#include <NeighborhoodConnector.h>

Inheritance diagram for NeighborhoodConnector:

Collaboration diagram for NeighborhoodConnector:

[legend]

Public Types
Motion Planning Types
typedef MPBaseObject::RoadmapType	RoadmapType

typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef MPBaseObject::GroupRoadmapType	GroupRoadmapType

typedef RoadmapType::VID	VID

typedef RoadmapType::VertexSet	VertexSet

Local Types
template<typename AbstractRoadmapType >
using	OutputIterator = typename ConnectorMethod::template OutputIterator< AbstractRoadmapType >

Public Types inherited from ConnectorMethod
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef MPBaseObject::RoadmapType	RoadmapType

typedef MPBaseObject::GroupRoadmapType	GroupRoadmapType

typedef RoadmapType::VID	VID

typedef RoadmapType::VertexSet	VertexSet

typedef std::pair< VID, VID >	ConnectionAttempt

typedef std::unordered_set< ConnectionAttempt >	ConnectionAttempts

typedef std::unordered_map< void *, ConnectionAttempts >	ConnectionAttemptsCache

template<typename AbstractRoadmapType >
using	OutputIterator = std::back_insert_iterator< std::vector< typename AbstractRoadmapType::VP > >

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
	NeighborhoodConnector ()

	NeighborhoodConnector (XMLNode &_node)

virtual	~NeighborhoodConnector ()=default

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

Public Member Functions inherited from ConnectorMethod
	ConnectorMethod ()

	ConnectorMethod (XMLNode &_node)

virtual	~ConnectorMethod ()=default

virtual void	Initialize () override

template<typename AbstractRoadmapType >
void	Connect (AbstractRoadmapType const _r, const VertexSet const _targetSet=nullptr, OutputIterator< AbstractRoadmapType > *const _collision=nullptr)

template<typename AbstractRoadmapType >
void	Connect (AbstractRoadmapType const _r, const VID _source, const VertexSet const _targetSet=nullptr, OutputIterator< AbstractRoadmapType > *const _collision=nullptr)

template<typename AbstractRoadmapType , typename InputIterator >
void	Connect (AbstractRoadmapType const _r, InputIterator _sourceBegin, InputIterator _sourceEnd, const VertexSet const _targetSet=nullptr, OutputIterator< AbstractRoadmapType > *const _collision=nullptr)

bool	IsRewiring () const noexcept

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
Internal State
std::string	m_nfLabel
	NeighborhoodFinder for selecting connections. More...

Protected Attributes inherited from ConnectorMethod
ConnectionAttemptsCache	m_attemptsCache
	All failed connection attempts. More...

std::string	m_lpLabel
	Local Planner. More...

bool	m_skipIfSameCC {true}
	Skip connections within the same CC? More...

size_t	m_maxFailures {0}
	Maximum allowed failures per use. More...

size_t	m_failures {0}
	Failures in this use. More...

bool	m_oneWay {false}
	Create one-way edges or two-way? More...

bool	m_rewiring {false}
	Does this connector delete edges? More...

bool	m_selfEdges {false}
	Indicates if roadmap vertices should have self-edges. More...

std::vector< Neighbor >	m_neighborBuffer

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

ConnectorMethod Overrides
std::vector< Neighbor >	m_neighborBuffer

virtual void	ConnectImpl (RoadmapType const _r, const VID _source, const VertexSet const _targetSet=nullptr, OutputIterator< RoadmapType > *const _collision=nullptr) override

virtual void	ConnectImpl (GroupRoadmapType const _r, const VID _source, const VertexSet const _targetSet=nullptr, OutputIterator< GroupRoadmapType > *const _collision=nullptr) override

Additional Inherited Members
Protected Member Functions inherited from ConnectorMethod
template<typename AbstractRoadmapType >
void	ConnectNeighbors (AbstractRoadmapType const _r, const VID _source, const std::vector< Neighbor > &_neighbors, OutputIterator< AbstractRoadmapType > const _collision=nullptr, const bool _earlyQuit=false)

bool	ConnectNodes (RoadmapType const _r, const VID _source, const VID _target, OutputIterator< RoadmapType > const _collision=nullptr)

bool	ConnectNodes (GroupRoadmapType const _r, const VID _source, const VID _target, OutputIterator< GroupRoadmapType > const _collision=nullptr)

template<typename AbstractRoadmapType >
bool	DoNotCheck (AbstractRoadmapType *const _r, const VID _source, const VID _target) const

void	CacheFailedConnection (void *const _map, const VID _source, const VID _target) noexcept

bool	IsCached (void *const _map, const VID _source, const VID _target) const noexcept

void	ClearConnectionAttempts ()
	Clear the attempts cache. More...

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

const std::string &	GetBaseFilename () const

Detailed Description

Connect nearby neighbors together. In this method, the 'second set' of vertices referred to by ConnectorMethod is determined by a nearest neighbors method.

Connect nodes in map to their neighbors. The following algorithm is used:

for each node, cfg1, in roadmap
- find neighbors N for cfg1
- lp is a local planner
- for each node cfg2 in N and numFailures < m_fail
  - test lp.IsConnected(cfg1, cfg2)
  - if connected, add this edge to map, _r.

Member Typedef Documentation

◆ GroupCfgType

typedef MPBaseObject::GroupCfgType NeighborhoodConnector::GroupCfgType

◆ GroupRoadmapType

typedef MPBaseObject::GroupRoadmapType NeighborhoodConnector::GroupRoadmapType

◆ OutputIterator

template<typename AbstractRoadmapType >

using NeighborhoodConnector::OutputIterator = typename ConnectorMethod::template OutputIterator<AbstractRoadmapType>

◆ RoadmapType

typedef MPBaseObject::RoadmapType NeighborhoodConnector::RoadmapType

◆ VertexSet

typedef RoadmapType::VertexSet NeighborhoodConnector::VertexSet

◆ VID

typedef RoadmapType::VID NeighborhoodConnector::VID

Constructor & Destructor Documentation

◆ NeighborhoodConnector() [1/2]

NeighborhoodConnector::NeighborhoodConnector ( )

◆ NeighborhoodConnector() [2/2]

NeighborhoodConnector::NeighborhoodConnector ( XMLNode & _node )

◆ ~NeighborhoodConnector()

virtual NeighborhoodConnector::~NeighborhoodConnector ( )

virtualdefault

Member Function Documentation

◆ ConnectImpl() [1/2]

void NeighborhoodConnector::ConnectImpl	(	GroupRoadmapType *const	_r,
		const VID	_source,
		const VertexSet *const	_targetSet = `nullptr`,
		OutputIterator< GroupRoadmapType > *const	_collision = `nullptr`
	)

overrideprotectedvirtual

Reimplemented from ConnectorMethod.

◆ ConnectImpl() [2/2]

void NeighborhoodConnector::ConnectImpl	(	RoadmapType *const	_r,
		const VID	_source,
		const VertexSet *const	_targetSet = `nullptr`,
		OutputIterator< RoadmapType > *const	_collision = `nullptr`
	)

overrideprotectedvirtual

Connect a source node to some subset of a target set. Derived classes specify how this will happen.

Parameters

_r	The owning roadmap.
_source	The source node to connect.
_targetSet	The candidate target nodes, or null for the whole roadmap.
_collision	An optional output iterator for collisions.

Reimplemented from ConnectorMethod.

◆ Print()

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

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from ConnectorMethod.

Field Documentation

◆ m_neighborBuffer

std::vector<Neighbor> ConnectorMethod::m_neighborBuffer

protected

This is a performance optimization which makes a big impact. The neighbor set can be as large as the roadmap, so it is important to avoid re-allocating it on every call to ConnectImpl.

◆ m_nfLabel

std::string NeighborhoodConnector::m_nfLabel

protected

NeighborhoodFinder for selecting connections.

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

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

Public Types

Public Member Functions

Protected Attributes

ConnectorMethod Overrides

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ GroupCfgType

◆ GroupRoadmapType

◆ OutputIterator

◆ RoadmapType

◆ VertexSet

◆ VID

Constructor & Destructor Documentation

◆ NeighborhoodConnector() [1/2]

◆ NeighborhoodConnector() [2/2]

◆ ~NeighborhoodConnector()

Member Function Documentation

◆ ConnectImpl() [1/2]

◆ ConnectImpl() [2/2]

◆ Print()

Field Documentation

◆ m_neighborBuffer

◆ m_nfLabel