#include <NodeClearanceValidity.h>

Inheritance diagram for NodeClearanceValidity:

Collaboration diagram for NodeClearanceValidity:

[legend]

Public Types
Motion Planning Types
typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

Public Types inherited from ValidityCheckerMethod
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef GroupCfgType::Formation	Formation

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
	NodeClearanceValidity ()

	NodeClearanceValidity (XMLNode &_node)

virtual	~NodeClearanceValidity ()=default

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

ValidityCheckerMethod Overrides
virtual bool	IsValidImpl (Cfg &_cfg, CDInfo &_cdInfo, const std::string &_callName) override

Public Member Functions inherited from ValidityCheckerMethod
	ValidityCheckerMethod ()=default

	ValidityCheckerMethod (XMLNode &_node)

virtual	~ValidityCheckerMethod ()=default

bool	GetValidity () const
	Get the current meaning of "valid" (true is default). More...

void	ToggleValidity ()
	Switches the meaning of "valid" to "invalid" and vice versa. More...

bool	IsValid (Cfg &_cfg, CDInfo &_cdInfo, const std::string &_caller)

bool	IsValid (Cfg &_cfg, const std::string &_caller)

bool	IsValid (GroupCfgType &_cfg, CDInfo &_cdInfo, const std::string &_caller)

bool	IsValid (GroupCfgType &_cfg, const std::string &_caller)

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 Attributes
Internal State
double	m_minClearance
	Minimum required clearance from other nodes. More...

std::string	m_nfLabel
	NF to find nearest nodes and distance. More...

Protected Attributes inherited from ValidityCheckerMethod
bool	m_validity {true}
	Use standard validity? False indicates negation. More...

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

Additional Inherited Members
Protected Member Functions inherited from ValidityCheckerMethod
virtual bool	IsValidImpl (GroupCfgType &_cfg, CDInfo &_cdInfo, const std::string &_caller)

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

const std::string &	GetBaseFilename () const

Detailed Description

Considers a configuration as valid if it lies outside a threshold distance from all other nodes in the roadmap.

Warning: This won't work correctly with batch sampling because it only checks clearance against the other nodes in the roadmap. For consistency it must check only one configuration at a time.

Member Typedef Documentation

◆ RoadmapType

typedef MPBaseObject::RoadmapType NodeClearanceValidity::RoadmapType

◆ VID

typedef RoadmapType::VID NodeClearanceValidity::VID

Constructor & Destructor Documentation

◆ NodeClearanceValidity() [1/2]

NodeClearanceValidity::NodeClearanceValidity ( )

◆ NodeClearanceValidity() [2/2]

NodeClearanceValidity::NodeClearanceValidity ( XMLNode & _node )

◆ ~NodeClearanceValidity()

virtual NodeClearanceValidity::~NodeClearanceValidity ( )

virtualdefault

Member Function Documentation

◆ IsValidImpl()

bool NodeClearanceValidity::IsValidImpl	(	Cfg &	_cfg,
		CDInfo &	_cdInfo,
		const std::string &	_caller
	)

overridevirtual

Implementation of the classification of a configuration to either cfree or cobst.

Parameters

_cfg	The individual configuration.
_cdInfo	Output for extra computed information such as clearance.
_caller	Name of the calling function.

Returns: True if _cfg is in cfree.

Implements ValidityCheckerMethod.

◆ Print()

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

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from MPBaseObject.

Field Documentation

◆ m_minClearance

double NodeClearanceValidity::m_minClearance

protected

Minimum required clearance from other nodes.

◆ m_nfLabel

std::string NodeClearanceValidity::m_nfLabel