#include <MedialAxisUtilities.h>

Inheritance diagram for MedialAxisUtility:

Collaboration diagram for MedialAxisUtility:

[legend]

Public Member Functions
Construction
	MedialAxisUtility (string _vcLabel="", string _dmLabel="", bool _exactClearance=false, bool _exactPenetration=false, size_t _clearanceRays=10, size_t _penetrationRays=10, bool _useBBX=true, bool _positionalDofsOnly=true, bool _debug=false, double _epsilon=0.1, size_t _historyLength=5)

	MedialAxisUtility (XMLNode &_node)

virtual	~MedialAxisUtility ()=default

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

void	SetDebug (const bool _debug)

Property Accessors
double	GetEpsilon () const
	Get the value of epsilon. More...

Medial Axis Functions
bool	PushToMedialAxis (Cfg &_cfg, const Boundary *const _b)

bool	PushFromInsideObstacle (Cfg &_cfg, const Boundary *const _b)

bool	PushCfgToMedialAxisMidpointRule (Cfg &_cfg, const Boundary *const _b)

Public Member Functions inherited from ClearanceUtility
	ClearanceUtility (string _vcLabel="", string _dmLabel="", bool _exactClearance=false, bool _exactPenetration=false, size_t _clearanceRays=10, size_t _penetrationRays=10, double _approxStepSize=MAX_DBL, double _approxResolution=MAX_DBL, bool _useBBX=true, bool _positionalDofsOnly=true, bool _debug=false)

	ClearanceUtility (XMLNode &_node)

virtual	~ClearanceUtility ()=default

virtual void	Initialize () override

const string &	GetDistanceMetricLabel () const

const string &	GetValidityCheckerLabel () const

void	SetValidityCheckerLabel (const string &_s)

bool	GetExactClearance () const

double	GetPositionResolution () const

double	GetOrientationResolution () const

bool	IsInitialized () const

bool	CollisionInfo (Cfg &_cfg, Cfg &_clrCfg, const Boundary *const _b, CDInfo &_cdInfo, const bool &_useOppValidityWitness=true)

bool	ExactCollisionInfo (Cfg &_cfg, Cfg &_clrCfg, const Boundary *const _b, CDInfo &_cdInfo, const bool _useOppValidityWitness=true)

bool	ApproxCollisionInfo (Cfg &_cfg, Cfg &_clrCfg, const Boundary *const _b, CDInfo &_cdInfo, const bool &_useOppValidityWitness=true)

bool	FindApproximateWitness (const std::size_t &_numRays, std::vector< Ray< Cfg > > &_rays, const Cfg &_sampledCfg, const bool &_initValidity, const Boundary *const _b, std::pair< size_t, Cfg > &_candidate, const bool &_useOppValidityWitness=true)

void	MakeRays (const Cfg &_sampledCfg, const std::size_t &_numRays, std::vector< Ray< Cfg > > &_rays)

bool	ValidateCandidate (const std::pair< size_t, Cfg > &_cand, const std::vector< Ray< Cfg > > &_rays, const Boundary *const _b, const bool &_useOppValidityWitness=true)

ClearanceStats	RoadmapClearance ()

ClearanceStats	PathClearance (vector< VID > &_path)

ClearanceStats	PathClearance (vector< Cfg > &_path)

vector< double >	EdgeClearance (const Cfg &_c1, const Cfg &_c2, const WeightType &_weight)

const bool	GetNearestVertexWitness (Cfg &_cfg, CDInfo &_cdInfo, const Boundary *const _b)

void	SetRobot (Robot *_robot)

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...

Additional Inherited Members
Public Types inherited from ClearanceUtility
typedef MPBaseObject::WeightType	WeightType

typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	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

Protected Member Functions inherited from ClearanceUtility
bool	AdjustWitnessToEnsureValidity (const Cfg &_cfg, const bool _initValidity, Cfg &_witnessCfg, const Boundary *const _b, const bool _useOppValidityWitness=true)

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

const std::string &	GetBaseFilename () const

Protected Attributes inherited from ClearanceUtility
int	abcd = 0

string	m_vcLabel {"cd4"}
	Validity checker method label. More...

string	m_dmLabel {"euclidean"}
	Distance metric method label. More...

bool	m_useBBX {true}
	Use bounding box as obstacle? More...

bool	m_positionalDofsOnly {true}
	Use only positional dofs? More...

bool	m_exactClearance {false}
	Use exact clearance calculations? More...

bool	m_exactPenetration {false}
	Use exact penetration calculations? More...

size_t	m_clearanceRays {10}
	Number of rays for approximate clearance. More...

size_t	m_penetrationRays {10}
	Number of rays for approximate penetration. More...

double	m_rayTickResolution
	The resolution for rayTicks. More...

double	m_orientationResolution
	The orientation resolution. More...

double	m_maxRayMagnitude
	How far out a ray will be attempted. More...

size_t	m_maxRayIterations
	The maximum number of ray iterations. More...

double	m_orientationResFactor {1.}
	The orientation resolution factor. More...

double	m_positionalResFactor {1.}
	The position resoluiton factor. More...

double	m_maSearchResolutionFactor {1}
	The search resolution factor. More...

bool	m_initialized {false}

Robot *	m_robot

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

Detailed Description

Tool for pushing configurations to the medial axis.

Constructor & Destructor Documentation

◆ MedialAxisUtility() [1/2]

MedialAxisUtility::MedialAxisUtility	(	string	_vcLabel = `""`,
		string	_dmLabel = `""`,
		bool	_exactClearance = `false`,
		bool	_exactPenetration = `false`,
		size_t	_clearanceRays = `10`,
		size_t	_penetrationRays = `10`,
		bool	_useBBX = `true`,
		bool	_positionalDofsOnly = `true`,
		bool	_debug = `false`,
		double	_epsilon = `0.1`,
		size_t	_historyLength = `5`
	)

Construct a MedialAxisUtility object

Parameters

_vcLabel	The validity checker to use.
_dmLabel	The distance metric to use.
_exactClearance	Use exact clearance or not.
_exactPenetration	Use exact penetration or not.
_clearanceRays	The number of clearance rays to use.
_penetrationRays	The number of penetration rays to use.
_useBBX	Use BBX or not.
_positionalDofsOnly	Use only positional DOFs.
_debug	Set to debug mode or not.
_epsilon	The epsilon value to use.
_historyLength	The history length to use.

◆ MedialAxisUtility() [2/2]

MedialAxisUtility::MedialAxisUtility ( XMLNode & _node )

Construct a MedialAxisUtility object from an XML node

Parameters

_node The XML node to use.

◆ ~MedialAxisUtility()

virtual MedialAxisUtility::~MedialAxisUtility ( )

virtualdefault

Member Function Documentation

◆ GetEpsilon()

double MedialAxisUtility::GetEpsilon ( ) const

inline

Get the value of epsilon.

◆ Print()

void MedialAxisUtility::Print ( ostream & _os ) const

overridevirtual

Print the internal state of this object

Parameters

_os	The std::ostream to print to.

Reimplemented from ClearanceUtility.

◆ PushCfgToMedialAxisMidpointRule()

bool MedialAxisUtility::PushCfgToMedialAxisMidpointRule	(	Cfg &	_cfg,
		const Boundary *const	_b
	)

Push a configuration to the medial axis by stepping away from the nearest obstacle at the resolution until a second witness (invalid cfg) is found and then the midpoint of those two cfgs will be the MA cfg.

Parameters

_cfg	The configuration to push.
_b	The boundary to use.

Returns: Whether the config was pushed to the medial axis

◆ PushFromInsideObstacle()

bool MedialAxisUtility::PushFromInsideObstacle	(	Cfg &	_cfg,
		const Boundary *const	_b
	)

Push a configuration that is known to be inside an obstacle towards the free-space medial axis. It will be pushed until it is outside the obstacle.

Parameters

_cfg	The configuration to push.
_b	The boundary to use.

Returns: Whether the config was successfully pushed out of the obstacle.

◆ PushToMedialAxis()

bool MedialAxisUtility::PushToMedialAxis	(	Cfg &	_cfg,
		const Boundary *const	_b
	)

Push a configuration to the medial axis.

Parameters

_cfg	The configuration to push.
_b	The boundary to use.

Returns: Whether the config was successfully pushed to the medial axis.

◆ SetDebug()

void MedialAxisUtility::SetDebug ( const bool _debug )

inline

Set to print debug statements or not

Parameters

_debug Print debug statements or not.

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

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MedialAxisUtility() [1/2]

◆ MedialAxisUtility() [2/2]

◆ ~MedialAxisUtility()

Member Function Documentation

◆ GetEpsilon()

◆ Print()

◆ PushCfgToMedialAxisMidpointRule()

◆ PushFromInsideObstacle()

◆ PushToMedialAxis()

◆ SetDebug()