PathStrategy generates configurations along user-generated paths. More...

#include <PathStrategy.h>

Inheritance diagram for PathStrategy:

Collaboration diagram for PathStrategy:

[legend]

Public Types
Motion Planning Types
typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

typedef RoadmapType::VertexSet	VertexSet

Public Types inherited from MPStrategyMethod
typedef size_t	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
	PathStrategy ()

	PathStrategy (XMLNode &_node)

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

MPStrategyMethod Overrides
virtual void	Initialize () override

virtual void	Run () override
	Call Iterate until EvaluateMap is true. More...

virtual void	Finalize () override
	Clean-up and output results. More...

Public Member Functions inherited from MPStrategyMethod
	MPStrategyMethod ()=default

	MPStrategyMethod (XMLNode &_node)

virtual	~MPStrategyMethod ()

void	operator() ()
	Execute the strategy by calling Initialize, Run, and Finalize. More...

void	EnableOutputFiles (const bool _enable=true)

virtual void	Initialize ()

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...

Protected Member Functions
Helpers
void	getUserPaths ()
	Read the users paths from file. More...

bool	ValidateCfg (Cfg &_cfg)
	Check the configuration's validity. More...

Cfg	RandomNearNode (Cfg &_invalidNode, Cfg &_nextNode, Cfg &_lastValidNode)
	Samples a node near the invalid node trying to connect it to the previous and, if valid, the next node. More...

void	AddToRoadmap (vector< Point3d > &_points, vector< VID > &_vids)
	Validate and add configurations to the roadmap. Store their VID's for connection. More...

void	ConnectPath (const vector< VID > &_vids)
	Try to connect new nodes to the roadmap in the path sequence. If a connection attempt fails, attempt to create intermediates. More...

bool	ConnectCC (VID _vid1, VID _vid2)
	Tries to connect the two connected components represented by the given nodes. More...

void	ConnectCCs ()
	Attempts to connect all the connected components. More...

Protected Member Functions inherited from MPStrategyMethod
virtual bool	EvaluateMap ()
	Check if we satisfied all map evaluators. More...

virtual void	Iterate ()
	Execute one iteration of the strategy. More...

virtual void	ClearRoadmap ()
	Pre-clear the roadmap(s) if requested. More...

virtual size_t	GenerateStart (const std::string &_samplerLabel="")

virtual std::vector< size_t >	GenerateGoals (const std::string &_samplerLabel="")

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

const std::string &	GetBaseFilename () const

Additional Inherited Members
Protected Attributes inherited from MPStrategyMethod
std::string	m_querySampler
	Sampler for generating start/goal. More...

std::vector< std::string >	m_meLabels
	The list of map evaluators to use. More...

size_t	m_iterations {0}
	The number of executed iterations. More...

bool	m_writeOutput {true}
	Write output at the end? More...

bool	m_clearMap {false}
	Clear the roadmap(s) before run? More...

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

Detailed Description

PathStrategy generates configurations along user-generated paths.

PathStrategy collects a set of workspace points along the user-generated paths and generates configurations at those points. Valid points are added to the map and connected in path order. Invalid points are taken as the center of a sampling radius for a valid configuration. If a connection between two path configurations c1 and c2 fails, an intermediate configuration cI is generated at their midpoint if it is valid. The path connection then recurses on the set (c1, cI, c2).

Member Typedef Documentation

◆ RoadmapType

typedef MPBaseObject::RoadmapType PathStrategy::RoadmapType

◆ VertexSet

typedef RoadmapType::VertexSet PathStrategy::VertexSet

◆ VID

typedef RoadmapType::VID PathStrategy::VID

Constructor & Destructor Documentation

◆ PathStrategy() [1/2]

PathStrategy::PathStrategy ( )

◆ PathStrategy() [2/2]

PathStrategy::PathStrategy ( XMLNode & _node )

Member Function Documentation

◆ AddToRoadmap()

void PathStrategy::AddToRoadmap	(	vector< Point3d > &	_points,
		vector< VID > &	_vids
	)

protected

Validate and add configurations to the roadmap. Store their VID's for connection.

Parameters

[in]	_samples	Configurations to add.
[out]	_vids	The corresponding VID's in the roadmap.

◆ ConnectCC()

bool PathStrategy::ConnectCC	(	VID	_vid1,
		VID	_vid2
	)

protected

Tries to connect the two connected components represented by the given nodes.

Parameters

[in]	_vid1	Representative of the first connected component.
[in]	_vid2	Representative of the first connected component.

Returns: A bool indicating whether the two CCs were successfully connected.

◆ ConnectCCs()

void PathStrategy::ConnectCCs ( )

protected

Attempts to connect all the connected components.

◆ ConnectPath()

void PathStrategy::ConnectPath ( const vector< VID > & _vids )

protected

Try to connect new nodes to the roadmap in the path sequence. If a connection attempt fails, attempt to create intermediates.

Parameters

[in] _vids The VID's of the path nodes, in path order.

◆ Finalize()

void PathStrategy::Finalize ( )

overridevirtual

Clean-up and output results.

Reimplemented from MPStrategyMethod.

◆ getUserPaths()

void PathStrategy::getUserPaths ( )

protected

Read the users paths from file.

◆ Initialize()

void PathStrategy::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.

◆ Print()

void PathStrategy::Print ( ostream & _os ) const

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from MPStrategyMethod.

◆ RandomNearNode()

Cfg PathStrategy::RandomNearNode	(	Cfg &	_invalidNode,
		Cfg &	_nextNode,
		Cfg &	_lastValidNode
	)

protected

Samples a node near the invalid node trying to connect it to the previous and, if valid, the next node.

Parameters

[in]	_invalidNode	Invalid node.
[in]	_nextNode	Subsequent node.
[in]	_lastValidNode	Previous valid node of the path.

Returns: A configuration sampled near the invalid one.

◆ Run()

void PathStrategy::Run ( )

overridevirtual

Call Iterate until EvaluateMap is true.

Reimplemented from MPStrategyMethod.

◆ ValidateCfg()

bool PathStrategy::ValidateCfg ( Cfg & _cfg )

protected

Check the configuration's validity.

Parameters

[in/out] _cfg The configuration to validate.

Returns: A bool indicating whether the configuration was successfully validated.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MPStrategies/PathStrategy.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MPStrategies/PathStrategy.cpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ RoadmapType

◆ VertexSet

◆ VID

Constructor & Destructor Documentation

◆ PathStrategy() [1/2]

◆ PathStrategy() [2/2]

Member Function Documentation

◆ AddToRoadmap()

◆ ConnectCC()

◆ ConnectCCs()

◆ ConnectPath()

◆ Finalize()

◆ getUserPaths()

◆ Initialize()

◆ Print()

◆ RandomNearNode()

◆ Run()

◆ ValidateCfg()