Path Class Reference

#include <Path.h>

Public Types
Motion Planning Types
typedef GenericStateGraph< Cfg, DefaultWeight< Cfg > >	RoadmapType
typedef RoadmapType::VID	VID

Public Member Functions
Construction
	Path (RoadmapType *const _r=nullptr)
Path Interface
Robot *	GetRobot () const noexcept
	Get the robot which travels this path. More...
RoadmapType *	GetRoadmap () const noexcept
	Get the roadmap used by this path. More...
size_t	Size () const noexcept
	Get the number of cfgs in the path. More...
bool	Empty () const noexcept
	Check if the path is empty. More...
double	Length () const
	Get the total edge weight. More...
const std::vector< VID > &	VIDs () const noexcept
	Get the VIDs in the path. More...
const std::pair< std::vector< VID >, std::vector< size_t > >	VIDsWaiting () const noexcept
	Get the VIDs and timesteps waiting in the path. More...
const std::vector< Cfg > &	Cfgs () const
const std::vector< Cfg >	FullCfgs (MPLibrary *const _lib) const
const std::vector< Cfg >	FullCfgsWithWait (MPLibrary *const _lib) const
size_t	TimeSteps () const
void	SetTimeSteps (size_t _timesteps)
	Hardcode number of timesteps in the path. More...
void	ResetTimeSteps ()
	Reset the number of timesteps to 0. More...
Path &	operator+= (const Path &_p)
Path	operator+ (const Path &_p) const
Path &	operator+= (const std::vector< VID > &_vids)
Path	operator+ (const std::vector< VID > &_vids) const
Path &	operator= (const Path &_p)
	Copy assignment operator. More...
void	Clear ()
	Clear all data in the path. More...
void	FlushCache ()
	Clear cached data, but leave the VIDs. More...
void	SetFinalWaitTimeSteps (const size_t &_timeSteps)
const size_t	GetFinalWaitTimeSteps () const
	Get the number of timesteps to wait after traversal of the path. More...
void	SetWaitTimes (std::vector< size_t > _waitTimes)
std::vector< size_t >	GetWaitTimes ()
	Get the wait time at each vertex index in the path. More...
std::pair< std::pair< size_t, size_t >, std::pair< size_t, size_t > >	GetEdgeAtTimestep (size_t _timestep)

Detailed Description

A path of connected configurations from a given roadmap.

The implementation uses a vector of VID's as the primary representation. The corresponding configurations are computed lazily upon request.

Examples

PathModifiers_UseCase.cpp.

Member Typedef Documentation

RoadmapType

typedef GenericStateGraph<Cfg, DefaultWeight<Cfg> > Path::RoadmapType

VID

typedef RoadmapType::VID Path::VID

Constructor & Destructor Documentation

Path()

Path::Path

(

RoadmapType *const

_r = nullptr

)

Construct an empty path.

Parameters

_r	The roadmap used by this path.

Member Function Documentation

Cfgs()

const std::vector< Cfg > & Path::Cfgs

(

)

const

Get a copy of the Cfgs in the path.

Warning

If the cfgs in the roadmap are later altered (i.e., if the DOF values or labels are edited), this copy will be out-of-date.

Clear()

void Path::Clear

(

)

Clear all data in the path.

Empty()

bool Path::Empty ( ) const

noexcept

Check if the path is empty.

FlushCache()

void Path::FlushCache

(

)

Clear cached data, but leave the VIDs.

FullCfgs()

const std::vector< Cfg > Path::FullCfgs

(

MPLibrary *const

_lib

)

const

Get the current full Cfg path with steps spaced one environment resolution apart. This is not cached due to its size and infrequent usage.

Parameters

_lib	The planning library to use.

Returns

The full path of configurations, including local-plan intermediates between the roadmap nodes.

FullCfgsWithWait()

const std::vector< Cfg > Path::FullCfgsWithWait

(

MPLibrary *const

_lib

)

const

Get the current full Cfg path with wait times. Steps are spaced one environment resolution apart. This is not cached due to its size and infrequent usage.

Parameters

_lib	The planning library to use.

Returns

The full path of configurations, including local-plan intermediates between the roadmap nodes and waiting.

GetEdgeAtTimestep()

std::pair< std::pair< size_t, size_t >, std::pair< size_t, size_t > > Path::GetEdgeAtTimestep

(

size_t

_timestep

)

Get the (source,target) of the path at the input timestep.

Parameters

_timestep

The timestep to find the corresponding edge.

Returns

The source and target of the corresponding edge.

GetFinalWaitTimeSteps()

const size_t Path::GetFinalWaitTimeSteps

(

)

const

Get the number of timesteps to wait after traversal of the path.

GetRoadmap()

Path::RoadmapType * Path::GetRoadmap ( ) const

noexcept

Get the roadmap used by this path.

GetRobot()

Robot * Path::GetRobot ( ) const

noexcept

Get the robot which travels this path.

GetWaitTimes()

std::vector< size_t > Path::GetWaitTimes

(

)

Get the wait time at each vertex index in the path.

Length()

double Path::Length

(

)

const

Get the total edge weight.

Todo:

This will be an error if we allow self-edges.

operator+() [1/2]

Path Path::operator+

(

const Path &

_p

)

const

Add another path to the end of this one and return the result.

Parameters

_p	The path to add.

operator+() [2/2]

Path Path::operator+

(

const std::vector< VID > &

_vids

)

const

Add a new set of VIDs to the end of this path and return the result.

Parameters

_vids

The VIDs to add.

operator+=() [1/2]

Path & Path::operator+=

(

const Path &

_p

)

Append another path to the end of this one.

Parameters

_p	The path to append.

operator+=() [2/2]

Path & Path::operator+=

(

const std::vector< VID > &

_vids

)

Append a new set of VIDs to the end of this path.

Parameters

_vids

The VIDs to append.

operator=()

Path & Path::operator=

(

const Path &

_p

)

Copy assignment operator.

ResetTimeSteps()

void Path::ResetTimeSteps

(

)

Reset the number of timesteps to 0.

SetFinalWaitTimeSteps()

void Path::SetFinalWaitTimeSteps

(

const size_t &

_timeSteps

)

Set the number of timesteps to wait after traversal of the path.

Parameters

_timeSteps

The number of desired timesteps.

SetTimeSteps()

void Path::SetTimeSteps

(

size_t

_timesteps

)

Hardcode number of timesteps in the path.

SetWaitTimes()

void Path::SetWaitTimes

(

std::vector< size_t >

_waitTimes

)

Set the wait times at each vertex in path Used in Safe Interval Path Planning

Size()

size_t Path::Size ( ) const

noexcept

Get the number of cfgs in the path.

TimeSteps()

size_t Path::TimeSteps

(

)

const

Get the number of timesteps calculated to traverse the path, including waiting times.

VIDs()

const std::vector< typename Path::VID > & Path::VIDs ( ) const

noexcept

Get the VIDs in the path.

VIDsWaiting()

const std::pair< std::vector< typename Path::VID >, std::vector< size_t > > Path::VIDsWaiting ( ) const

noexcept

Get the VIDs and timesteps waiting in the path.

---

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

• /opt/actions-runner/_work/open-ppl/open-ppl/src/ConfigurationSpace/Path.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/ConfigurationSpace/Path.cpp