#include <RotationThenTranslation.h>

Inheritance diagram for RotationThenTranslation:

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Collaboration diagram for RotationThenTranslation:

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Public Member Functions
Construction
	RotationThenTranslation ()

	RotationThenTranslation (XMLNode &_node)

virtual	~RotationThenTranslation ()=default

ExtenderMethod Overrides
virtual bool	Extend (const Cfg &_start, const Cfg &_end, Cfg &_new, LPOutput &_lp) override

Public Member Functions inherited from BasicExtender
	BasicExtender ()

	BasicExtender (XMLNode &_node)

virtual	~BasicExtender ()=default

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

virtual bool	Extend (const Cfg &_start, const Cfg &_end, Cfg &_new, LPOutput &_lp, CDInfo &_cdInfo) override
	An optional version if CDInfo is desired. Not required to implement. More...

virtual bool	Extend (const GroupCfgType &_start, const GroupCfgType &_end, GroupCfgType &_new, GroupLPOutput &_lp, const Formation &_robotIndexes=Formation()) override

virtual bool	Extend (const GroupCfgType &_start, const GroupCfgType &_end, GroupCfgType &_new, GroupLPOutput &_lp, CDInfo &_cdInfo, const Formation &_robotIndexes=Formation()) override

Public Member Functions inherited from ExtenderMethod
	ExtenderMethod ()=default

	ExtenderMethod (XMLNode &_node)

virtual	~ExtenderMethod ()=default

virtual double	GetMinDistance () const
	Get the minimum extension distance. More...

virtual double	GetMaxDistance () const
	Get the maximum extension distance. More...

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
Public Types inherited from BasicExtender
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef MPBaseObject::GroupWeightType	GroupWeightType

typedef GroupCfgType::Formation	Formation

Public Types inherited from ExtenderMethod
typedef MPBaseObject::RoadmapType	RoadmapType

typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef GroupLocalPlan< RoadmapType >	GroupWeightType

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

Protected Member Functions inherited from BasicExtender
bool	Expand (const Cfg &_start, const Cfg &_end, Cfg &_newCfg, double _delta, LPOutput &_lp, double _posRes, double _oriRes)

bool	Expand (const Cfg &_start, const Cfg &_end, Cfg &_newCfg, double _delta, LPOutput &_lp, CDInfo &_cdInfo, double _posRes, double _oriRes)

bool	Expand (const GroupCfgType &_start, const GroupCfgType &_end, GroupCfgType &_newCfg, double _delta, GroupLPOutput &_lp, double _posRes, double _oriRes, const Formation &_robotIndexes=Formation())
	GroupCfg Overrides. More...

bool	Expand (const GroupCfgType &_start, const GroupCfgType &_end, GroupCfgType &_newCfg, double _delta, GroupLPOutput &_lp, CDInfo &_cdInfo, double _posRes, double _oriRes, const Formation &_robotIndexes=Formation())

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

const std::string &	GetBaseFilename () const

Protected Attributes inherited from BasicExtender
std::string	m_dmLabel
	The distance metric to use. More...

std::string	m_vcLabel
	The validity checker to use. More...

bool	m_randomOrientation {true}
	Setting this to false fixes orientation. More...

Protected Attributes inherited from ExtenderMethod
double	m_minDist {.1}
	The minimum valid extension distance. More...

double	m_maxDist {1.}
	The maximum valid extension distance. More...

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

Detailed Description

Extend all rotational DOF before extending all translational DOF.

Rotation followed by Extension. In this way of extending the source configuration is first rotated to align with the target configuration until it is aligned or there is collision. It is then extended toward the target configuration until collision or the target configuration is reached. This can be seen as growing with a modified rotate-at-s local planner where $s = 0$ . Growing toward $q_{dir}$ can be seen as extending from $q_{near}$ to $q_{rand1}$ which is only a change in orientation followed by a translation from $q_{rand1}$ to $q_{rand}$ .

Constructor & Destructor Documentation

◆ RotationThenTranslation() [1/2]

RotationThenTranslation::RotationThenTranslation ( )

◆ RotationThenTranslation() [2/2]

RotationThenTranslation::RotationThenTranslation ( XMLNode & _node )

◆ ~RotationThenTranslation()

virtual RotationThenTranslation::~RotationThenTranslation ( )

virtualdefault

Member Function Documentation

◆ Extend()

bool RotationThenTranslation::Extend	(	const Cfg &	_start,
		const Cfg &	_end,
		Cfg &	_new,
		LPOutput &	_lp
	)

overridevirtual

Extends a local plan from a starting configuration towards a target configuration.

Parameters

_start	Initial configuration to grow from.
_end	Target configuration to grow towards.
_new	Placeholder for resulting configuration.
_lp	Placeholder for polygonal chain configurations for non-straight-line extention operations and associated weight.

Returns: True if the extension produced a valid configuration that was at least the minimum distance away from the starting point.

Reimplemented from BasicExtender.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/Extenders/RotationThenTranslation.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/Extenders/RotationThenTranslation.cpp

Public Member Functions