ModifyPath Class Reference

#include <ModifyPath.h>

Inheritance diagram for ModifyPath:

Collaboration diagram for ModifyPath:

Public Member Functions
	ModifyPath (const std::string &_pathFile="", const std::string &_mapFile="", const std::string &_pmLabel="")
	ModifyPath (XMLNode &_node)
virtual void	Initialize ()
virtual void	Iterate ()
	Execute one iteration of the strategy. More...
virtual void	Finalize ()
	Clean-up and output results. More...
virtual void	Print (std::ostream &_os) const
Public Member Functions inherited from MPStrategyMethod
	MPStrategyMethod ()=default
	MPStrategyMethod (XMLNode &_node)
virtual	~MPStrategyMethod ()
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 Attributes
std::string	m_pathFile
std::string	m_mapFile
std::string	m_pmLabel
std::vector< Cfg >	m_path
std::vector< Cfg >	m_smoothPath
Protected Attributes inherited from MPStrategyMethod
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...

Additional Inherited Members
Public Types inherited from MPStrategyMethod
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
Protected Member Functions inherited from MPStrategyMethod
virtual void	Run ()
	Call Iterate until EvaluateMap is true. More...
virtual bool	EvaluateMap ()
	Check if we satisfied all map evaluators. More...
virtual void	ClearRoadmap ()
	Pre-clear the roadmap(s) if requested. More...
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

Detailed Description

This is a strategy that allows us to use PathModifiers.

Constructor & Destructor Documentation

ModifyPath() [1/2]

ModifyPath::ModifyPath	(	const std::string &	_pathFile = "",
		const std::string &	_mapFile = "",
		const std::string &	_pmLabel = ""
	)

ModifyPath() [2/2]

ModifyPath::ModifyPath

(

XMLNode &

_node

)

Member Function Documentation

Finalize()

void ModifyPath::Finalize ( )

virtual

Clean-up and output results.

Reimplemented from MPStrategyMethod.

Initialize()

void ModifyPath::Initialize ( )

virtual

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()

void ModifyPath::Iterate ( )

virtual

Execute one iteration of the strategy.

Reimplemented from MPStrategyMethod.

Print()

void ModifyPath::Print ( std::ostream &  _os ) const

virtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from MPStrategyMethod.

Field Documentation

m_mapFile

std::string ModifyPath::m_mapFile

protected

m_path

std::vector<Cfg> ModifyPath::m_path

protected

m_pathFile

std::string ModifyPath::m_pathFile

protected

m_pmLabel

std::string ModifyPath::m_pmLabel

protected

m_smoothPath

std::vector<Cfg> ModifyPath::m_smoothPath

protected

---

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

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