Obstacle-based sampling. More...

#include <ObstacleBasedSampler.h>

Inheritance diagram for ObstacleBasedSampler:

Collaboration diagram for ObstacleBasedSampler:

Public Types
Motion Planning Types
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef std::map< Robot , const Boundary >	BoundaryMap

Public Types inherited from SamplerMethod
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef std::vector< Cfg >::iterator	InputIterator

typedef std::back_insert_iterator< std::vector< Cfg > >	OutputIterator

typedef std::vector< GroupCfgType >::iterator	GroupInputIterator

typedef std::back_insert_iterator< std::vector< GroupCfgType > >	GroupOutputIterator

typedef std::map< Robot , const Boundary >	BoundaryMap
	A map from robots to sampling boundaries. More...

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
	ObstacleBasedSampler (string _vcLabel="", string _dmLabel="", int _free=1, int _coll=0, double _step=0, bool _useBBX=true, string _pointSelection="cspace")

	ObstacleBasedSampler (XMLNode &_node)

virtual	~ObstacleBasedSampler ()=default

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

Public Member Functions inherited from SamplerMethod
	SamplerMethod ()=default

	SamplerMethod (XMLNode &_node)

virtual	~SamplerMethod ()=0

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid, OutputIterator _invalid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary const _robotBoundary, const Boundary const _eeBoundary, OutputIterator _valid, OutputIterator _invalid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary const _robotBoundary, const Boundary const _eeBoundary, OutputIterator _valid)

virtual void	Filter (InputIterator _first, InputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid, OutputIterator _invalid)

void	Filter (InputIterator _first, InputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid, GroupOutputIterator _invalid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const BoundaryMap &_boundary, GroupOutputIterator _valid, GroupOutputIterator _invalid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const BoundaryMap &_boundary, GroupOutputIterator _valid)

virtual void	Filter (GroupInputIterator _first, GroupInputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid, GroupOutputIterator _invalid)

void	Filter (GroupInputIterator _first, GroupInputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

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
virtual bool	Sampler (Cfg &_cfg, const Boundary *const _boundary, std::vector< Cfg > &_result, std::vector< Cfg > &_collision)

virtual bool	Sampler (GroupCfgType &_cfg, const Boundary *const _boundary, std::vector< GroupCfgType > &_result, std::vector< GroupCfgType > &_invalid)

virtual bool	Sampler (GroupCfgType &_cfg, const BoundaryMap &_boundaryMap, std::vector< GroupCfgType > &_result, std::vector< GroupCfgType > &_collision)

void	GenerateShells (const Boundary *const _boundary, Cfg &_cFree, Cfg &_cColl, Cfg &_incr, std::vector< Cfg > &_result, std::vector< Cfg > &_collision)

void	GenerateShells (const Boundary *const _boundary, GroupCfgType &_cFree, GroupCfgType &_cColl, GroupCfgType &_incr, std::vector< GroupCfgType > &_result, std::vector< GroupCfgType > &_collision)

void	GenerateShells (const BoundaryMap &_boundaryMap, GroupCfgType &_cFree, GroupCfgType &_cColl, GroupCfgType &_incr, std::vector< GroupCfgType > &_result, std::vector< GroupCfgType > &_collision)

Cfg	ChooseCenterOfMass (MultiBody *_mBody)

Cfg	ChooseRandomVertex (MultiBody *_mBody)

Vector3d	ChoosePointOnTriangle (Vector3d _p, Vector3d _q, Vector3d _r)

Cfg	ChooseRandomWeightedTriangle (MultiBody *_mBody)

Cfg	ChooseRandomTriangle (MultiBody *_mBody)

Cfg	ChooseExtremeVertex (MultiBody *_mBody)

virtual Cfg	ChooseASample (Cfg &_cfg)

virtual GroupCfgType	ChooseASample (GroupCfgType &_cfg)

Cfg	ChooseASampleOtherMethods ()

Cfg	GetCfgWithParams (const Vector3d &_v)

bool	GroupInBounds (GroupCfgType &_groupCfg, const BoundaryMap &_boundaryMap)

bool	GroupInBounds (GroupCfgType &_groupCfg, const Boundary *const _boundary)

Protected Member Functions inherited from SamplerMethod
virtual bool	Sampler (Cfg &_cfg, const Boundary const _robotBoundary, const Boundary const _eeBoundary, std::vector< Cfg > &_valid, std::vector< Cfg > &_invalid)

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

const std::string &	GetBaseFilename () const

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

Detailed Description

Obstacle-based sampling.

OBPRM samples by pushing random configurations along a random ray until they change validity, keeping the best free configuration.

Todo:: Implement GetCenterOfMass function in the ChooseCenterOfMass class

Member Typedef Documentation

◆ BoundaryMap

typedef std::map<Robot*, const Boundary*> ObstacleBasedSampler::BoundaryMap

◆ GroupCfgType

typedef MPBaseObject::GroupCfgType ObstacleBasedSampler::GroupCfgType

Constructor & Destructor Documentation

◆ ObstacleBasedSampler() [1/2]

ObstacleBasedSampler::ObstacleBasedSampler	(	string	_vcLabel = `""`,
		string	_dmLabel = `""`,
		int	_free = `1`,
		int	_coll = `0`,
		double	_step = `0`,
		bool	_useBBX = `true`,
		string	_pointSelection = `"cspace"`
	)

◆ ObstacleBasedSampler() [2/2]

ObstacleBasedSampler::ObstacleBasedSampler ( XMLNode & _node )

◆ ~ObstacleBasedSampler()

virtual ObstacleBasedSampler::~ObstacleBasedSampler ( )

virtualdefault

Member Function Documentation

◆ ChooseASample() [1/2]

Cfg ObstacleBasedSampler::ChooseASample ( Cfg & _cfg )

protectedvirtual

Checks m_pointSelection and returns an appropriate Cfg

Parameters

_cfg	Configuration of the sample

Returns: Configuration of the sample

◆ ChooseASample() [2/2]

ObstacleBasedSampler::GroupCfgType ObstacleBasedSampler::ChooseASample ( GroupCfgType & _cfg )

protectedvirtual

Checks m_pointSelection and returns an appropriate GroupCfgType

Parameters

_cfg	Group configuration of the sample

Returns: Group configuration chosen from the Extreme Vertex method

◆ ChooseASampleOtherMethods()

Cfg ObstacleBasedSampler::ChooseASampleOtherMethods ( )

protected

Call the various sample method other than cspace method

Returns: Configuration obtained according to the m_pointSelection

◆ ChooseCenterOfMass()

Cfg ObstacleBasedSampler::ChooseCenterOfMass ( MultiBody * _mBody )

protected

Returns a Cfg at the center of mass of the MultiBody

Parameters

_mBody Multibody of the obstacle

Returns: Configuration corresponding to the center of mass of the Multibody

◆ ChooseExtremeVertex()

Cfg ObstacleBasedSampler::ChooseExtremeVertex ( MultiBody * _mBody )

protected

Chooses a random extreme vertex of the MultiBody

Parameters

_mBody Multibody of the obstacle

Returns: Configuration chosen from the Extreme Vertex method

◆ ChoosePointOnTriangle()

Vector3d ObstacleBasedSampler::ChoosePointOnTriangle	(	Vector3d	_p,
		Vector3d	_q,
		Vector3d	_r
	)

protected

Returns a point inside the triangle determined by the vectors

Parameters

_p	The first 3d point of a triangle
_q	The second 3d point of a triangle
_r	The Third 3d point of a triangle

Returns: Configuration chosen from the Point On Triangle method

◆ ChooseRandomTriangle()

Cfg ObstacleBasedSampler::ChooseRandomTriangle ( MultiBody * _mBody )

protected

Chooses a random point in a random triangle in the MultiBody

Parameters

_mBody Multibody of the obstacle

Returns: Configuration chosen from the Random Triangle method

◆ ChooseRandomVertex()

Cfg ObstacleBasedSampler::ChooseRandomVertex ( MultiBody * _mBody )

protected

Parameters

_mBody Multibody of the obstacle

Returns: Configuration chosen from the Random Vertex method

◆ ChooseRandomWeightedTriangle()

Cfg ObstacleBasedSampler::ChooseRandomWeightedTriangle ( MultiBody * _mBody )

protected

Chooses a random point on a random triangle (weighted by area) in the MultiBody

Parameters

_mBody Multibody of the obstacle

Returns: Configuration chosen from the Random Weighted Triangle method

◆ GenerateShells() [1/3]

void ObstacleBasedSampler::GenerateShells	(	const Boundary *const	_boundary,
		Cfg &	_cFree,
		Cfg &	_cColl,
		Cfg &	_incr,
		std::vector< Cfg > &	_result,
		std::vector< Cfg > &	_collision
	)

protected

Generates and adds shells to their containers for a single robot in a single boundary case

Parameters

_boundary	Boundary of the environment
_cFree	The configuration in the Free Configuration Space
_cColl	The configuration in the Collision Configuration Space
_incr	The amount of increments in the specified direction.
_result	A vector that stores Free Configuration Space
_collision	A vector that stores Collision Configuration Space

◆ GenerateShells() [2/3]

void ObstacleBasedSampler::GenerateShells	(	const Boundary *const	_boundary,
		GroupCfgType &	_cFree,
		GroupCfgType &	_cColl,
		GroupCfgType &	_incr,
		std::vector< GroupCfgType > &	_result,
		std::vector< GroupCfgType > &	_collision
	)

protected

Generates and adds shells to their containers for multiple robots in a single boundary case

Parameters

_boundary	Boundary of the environment
_cFree	The configuration in the Free Configuration Space
_cColl	The configuration in the Collision Configuration Space
_incr	The amount of increments in the specified direction.
_result	A vector that stores Free Group Configuration Space
_collision	A vector that stores Collision Group Configuration Space

◆ GenerateShells() [3/3]

void ObstacleBasedSampler::GenerateShells	(	const BoundaryMap &	_boundaryMap,
		GroupCfgType &	_cFree,
		GroupCfgType &	_cColl,
		GroupCfgType &	_incr,
		std::vector< GroupCfgType > &	_result,
		std::vector< GroupCfgType > &	_collision
	)

protected

Generates and adds shells to their containers for multiple robots in each individual boundary case

Parameters

_boundary	Boundary of the environment
_cFree	The configuration in the Free Configuration Space
_cColl	The configuration in the Collision Configuration Space
_incr	The amount of increments in the specified direction.
_result	A vector that stores Free Group Configuration Space
_collision	A vector that stores Collision Group Configuration Space

◆ GetCfgWithParams()

Cfg ObstacleBasedSampler::GetCfgWithParams ( const Vector3d & _v )

protected

Returns a Cfg with the coordinates specified in the vector and no rotation

Parameters

_v	Multibody of the obstacle

Returns: Configuration Type of the sample

◆ GroupInBounds() [1/2]

bool ObstacleBasedSampler::GroupInBounds	(	GroupCfgType &	_groupCfg,
		const Boundary *const	_boundary
	)

protected

Checks if the groupCfg is in the boundary map

Parameters

_groupCfg	The group configuration needs to be checked
_boundary	The single boundary of every robots

Returns: true or false

◆ GroupInBounds() [2/2]

bool ObstacleBasedSampler::GroupInBounds	(	GroupCfgType &	_groupCfg,
		const BoundaryMap &	_boundaryMap
	)

protected

Checks if the groupCfg is in the boundary map

Parameters

_groupCfg	The group configuration needs to be checked
_boundaryMap	The map that pairs each robot and corresponding boundary

Returns: true or false

◆ Print()

void ObstacleBasedSampler::Print ( ostream & _os ) const

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from MPBaseObject.

◆ Sampler() [1/3]

bool ObstacleBasedSampler::Sampler	(	Cfg &	_cfg,
		const Boundary *const	_boundary,
		std::vector< Cfg > &	_result,
		std::vector< Cfg > &	_collision
	)

protectedvirtual

Main Sampler Sampler for a single robot in a single boundary

Parameters

_cfg	Configuration Type
_boundary	Boundary of the environment
_result	A vector that stores Free Configuration Space
_collision	A vector that stores Collision Configuration Space

Returns: Success or Failure of sampling

Reimplemented from SamplerMethod.

◆ Sampler() [2/3]

bool ObstacleBasedSampler::Sampler	(	GroupCfgType &	_cfg,
		const Boundary *const	_boundary,
		std::vector< GroupCfgType > &	_result,
		std::vector< GroupCfgType > &	_invalid
	)

protectedvirtual

Sampler for multiple robots in a single boundary

Parameters

_cfg	Configuration Type
_boundary	Boundary of the environment
_result	A vector that stores Free Group Configuration Space
_collision	A vector that stores Collision Group Configuration Space

Returns: Success or Failure of sampling

Reimplemented from SamplerMethod.

◆ Sampler() [3/3]

bool ObstacleBasedSampler::Sampler	(	GroupCfgType &	_cfg,
		const BoundaryMap &	_boundaryMap,
		std::vector< GroupCfgType > &	_result,
		std::vector< GroupCfgType > &	_collision
	)

protectedvirtual

Sampler for multiple robots in each individual boundary

Parameters

_cfg	Configuration Type
_boundaryMap	BoundaryMap of the environment
_result	A vector that stores Free Group Configuration Space
_collision	A vector that stores Collision Group Configuration Space

Returns: Success or Failure of sampling

Reimplemented from SamplerMethod.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/Samplers/ObstacleBasedSampler.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/Samplers/ObstacleBasedSampler.cpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BoundaryMap

◆ GroupCfgType

Constructor & Destructor Documentation

◆ ObstacleBasedSampler() [1/2]

◆ ObstacleBasedSampler() [2/2]

◆ ~ObstacleBasedSampler()

Member Function Documentation

◆ ChooseASample() [1/2]

◆ ChooseASample() [2/2]

◆ ChooseASampleOtherMethods()

◆ ChooseCenterOfMass()

◆ ChooseExtremeVertex()

◆ ChoosePointOnTriangle()

◆ ChooseRandomTriangle()

◆ ChooseRandomVertex()

◆ ChooseRandomWeightedTriangle()

◆ GenerateShells() [1/3]

◆ GenerateShells() [2/3]

◆ GenerateShells() [3/3]

◆ GetCfgWithParams()

◆ GroupInBounds() [1/2]

◆ GroupInBounds() [2/2]

◆ Print()

◆ Sampler() [1/3]

◆ Sampler() [2/3]

◆ Sampler() [3/3]