#include <NeighborhoodFinderMethod.h>

Inheritance diagram for NeighborhoodFinderMethod:

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Collaboration diagram for NeighborhoodFinderMethod:

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Public Types
Local Types
enum class	Type { K , RADIUS , APPROX , OTHER }
	The type of neighbors found. More...

typedef std::back_insert_iterator< std::vector< Neighbor > >	OutputIterator
	Output iterator for writing discovered neighbors to a container. More...

Motion Planning Types
typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

typedef RoadmapType::VertexSet	VertexSet

typedef MPBaseObject::GroupRoadmapType	GroupRoadmapType

typedef MPBaseObject::GroupCfgType	GroupCfgType

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
	NeighborhoodFinderMethod (const Type _type=Type::OTHER)

	NeighborhoodFinderMethod (XMLNode &_node, const Type _type=Type::OTHER, const bool _requireDM=true)

virtual	~NeighborhoodFinderMethod ()=default

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

Accessors
Type	GetType () const noexcept

virtual size_t &	GetK () noexcept

virtual double &	GetRadius () noexcept

virtual void	SetDMLabel (const std::string &_label) noexcept

virtual const std::string &	GetDMLabel () const noexcept

Nearest-Neighbor Queries
virtual void	FindNeighbors (RoadmapType *const _r, const Cfg &_cfg, const VertexSet &_candidates, OutputIterator _out)=0

virtual void	FindNeighbors (GroupRoadmapType *const _r, const GroupCfgType &_cfg, const VertexSet &_candidates, OutputIterator _out)=0

template<typename AbstractRoadmapType >
void	FindNeighbors (AbstractRoadmapType *const _r, const typename AbstractRoadmapType::CfgType &_cfg, OutputIterator _out)

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	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 Member Functions
Helpers
template<typename AbstractRoadmapType >
bool	DirectEdge (const AbstractRoadmapType *_g, const typename AbstractRoadmapType::CfgType &_c, const typename AbstractRoadmapType::VID _v) const noexcept

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

const std::string &	GetBaseFilename () const

Protected Attributes
Internal State
Todo: Remove m_k and m_radius - these don't apply to all NFs so it doesn't make sense to have them here. Fix design errors in SRT method which require this.
Type	m_nfType {Type::OTHER}
	Type of neighborhood finder. More...

size_t	m_k {0}
	How many closest neighbors to find? More...

double	m_radius {0}
	Maximum distance of closest neighbors. More...

std::string	m_dmLabel
	The distance metric to use. More...

bool	m_unconnected {false}
	Require neighbors with no direct edge. More...

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

Detailed Description

Base algorithm abstraction for NeighborhoodFinders, which are methods that solve nearest-neighbor queries against configurations in a roadmap.

The primary function 'FindNeighbors' takes an input configuration and optionally a set of candidate neighbors. It returns the computed set of "nearest" neighbors and their distances (through the 'Neighbor' structure). @usage

NeighborhoodFinderPointer nf = this->GetNeighborhoodFinder(m_nfLabel);
Cfg queryCfg;
VertexSet candidates;
std::vector<Neighbor> neighbors;
nf->FindNeighbors(this->GetRoadmap(), queryCfg, candidates,
                  std::back_inserter(neighbors));

Member Typedef Documentation

◆ GroupCfgType

typedef MPBaseObject::GroupCfgType NeighborhoodFinderMethod::GroupCfgType

◆ GroupRoadmapType

typedef MPBaseObject::GroupRoadmapType NeighborhoodFinderMethod::GroupRoadmapType

◆ OutputIterator

typedef std::back_insert_iterator<std::vector<Neighbor> > NeighborhoodFinderMethod::OutputIterator

Output iterator for writing discovered neighbors to a container.

◆ RoadmapType

typedef MPBaseObject::RoadmapType NeighborhoodFinderMethod::RoadmapType

◆ VertexSet

typedef RoadmapType::VertexSet NeighborhoodFinderMethod::VertexSet

◆ VID

typedef RoadmapType::VID NeighborhoodFinderMethod::VID

Member Enumeration Documentation

◆ Type

enum NeighborhoodFinderMethod::Type

strong

The type of neighbors found.

Enumerator
K	k-closest neighbors
RADIUS	All neighbors within a radius.
APPROX	Approximate nearest neighbors.
OTHER	Something else.

Constructor & Destructor Documentation

◆ NeighborhoodFinderMethod() [1/2]

NeighborhoodFinderMethod::NeighborhoodFinderMethod ( const Type _type = Type::OTHER )

◆ NeighborhoodFinderMethod() [2/2]

NeighborhoodFinderMethod::NeighborhoodFinderMethod	(	XMLNode &	_node,
		const Type	_type = `Type::OTHER`,
		const bool	_requireDM = `true`
	)

◆ ~NeighborhoodFinderMethod()

virtual NeighborhoodFinderMethod::~NeighborhoodFinderMethod ( )

virtualdefault

Member Function Documentation

◆ DirectEdge()

template<typename AbstractRoadmapType >

bool NeighborhoodFinderMethod::DirectEdge	(	const AbstractRoadmapType *	_g,
		const typename AbstractRoadmapType::CfgType &	_c,
		const typename AbstractRoadmapType::VID	_v
	)		const

inlineprotectednoexcept

Checks if there is a direct edge to potential neighbor.

Parameters

_g	The roadmap graph we are searching.
_c	The query configuration.
_v	A potential neighbor for _c.

Returns: True if there is already a direct edge from _c to _v.

Note: Takes linear time in |g|.

◆ FindNeighbors() [1/3]

template<typename AbstractRoadmapType >

void NeighborhoodFinderMethod::FindNeighbors	(	AbstractRoadmapType *const	_r,
		const typename AbstractRoadmapType::CfgType &	_cfg,
		OutputIterator	_out
	)

◆ FindNeighbors() [2/3]

virtual void NeighborhoodFinderMethod::FindNeighbors	(	GroupRoadmapType *const	_r,
		const GroupCfgType &	_cfg,
		const VertexSet &	_candidates,
		OutputIterator	_out
	)

pure virtual

Implemented in RandomNF, RadiusNF, KdTreeNF, and BruteForceNF.

◆ FindNeighbors() [3/3]

virtual void NeighborhoodFinderMethod::FindNeighbors	(	RoadmapType *const	_r,
		const Cfg &	_cfg,
		const VertexSet &	_candidates,
		OutputIterator	_out
	)

pure virtual

Some methods can be implemented more efficiently if the candidates are provided in a hash set. This function is to support that; the default implementation forwards to the iterator version.

Parameters

_r	The roadmap.
_cfg	The query configuration.
_candidates	The set of candidate VIDs.
_out	Output iterator.

Implemented in RandomNF, RadiusNF, KdTreeNF, and BruteForceNF.

◆ GetDMLabel()

const std::string & NeighborhoodFinderMethod::GetDMLabel ( ) const

inlinevirtualnoexcept

Get the distance metric label.

Returns: The label for the current DM.

◆ GetK()

size_t & NeighborhoodFinderMethod::GetK ( )

inlinevirtualnoexcept

Returns: Number of closest neighbors to find

◆ GetRadius()

double & NeighborhoodFinderMethod::GetRadius ( )

inlinevirtualnoexcept

Returns: Distance of farthest potential neighbor

◆ GetType()

NeighborhoodFinderMethod::Type NeighborhoodFinderMethod::GetType ( ) const

inlinenoexcept

Returns: Type of neighborhood finder

◆ Print()

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

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from MPBaseObject.

Reimplemented in RandomNF, RadiusNF, KdTreeNF, and BruteForceNF.

◆ SetDMLabel()

void NeighborhoodFinderMethod::SetDMLabel ( const std::string & _label )

inlinevirtualnoexcept

Set the distance metric label.

Parameters

_label The new DM label to use.

Field Documentation

◆ m_dmLabel

std::string NeighborhoodFinderMethod::m_dmLabel

protected

The distance metric to use.

◆ m_k

size_t NeighborhoodFinderMethod::m_k {0}

protected

How many closest neighbors to find?

◆ m_nfType

Type NeighborhoodFinderMethod::m_nfType {Type::OTHER}

protected

Type of neighborhood finder.

◆ m_radius

double NeighborhoodFinderMethod::m_radius {0}

protected

Maximum distance of closest neighbors.

◆ m_unconnected

bool NeighborhoodFinderMethod::m_unconnected {false}

protected

Require neighbors with no direct edge.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/NeighborhoodFinders/NeighborhoodFinderMethod.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/NeighborhoodFinders/NeighborhoodFinderMethod.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ GroupCfgType

◆ GroupRoadmapType

◆ OutputIterator

◆ RoadmapType

◆ VertexSet

◆ VID

Member Enumeration Documentation

◆ Type

Constructor & Destructor Documentation

◆ NeighborhoodFinderMethod() [1/2]

◆ NeighborhoodFinderMethod() [2/2]

◆ ~NeighborhoodFinderMethod()

Member Function Documentation

◆ DirectEdge()

◆ FindNeighbors() [1/3]

◆ FindNeighbors() [2/3]

◆ FindNeighbors() [3/3]

◆ GetDMLabel()

◆ GetK()

◆ GetRadius()

◆ GetType()

◆ Print()

◆ SetDMLabel()

Field Documentation

◆ m_dmLabel

◆ m_k

◆ m_nfType

◆ m_radius

◆ m_unconnected