#include <ShortcuttingPathModifier.h>

Inheritance diagram for ShortcuttingPathModifier:

Collaboration diagram for ShortcuttingPathModifier:

Public Types
typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

Public Types inherited from PathModifierMethod
typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

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
	ShortcuttingPathModifier (const string &_dmLabel="", const string &_lpLabel="")

	ShortcuttingPathModifier (XMLNode &_node)

virtual void	ParseXML (XMLNode &_node)

virtual void	Print (ostream &_os) const

bool	ModifyImpl (RoadmapType *_graph, std::vector< Cfg > &_path, std::vector< Cfg > &_newPath) override

Public Member Functions inherited from PathModifierMethod
	PathModifierMethod ()=default

	PathModifierMethod (XMLNode &_node)

virtual	~PathModifierMethod ()=default

virtual void	Modify (vector< Cfg > &_path, vector< Cfg > &_newPath)

virtual void	Modify (RoadmapType *_graph, vector< Cfg > &_path, vector< Cfg > &_newPath)

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 PathModifierMethod
void	AddToPath (vector< Cfg > &_path, LPOutput *_lpOutput, Cfg &_end)

vector< VID >	GetPathVIDs (vector< Cfg > &_path, RoadmapType *_graph)

void	RemoveBranches (const string &_dmLabel, vector< Cfg > &_path, vector< Cfg > &_newPath)
	@TODO Figure out what this does and document it. More...

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

Perform "shortcutting" on a provided path.

Member Typedef Documentation

◆ RoadmapType

typedef MPBaseObject::RoadmapType ShortcuttingPathModifier::RoadmapType

◆ VID

typedef RoadmapType::VID ShortcuttingPathModifier::VID

Constructor & Destructor Documentation

◆ ShortcuttingPathModifier() [1/2]

ShortcuttingPathModifier::ShortcuttingPathModifier	(	const string &	_dmLabel = `""`,
		const string &	_lpLabel = `""`
	)

◆ ShortcuttingPathModifier() [2/2]

ShortcuttingPathModifier::ShortcuttingPathModifier ( XMLNode & _node )

Member Function Documentation

◆ ModifyImpl()

bool ShortcuttingPathModifier::ModifyImpl	(	RoadmapType *	_graph,
		std::vector< Cfg > &	_path,
		std::vector< Cfg > &	_newPath
	)

overridevirtual

Modifies the input path to a new valid path

Parameters

_path	A path of configurations within a resolution distance of each other
_newPath	An empty vector to place the resulting modified path

Returns: Success/failed modification

Implements PathModifierMethod.

◆ ParseXML()

void ShortcuttingPathModifier::ParseXML ( XMLNode & _node )

virtual

◆ Print()

void ShortcuttingPathModifier::Print ( ostream & _os ) const

virtual

Print internal state of this object.