ObstacleClearanceValidity Class Reference

#include <ObstacleClearanceValidity.h>

Inheritance diagram for ObstacleClearanceValidity:

Collaboration diagram for ObstacleClearanceValidity:

Public Member Functions
Construction
	ObstacleClearanceValidity ()
	ObstacleClearanceValidity (XMLNode &_node)
virtual	~ObstacleClearanceValidity ()=default
MPBaseObject Overrides
virtual void	Initialize () override
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 ()
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...

Additional Inherited Members
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
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
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...

Detailed Description

Marks configurations as valid iff they are at least some minimum threshold distance away from the nearest obstacle.

Todo:

Re-implement this as a derived class of CollisionDetectionValidity and remove the 'GetCDMethod' function.

Constructor & Destructor Documentation

ObstacleClearanceValidity() [1/2]

ObstacleClearanceValidity::ObstacleClearanceValidity

(

)

ObstacleClearanceValidity() [2/2]

ObstacleClearanceValidity::ObstacleClearanceValidity

(

XMLNode &

_node

)

~ObstacleClearanceValidity()

virtual ObstacleClearanceValidity::~ObstacleClearanceValidity ( )

virtualdefault

Member Function Documentation

Initialize()

void ObstacleClearanceValidity::Initialize ( )

overridevirtual

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.

IsValidImpl()

bool ObstacleClearanceValidity::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 ObstacleClearanceValidity::Print ( std::ostream &  _os ) const

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from MPBaseObject.

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

• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/ValidityCheckers/ObstacleClearanceValidity.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/ValidityCheckers/ObstacleClearanceValidity.cpp