#include <MinimumDistanceEvaluator.h>

Inheritance diagram for MinimumDistanceEvaluator:

Collaboration diagram for MinimumDistanceEvaluator:

[legend]

Public Types
Motion Planning Types
typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

Public Types inherited from MapEvaluatorMethod
typedef std::unordered_map< size_t, std::unordered_map< size_t, std::vector< Range< double > > > >	EdgeIntervals

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
	MinimumDistanceEvaluator (const double _timeout=10, const string _dmLabel="", const double _minDist=1.0)

	MinimumDistanceEvaluator (XMLNode &_node)

virtual	~MinimumDistanceEvaluator ()=default

MPBaseObject Interface
virtual void	Initialize () override

MapEvaluatorMethod Interface
virtual bool	operator() () override

Public Member Functions inherited from MapEvaluatorMethod
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...

void	SetActiveRobots (const std::vector< size_t > &_activeRobots)
	Set the active robots. More...

std::vector< size_t >	GetActiveRobots () const
	Get the active robots. More...

	MapEvaluatorMethod ()=default

	MapEvaluatorMethod (XMLNode &_node)

virtual	~MapEvaluatorMethod ()=default

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

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

const std::string &	GetBaseFilename () const

Protected Attributes inherited from MapEvaluatorMethod
std::vector< size_t >	m_activeRobots

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

Detailed Description

This evaluator returns true once a minimum distance (using the provided distance metric) has been reached in any roadmap configuration, relative to the first (root) configuration in the roadmap.

Member Typedef Documentation

◆ RoadmapType

typedef MPBaseObject::RoadmapType MinimumDistanceEvaluator::RoadmapType

◆ VID

typedef RoadmapType::VID MinimumDistanceEvaluator::VID

Constructor & Destructor Documentation

◆ MinimumDistanceEvaluator() [1/2]

MinimumDistanceEvaluator::MinimumDistanceEvaluator	(	const double	_timeout = `10`,
		const string	_dmLabel = `""`,
		const double	_minDist = `1.0`
	)

◆ MinimumDistanceEvaluator() [2/2]

MinimumDistanceEvaluator::MinimumDistanceEvaluator ( XMLNode & _node )

◆ ~MinimumDistanceEvaluator()

virtual MinimumDistanceEvaluator::~MinimumDistanceEvaluator ( )

virtualdefault

Member Function Documentation

◆ Initialize()

void MinimumDistanceEvaluator::Initialize ( )

overridevirtual

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.

◆ operator()()

bool MinimumDistanceEvaluator::operator() ( )

overridevirtual

Evaluate a roadmap.

Returns: True if this roadmap meets the evaluation criteria.

Implements MapEvaluatorMethod.

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

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

Public Types

Public Member Functions

Additional Inherited Members