PathEvaluator Class Reference

#include <PathEvaluator.h>

Inheritance diagram for PathEvaluator:

Collaboration diagram for PathEvaluator:

Public Types
Motion Planning Types
typedef MPBaseObject::RoadmapType	RoadmapType
typedef RoadmapType::VID	VID
Public Types inherited from MapEvaluatorMethod
typedef std::unordered_map< size_t, std::unordered_map< size_t, std::vector< Range< double > > > >	EdgeIntervals
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
	PathEvaluator ()
	PathEvaluator (XMLNode &_node)
virtual	~PathEvaluator ()=default
MPBaseObject Interface
virtual void	Initialize () override
MapEvaluatorMethod Interface
virtual bool	operator() () override
Public Member Functions inherited from MapEvaluatorMethod
virtual void	SetEdgeIntervals (EdgeIntervals _edgeIntervals)
	Set the edge intervals of a roadmap. More...
virtual void	SetMinEndtime (double _minEndtime)
	Set the minimum end time of a path. More...
void	SetActiveRobots (const std::vector< size_t > &_activeRobots)
	Set the active robots. More...
std::vector< size_t >	GetActiveRobots () const
	Get the active robots. More...
	MapEvaluatorMethod ()=default
	MapEvaluatorMethod (XMLNode &_node)
virtual	~MapEvaluatorMethod ()=default
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	Print (std::ostream &_os) const
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
Protected Member Functions inherited from MPBaseObject
void	SetName (const std::string &_s)
const std::string &	GetBaseFilename () const
Protected Attributes inherited from MapEvaluatorMethod
std::vector< size_t >	m_activeRobots
Protected Attributes inherited from MPBaseObject
bool	m_debug
	Print debug info? More...

Detailed Description

This class calculates various metrics for the path found by another MapEval. Note: this class does not run Dijkstra's.

Member Typedef Documentation

RoadmapType

typedef MPBaseObject::RoadmapType PathEvaluator::RoadmapType

VID

typedef RoadmapType::VID PathEvaluator::VID

Constructor & Destructor Documentation

PathEvaluator() [1/2]

PathEvaluator::PathEvaluator

(

)

PathEvaluator() [2/2]

PathEvaluator::PathEvaluator

(

XMLNode &

_node

)

~PathEvaluator()

virtual PathEvaluator::~PathEvaluator ( )

virtualdefault

Member Function Documentation

Initialize()

void PathEvaluator::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.

operator()()

bool PathEvaluator::operator() ( )

overridevirtual

Evaluate a roadmap.

Returns

True if this roadmap meets the evaluation criteria.

Implements MapEvaluatorMethod.

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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/MapEvaluators/PathEvaluator.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MapEvaluators/PathEvaluator.cpp