Base algorithm abstraction for PathModifiers. More...

#include <PathModifierMethod.h>

Inheritance diagram for PathModifierMethod:

Collaboration diagram for PathModifierMethod:

Public Types
Motion Planning Types
typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

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
	PathModifierMethod ()=default

	PathModifierMethod (XMLNode &_node)

virtual	~PathModifierMethod ()=default

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

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...

PathModifier Interface
virtual void	Modify (vector< Cfg > &_path, vector< Cfg > &_newPath)

virtual void	Modify (RoadmapType *_graph, vector< Cfg > &_path, vector< Cfg > &_newPath)

virtual bool	ModifyImpl (RoadmapType *_graph, vector< Cfg > &_path, vector< Cfg > &_newPath)=0

void	AddToPath (vector< Cfg > &_path, LPOutput *_lpOutput, Cfg &_end)

vector< VID >	GetPathVIDs (vector< Cfg > &_path, RoadmapType *_graph)

void	RemoveBranches (const string &_dmLabel, vector< Cfg > &_path, vector< Cfg > &_newPath)
	@TODO Figure out what this does and document it. 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 MPBaseObject
bool	m_debug
	Print debug info? More...

Detailed Description

Base algorithm abstraction for PathModifiers.

PathModifierMethod has one main method, Modify, which takes an input path and produces a valid output path.

Member Typedef Documentation

◆ RoadmapType

typedef MPBaseObject::RoadmapType PathModifierMethod::RoadmapType

◆ VID

typedef RoadmapType::VID PathModifierMethod::VID

Constructor & Destructor Documentation

◆ PathModifierMethod() [1/2]

PathModifierMethod::PathModifierMethod ( )

default

◆ PathModifierMethod() [2/2]

PathModifierMethod::PathModifierMethod ( XMLNode & _node )

◆ ~PathModifierMethod()

virtual PathModifierMethod::~PathModifierMethod ( )

virtualdefault

Member Function Documentation

◆ AddToPath()

void PathModifierMethod::AddToPath	(	vector< Cfg > &	_path,
		LPOutput *	_lpOutput,
		Cfg &	_end
	)

protected

Appends local plan to path

Parameters

_path	Path to append local plan to
_lpOutput	Local plan output
_end	End Cfg of local plan

◆ GetPathVIDs()

std::vector< size_t > PathModifierMethod::GetPathVIDs	(	vector< Cfg > &	_path,
		RoadmapType *	_graph
	)

protected

Extract path VIDs in roadmap from path

Parameters

_path	Path to extract VIDs from
_graph	RoadmapGraph containing path nodes

Returns: Path VIDs

◆ Modify() [1/2]

void PathModifierMethod::Modify	(	RoadmapType *	_graph,
		vector< Cfg > &	_path,
		vector< Cfg > &	_newPath
	)

virtual

◆ Modify() [2/2]

void PathModifierMethod::Modify	(	vector< Cfg > &	_path,
		vector< Cfg > &	_newPath
	)

virtual

Modifies the input path to a new valid path

Parameters

_path	A path of configurations within a resolution distance of each other
_newPath	An empty vector to place the resulting modified path

@usage

PathModifierPointer pm = this->GetPathModifier(m_pmLabel);
vector<Cfg> inputPath, outputPath;
pm->Modify(inputPath, outputPath);

◆ ModifyImpl()

virtual bool PathModifierMethod::ModifyImpl	(	RoadmapType *	_graph,
		vector< Cfg > &	_path,
		vector< Cfg > &	_newPath
	)

protectedpure virtual

Modifies the input path to a new valid path

Parameters

_path	A path of configurations within a resolution distance of each other
_newPath	An empty vector to place the resulting modified path

Returns: Success/failed modification

Implemented in ShortcuttingPathModifier.

◆ Print()

void PathModifierMethod::Print ( ostream & _os ) const

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from MPBaseObject.

Reimplemented in ShortcuttingPathModifier.

◆ RemoveBranches()

void PathModifierMethod::RemoveBranches	(	const string &	_dmLabel,
		vector< Cfg > &	_path,
		vector< Cfg > &	_newPath
	)

protected

@TODO Figure out what this does and document it.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/PathModifiers/PathModifierMethod.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/PathModifiers/PathModifierMethod.cpp

Public Types

Public Member Functions

PathModifier Interface

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ RoadmapType

◆ VID

Constructor & Destructor Documentation

◆ PathModifierMethod() [1/2]

◆ PathModifierMethod() [2/2]

◆ ~PathModifierMethod()

Member Function Documentation

◆ AddToPath()

◆ GetPathVIDs()

◆ Modify() [1/2]

◆ Modify() [2/2]

◆ ModifyImpl()

◆ Print()

◆ RemoveBranches()