ReachabilityUtil Class Reference

#include <ReachabilityUtil.h>

Inheritance diagram for ReachabilityUtil:

Collaboration diagram for ReachabilityUtil:

Public Types
Local Types
typedef std::vector< Cfg >	ReachableSet
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
	ReachabilityUtil ()
	ReachabilityUtil (XMLNode &_node)
Overriden Base Methods
virtual void	Initialize () override
Utility Operator
ReachableSet	operator() (const Cfg &_cfg)
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 MPBaseObject
bool	m_debug
	Print debug info? More...

Detailed Description

A utility that will generate the reachable set of a given configuration.

Note

A Reachable Set is a set of states that can reached with respect to its current degrees of freedom

Reachability-Guided Sampling for Planning Under Differential Constraints Alexander Shkolnik, Matthew Walter, and Russ Tedrake

Member Typedef Documentation

ReachableSet

typedef std::vector<Cfg> ReachabilityUtil::ReachableSet

Constructor & Destructor Documentation

ReachabilityUtil() [1/2]

ReachabilityUtil::ReachabilityUtil

(

)

ReachabilityUtil() [2/2]

ReachabilityUtil::ReachabilityUtil

(

XMLNode &

_node

)

Member Function Documentation

Initialize()

void ReachabilityUtil::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()()

ReachabilityUtil::ReachableSet ReachabilityUtil::operator()

(

const Cfg &

_cfg

)

Generate a reachable set of a given configuration

Parameters

_cfg	The extended configuration

Returns

The set of cfgs which are reachable from _cfg.

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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/MPTools/ReachabilityUtil.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MPTools/ReachabilityUtil.cpp