#include <SkeletonClearanceUtility.h>

Inheritance diagram for SkeletonClearanceUtility:

Collaboration diagram for SkeletonClearanceUtility:

Public Member Functions
Construction
	SkeletonClearanceUtility ()

	SkeletonClearanceUtility (XMLNode &_node)

virtual	~SkeletonClearanceUtility ()=default

Skeleton Fix
void	operator() (WorkspaceSkeleton &_skeleton) const

void	HackFix (WorkspaceSkeleton &_skeleton) const

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

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 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 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 for algorithms that improve the obstacle clearance of a workspace skeleton.

Constructor & Destructor Documentation

◆ SkeletonClearanceUtility() [1/2]

SkeletonClearanceUtility::SkeletonClearanceUtility ( )

◆ SkeletonClearanceUtility() [2/2]

SkeletonClearanceUtility::SkeletonClearanceUtility ( XMLNode & _node )

◆ ~SkeletonClearanceUtility()

virtual SkeletonClearanceUtility::~SkeletonClearanceUtility ( )

virtualdefault

Member Function Documentation

◆ HackFix()

void SkeletonClearanceUtility::HackFix ( WorkspaceSkeleton & _skeleton ) const

Fix the skeleton clearance by attempting to push vertices and edge points away from nearby obstacles.

Note: This is a hacky way to fix clearance that we used in the WAFR'16 paper Dynamic Region RRT. A medial axis push is the preferred way to do this - this version is retained for reference and reproduction of prior work only. It should not be used in new methods.

Parameters

_skeleton The skeleton to adjust.

◆ operator()()

void SkeletonClearanceUtility::operator() ( WorkspaceSkeleton & _skeleton ) const

Fix the skeleton clearance by pushing vertices and edge points to the medial axis.