#include <SafeIntervalTool.h>

Inheritance diagram for SafeIntervalTool:

Collaboration diagram for SafeIntervalTool:

Public Types
Motion Planning Types
typedef MPBaseObject::RoadmapType	RoadmapType

typedef MPBaseObject::WeightType	WeightType

typedef RoadmapType::VID	VID

Local Types
typedef std::vector< Range< double > >	Intervals
	A set of time intervals. More...

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
	SafeIntervalTool ()

	SafeIntervalTool (XMLNode &_node)

virtual	~SafeIntervalTool ()

MPBaseObject Overrides
virtual void	Initialize () override

Interval Computation
Intervals	ComputeIntervals (const Cfg &_cfg)

Intervals	ComputeIntervals (const WeightType &_weight, const VID _source, const VID _target, RoadmapType *_roadmap)

Interval Checking
bool	ContainsTimestep (const Intervals &_intervals, const double _timestep)

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

Computes safe intervals for Cfgs and Edges. A 'safe interval' is an interval of time where collision with a known dynamic obstacle (with known trajectory) will not occur.

This tool implements the concept of a 'Safe Intervals' from the paper:

Phillips, Mike, and Maxim Likhachev. "Sipp: Safe interval path planning for dynamic environments." Robotics and Automation (ICRA), 2011 IEEE International Conference on. IEEE, 2011.

Member Typedef Documentation

◆ Intervals

typedef std::vector<Range<double> > SafeIntervalTool::Intervals

A set of time intervals.

◆ RoadmapType

typedef MPBaseObject::RoadmapType SafeIntervalTool::RoadmapType

◆ VID

typedef RoadmapType::VID SafeIntervalTool::VID

◆ WeightType

typedef MPBaseObject::WeightType SafeIntervalTool::WeightType

Constructor & Destructor Documentation

◆ SafeIntervalTool() [1/2]

SafeIntervalTool::SafeIntervalTool ( )

◆ SafeIntervalTool() [2/2]

SafeIntervalTool::SafeIntervalTool ( XMLNode & _node )

◆ ~SafeIntervalTool()

SafeIntervalTool::~SafeIntervalTool ( )

virtualdefault

Member Function Documentation

◆ ComputeIntervals() [1/2]

SafeIntervalTool::Intervals SafeIntervalTool::ComputeIntervals ( const Cfg & _cfg )

Compute the safe intervals for a given Cfg.

Parameters

_cfg	The configuration to compute safeIntervals's for.

Returns: The set of safe intervals for _cfg.

◆ ComputeIntervals() [2/2]

SafeIntervalTool::Intervals SafeIntervalTool::ComputeIntervals	(	const WeightType &	_weight,
		const VID	_source,
		const VID	_target,
		RoadmapType *	_roadmap
	)

Compute the safe intervals for a given Edge, a source and a target.

Parameters

_weight	The edge to compute safeIntervals's for.
_source	The source VID to compute safeIntervals's for.
_target	The target VID to compute safeIntervals's for.
_roadmap	The current roadmap.

Returns: The set of safe intervals for _weight.

◆ ContainsTimestep()

bool SafeIntervalTool::ContainsTimestep	(	const Intervals &	_intervals,
		const double	_timestep
	)

Determine if a timestep is contained within a SafeInterval

Parameters

_intervals	The safe intervals to check in.
_timestep	The timestep to check.

◆ Initialize()

void SafeIntervalTool::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.

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

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

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Intervals

◆ RoadmapType

◆ VID

◆ WeightType

Constructor & Destructor Documentation

◆ SafeIntervalTool() [1/2]

◆ SafeIntervalTool() [2/2]

◆ ~SafeIntervalTool()

Member Function Documentation

◆ ComputeIntervals() [1/2]

◆ ComputeIntervals() [2/2]

◆ ContainsTimestep()

◆ Initialize()