#include <RandomNF.h>

Inheritance diagram for RandomNF:

Collaboration diagram for RandomNF:

[legend]

Public Types
Motion Planning Types
typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

typedef RoadmapType::VertexSet	VertexSet

typedef MPBaseObject::GroupRoadmapType	GroupRoadmapType

typedef MPBaseObject::GroupCfgType	GroupCfgType

Local Types
typedef std::back_insert_iterator< std::vector< Neighbor > >	OutputIterator
	Output iterator for writing discovered neighbors to a container. More...

enum class	Type
	The type of neighbors found. More...

Public Types inherited from NeighborhoodFinderMethod
enum class	Type { K , RADIUS , APPROX , OTHER }
	The type of neighbors found. More...

typedef std::back_insert_iterator< std::vector< Neighbor > >	OutputIterator
	Output iterator for writing discovered neighbors to a container. More...

typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

typedef RoadmapType::VertexSet	VertexSet

typedef MPBaseObject::GroupRoadmapType	GroupRoadmapType

typedef MPBaseObject::GroupCfgType	GroupCfgType

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
	RandomNF ()

	RandomNF (XMLNode &_node)

virtual	~RandomNF ()=default

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

NeighborhoodFinderMethod Overrides
virtual void	FindNeighbors (RoadmapType *const _r, const Cfg &_cfg, const VertexSet &_candidates, OutputIterator _out) override

virtual void	FindNeighbors (GroupRoadmapType *const _r, const GroupCfgType &_cfg, const VertexSet &_candidates, OutputIterator _out) override

Public Member Functions inherited from NeighborhoodFinderMethod
	NeighborhoodFinderMethod (const Type _type=Type::OTHER)

	NeighborhoodFinderMethod (XMLNode &_node, const Type _type=Type::OTHER, const bool _requireDM=true)

virtual	~NeighborhoodFinderMethod ()=default

Type	GetType () const noexcept

virtual size_t &	GetK () noexcept

virtual double &	GetRadius () noexcept

virtual void	SetDMLabel (const std::string &_label) noexcept

virtual const std::string &	GetDMLabel () const noexcept

template<typename AbstractRoadmapType >
void	FindNeighbors (AbstractRoadmapType *const _r, const typename AbstractRoadmapType::CfgType &_cfg, OutputIterator _out)

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...

Additional Inherited Members
Protected Member Functions inherited from NeighborhoodFinderMethod
template<typename AbstractRoadmapType >
bool	DirectEdge (const AbstractRoadmapType *_g, const typename AbstractRoadmapType::CfgType &_c, const typename AbstractRoadmapType::VID _v) const noexcept

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

const std::string &	GetBaseFilename () const

Protected Attributes inherited from NeighborhoodFinderMethod
Type	m_nfType {Type::OTHER}
	Type of neighborhood finder. More...

size_t	m_k {0}
	How many closest neighbors to find? More...

double	m_radius {0}
	Maximum distance of closest neighbors. More...

std::string	m_dmLabel
	The distance metric to use. More...

bool	m_unconnected {false}
	Require neighbors with no direct edge. More...

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

Detailed Description

Selects a set of random neighbors from the roadmap.

Note: This assumes a fairly small k value compared to the candidate set size, and will perform poorly otherwise.

Member Typedef Documentation

◆ GroupCfgType

typedef MPBaseObject::GroupCfgType RandomNF::GroupCfgType

◆ GroupRoadmapType

typedef MPBaseObject::GroupRoadmapType RandomNF::GroupRoadmapType

◆ OutputIterator

typedef std::back_insert_iterator<std::vector<Neighbor> > NeighborhoodFinderMethod::OutputIterator

Output iterator for writing discovered neighbors to a container.

◆ RoadmapType

typedef MPBaseObject::RoadmapType RandomNF::RoadmapType

◆ VertexSet

typedef RoadmapType::VertexSet RandomNF::VertexSet

◆ VID

typedef RoadmapType::VID RandomNF::VID

Member Enumeration Documentation

◆ Type

enum NeighborhoodFinderMethod::Type

strong

The type of neighbors found.

Constructor & Destructor Documentation

◆ RandomNF() [1/2]

RandomNF::RandomNF ( )

◆ RandomNF() [2/2]

RandomNF::RandomNF ( XMLNode & _node )

◆ ~RandomNF()

virtual RandomNF::~RandomNF ( )

virtualdefault

Member Function Documentation

◆ FindNeighbors() [1/2]

void RandomNF::FindNeighbors	(	GroupRoadmapType *const	_r,
		const GroupCfgType &	_cfg,
		const VertexSet &	_candidates,
		OutputIterator	_out
	)

overridevirtual

Implements NeighborhoodFinderMethod.

◆ FindNeighbors() [2/2]

void RandomNF::FindNeighbors	(	RoadmapType *const	_r,
		const Cfg &	_cfg,
		const VertexSet &	_candidates,
		OutputIterator	_out
	)

overridevirtual

Some methods can be implemented more efficiently if the candidates are provided in a hash set. This function is to support that; the default implementation forwards to the iterator version.

Parameters

_r	The roadmap.
_cfg	The query configuration.
_candidates	The set of candidate VIDs.
_out	Output iterator.

Implements NeighborhoodFinderMethod.

◆ Print()

void RandomNF::Print ( std::ostream & _os ) const

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from NeighborhoodFinderMethod.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/NeighborhoodFinders/RandomNF.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/NeighborhoodFinders/RandomNF.cpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ GroupCfgType

◆ GroupRoadmapType

◆ OutputIterator

◆ RoadmapType

◆ VertexSet

◆ VID

Member Enumeration Documentation

◆ Type

Constructor & Destructor Documentation

◆ RandomNF() [1/2]

◆ RandomNF() [2/2]

◆ ~RandomNF()

Member Function Documentation

◆ FindNeighbors() [1/2]

◆ FindNeighbors() [2/2]

◆ Print()