapEvaluatorMethod::SetEdgeIntervals ( EdgeIntervals  _edgeIntervals )

inlinevirtual

Set the edge intervals of a roadmap.

SetMinEndtime()

virtual void MapEvaluatorMethod::SetMinEndtime ( double  _minEndtime )

inlinevirtual

Set the minimum end time of a path.

Field Documentation

m_activeRobots

std::vector<size_t> MapEvaluatorMethod::m_activeRobots

protected

The active robots, used only by group map evaluators. Depending on the evaluator, the usage could be different, but the current use case is to set the robot(s) that are being moved, then a clearance check is done only considering those specified bodies (see MinimumClearanceEvaluator).

Todo:

This is an artifact of developing robot groups. It should be replaced by using a proper subgroup where each robot within is active.

---

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

• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MapEvaluators/MapEvaluatorMethod.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MapEvaluators/MapEvaluatorMethod.cpp