#include <RewireConnector.h>

Inheritance diagram for RewireConnector:

Collaboration diagram for RewireConnector:

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Data Structures
struct	GroupRewireTestOutput
	An aggregate for returning the results of a group rewiring check. More...

struct	RewireTestOutput
	An aggregate for returning the results of a rewiring check. More...

Public Types
Motion Planning Types
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef MPBaseObject::WeightType	WeightType

typedef MPBaseObject::GroupWeightType	GroupWeightType

typedef MPBaseObject::RoadmapType	RoadmapType

typedef MPBaseObject::GroupRoadmapType	GroupRoadmapType

typedef RoadmapType::VID	VID

typedef RoadmapType::VertexSet	VertexSet

Local Types
template<typename AbstractRoadmapType >
using	OutputIterator = typename ConnectorMethod::template OutputIterator< AbstractRoadmapType >

Public Types inherited from ConnectorMethod
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef MPBaseObject::RoadmapType	RoadmapType

typedef MPBaseObject::GroupRoadmapType	GroupRoadmapType

typedef RoadmapType::VID	VID

typedef RoadmapType::VertexSet	VertexSet

typedef std::pair< VID, VID >	ConnectionAttempt

typedef std::unordered_set< ConnectionAttempt >	ConnectionAttempts

typedef std::unordered_map< void *, ConnectionAttempts >	ConnectionAttemptsCache

template<typename AbstractRoadmapType >
using	OutputIterator = std::back_insert_iterator< std::vector< typename AbstractRoadmapType::VP > >

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
	RewireConnector ()

	RewireConnector (XMLNode &_node)

virtual	~RewireConnector ()=default

Public Member Functions inherited from ConnectorMethod
	ConnectorMethod ()

	ConnectorMethod (XMLNode &_node)

virtual	~ConnectorMethod ()=default

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

virtual void	Initialize () override

template<typename AbstractRoadmapType >
void	Connect (AbstractRoadmapType const _r, const VertexSet const _targetSet=nullptr, OutputIterator< AbstractRoadmapType > *const _collision=nullptr)

template<typename AbstractRoadmapType >
void	Connect (AbstractRoadmapType const _r, const VID _source, const VertexSet const _targetSet=nullptr, OutputIterator< AbstractRoadmapType > *const _collision=nullptr)

template<typename AbstractRoadmapType , typename InputIterator >
void	Connect (AbstractRoadmapType const _r, InputIterator _sourceBegin, InputIterator _sourceEnd, const VertexSet const _targetSet=nullptr, OutputIterator< AbstractRoadmapType > *const _collision=nullptr)

bool	IsRewiring () const noexcept

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...

ConnectorMethod Overrides
virtual void	ConnectImpl (RoadmapType const _r, const VID _source, const VertexSet const _targetSet=nullptr, OutputIterator< RoadmapType > *const _collision=nullptr) override

virtual void	ConnectImpl (GroupRoadmapType const _r, const VID _source, const VertexSet const _targetSet=nullptr, OutputIterator< GroupRoadmapType > *const _collision=nullptr) override

std::vector< Neighbor >	m_neighborBuffer

Additional Inherited Members
Protected Member Functions inherited from ConnectorMethod
template<typename AbstractRoadmapType >
void	ConnectNeighbors (AbstractRoadmapType const _r, const VID _source, const std::vector< Neighbor > &_neighbors, OutputIterator< AbstractRoadmapType > const _collision=nullptr, const bool _earlyQuit=false)

bool	ConnectNodes (RoadmapType const _r, const VID _source, const VID _target, OutputIterator< RoadmapType > const _collision=nullptr)

bool	ConnectNodes (GroupRoadmapType const _r, const VID _source, const VID _target, OutputIterator< GroupRoadmapType > const _collision=nullptr)

template<typename AbstractRoadmapType >
bool	DoNotCheck (AbstractRoadmapType *const _r, const VID _source, const VID _target) const

void	CacheFailedConnection (void *const _map, const VID _source, const VID _target) noexcept

bool	IsCached (void *const _map, const VID _source, const VID _target) const noexcept

void	ClearConnectionAttempts ()
	Clear the attempts cache. More...

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

const std::string &	GetBaseFilename () const

Protected Attributes inherited from ConnectorMethod
ConnectionAttemptsCache	m_attemptsCache
	All failed connection attempts. More...

std::string	m_lpLabel
	Local Planner. More...

bool	m_skipIfSameCC {true}
	Skip connections within the same CC? More...

size_t	m_maxFailures {0}
	Maximum allowed failures per use. More...

size_t	m_failures {0}
	Failures in this use. More...

bool	m_oneWay {false}
	Create one-way edges or two-way? More...

bool	m_rewiring {false}
	Does this connector delete edges? More...

bool	m_selfEdges {false}
	Indicates if roadmap vertices should have self-edges. More...

std::vector< Neighbor >	m_neighborBuffer

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

Detailed Description

Re-wires a tree for optimal RRT planners. This only makes sense for tree-like planners. It will change the structure of the tree; ensure that your algorithm can handle this before using.

Reference: Sertac Karaman and Emilio Frazzoli. "Sampling-based algorithms for optimal motion planning". IJRR 2011.

Member Typedef Documentation

◆ GroupCfgType

typedef MPBaseObject::GroupCfgType RewireConnector::GroupCfgType

◆ GroupRoadmapType

typedef MPBaseObject::GroupRoadmapType RewireConnector::GroupRoadmapType

◆ GroupWeightType

typedef MPBaseObject::GroupWeightType RewireConnector::GroupWeightType

◆ OutputIterator

template<typename AbstractRoadmapType >

using RewireConnector::OutputIterator = typename ConnectorMethod::template OutputIterator<AbstractRoadmapType>

◆ RoadmapType

typedef MPBaseObject::RoadmapType RewireConnector::RoadmapType

◆ VertexSet

typedef RoadmapType::VertexSet RewireConnector::VertexSet

◆ VID

typedef RoadmapType::VID RewireConnector::VID

◆ WeightType

typedef MPBaseObject::WeightType RewireConnector::WeightType

Constructor & Destructor Documentation

◆ RewireConnector() [1/2]

RewireConnector::RewireConnector ( )

◆ RewireConnector() [2/2]

RewireConnector::RewireConnector ( XMLNode & _node )

◆ ~RewireConnector()

virtual RewireConnector::~RewireConnector ( )

virtualdefault

Member Function Documentation

◆ ConnectImpl() [1/2]

void RewireConnector::ConnectImpl	(	GroupRoadmapType *const	_r,
		const VID	_source,
		const VertexSet *const	_targetSet = `nullptr`,
		OutputIterator< GroupRoadmapType > *const	_collision = `nullptr`
	)

overrideprotectedvirtual

Reimplemented from ConnectorMethod.

◆ ConnectImpl() [2/2]

void RewireConnector::ConnectImpl	(	RoadmapType *const	_r,
		const VID	_source,
		const VertexSet *const	_targetSet = `nullptr`,
		OutputIterator< RoadmapType > *const	_collision = `nullptr`
	)

overrideprotectedvirtual

Connect a source node to some subset of a target set. Derived classes specify how this will happen.

Parameters

_r	The owning roadmap.
_source	The source node to connect.
_targetSet	The candidate target nodes, or null for the whole roadmap.
_collision	An optional output iterator for collisions.

Reimplemented from ConnectorMethod.

Field Documentation

◆ m_neighborBuffer

std::vector<Neighbor> ConnectorMethod::m_neighborBuffer

protected

This is a performance optimization which makes a big impact. The neighbor set can be as large as the roadmap, so it is important to avoid re-allocating it on every call to ConnectImpl.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/Connectors/RewireConnector.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/Connectors/RewireConnector.cpp

Data Structures

Public Types

Public Member Functions

ConnectorMethod Overrides

Additional Inherited Members