#include <StraightLine.h>

Inheritance diagram for StraightLine:

Collaboration diagram for StraightLine:

[legend]

Public Types
Motion Planning Types
typedef MPBaseObject::WeightType	WeightType

typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef MPBaseObject::GroupRoadmapType	GroupRoadmapType

typedef GroupCfgType::Formation	Formation

Public Types inherited from LocalPlannerMethod
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef GroupCfgType::Formation	Formation

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
	StraightLine (const std::string &_vcLabel="", bool _binary=false, bool _saveIntermediates=false)

	StraightLine (XMLNode &_node)

virtual	~StraightLine ()=default

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

LocalPlannerMethod Overrides
virtual bool	IsConnected (const Cfg &_c1, const Cfg &_c2, Cfg &_col, LPOutput *_lpOutput, double _positionRes, double _orientationRes, bool _checkCollision=true, bool _savePath=false) override

virtual bool	IsConnected (const GroupCfgType &_c1, const GroupCfgType &_c2, GroupCfgType &_col, GroupLPOutput *_lpOutput, double _positionRes, double _orientationRes, bool _checkCollision=true, bool _savePath=false, const Formation &_robotIndexes=Formation()) override

Public Member Functions inherited from LocalPlannerMethod
	LocalPlannerMethod (bool _saveIntermediates=false)

	LocalPlannerMethod (XMLNode &_node)

virtual	~LocalPlannerMethod ()=default

bool	IsConnected (const Cfg &_start, const Cfg &_end, LPOutput *_lpOutput, double _posRes, double _oriRes, bool _checkCollision=true, bool _savePath=false)

bool	IsConnected (const GroupCfgType &_start, const GroupCfgType &_end, GroupLPOutput *_lpOutput, double _posRes, double _oriRes, bool _checkCollision=true, bool _savePath=false, const Formation &_formation=Formation())

std::vector< Cfg >	BlindPath (const std::vector< Cfg > &_waypoints, const double _posRes, const double _oriRes)

std::vector< Cfg >	BlindPath (const std::vector< Cfg > &_waypoints)

std::vector< GroupCfgType >	BlindPath (const std::vector< GroupCfgType > &_waypoints, const double _posRes, const double _oriRes, const Formation &_formation=Formation())

std::vector< GroupCfgType >	BlindPath (const std::vector< GroupCfgType > &_waypoints, const Formation &_formation=Formation())

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...

Protected Member Functions
Helpers
bool	IsConnectedFunc (const Cfg &_c1, const Cfg &_c2, Cfg &_col, LPOutput *_lpOutput, double _positionRes, double _orientationRes, bool _checkCollision=true, bool _savePath=false)
	Default for non closed chains. More...

virtual bool	IsConnectedEqualVelocities (const GroupCfgType &_c1, const GroupCfgType &_c2, GroupCfgType &_col, GroupLPOutput *_lpOutput, double _positionRes, double _orientationRes, bool _checkCollision, bool _savePath, const Formation &_robotIndexes)

virtual bool	IsConnectedSLSequential (const Cfg &_c1, const Cfg &_c2, Cfg &_col, LPOutput *_lpOutput, int &_cdCounter, double _positionRes, double _orientationRes, bool _checkCollision=true, bool _savePath=false)

virtual bool	IsConnectedSLBinary (const Cfg &_c1, const Cfg &_c2, Cfg &_col, LPOutput *_lpOutput, int &_cdCounter, double _positionRes, double _orientationRes, bool _checkCollision=true, bool _savePath=false)

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

const std::string &	GetBaseFilename () const

Protected Attributes
Internal State
std::string	m_dmLabel
	The metric for measuring edge length. More...

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

bool	m_binaryEvaluation {false}
	Use binary search? More...

bool	m_equalVelocity {false}
	decides if multi-robots move at same speed More...

double	m_selfEdgeSteps {1}

Protected Attributes inherited from LocalPlannerMethod
bool	m_saveIntermediates {false}
	Save the intermediates in the roadmap? More...

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

Detailed Description

Check a straight-line path in c-space for valididty.

This local planner validates straight line paths which is a direct linear interpolation between two configurations in @cspace.

Member Typedef Documentation

◆ Formation

typedef GroupCfgType::Formation StraightLine::Formation

◆ GroupCfgType

typedef MPBaseObject::GroupCfgType StraightLine::GroupCfgType

◆ GroupRoadmapType

typedef MPBaseObject::GroupRoadmapType StraightLine::GroupRoadmapType

◆ WeightType

typedef MPBaseObject::WeightType StraightLine::WeightType

Constructor & Destructor Documentation

◆ StraightLine() [1/2]

StraightLine::StraightLine	(	const std::string &	_vcLabel = `""`,
		bool	_binary = `false`,
		bool	_saveIntermediates = `false`
	)

◆ StraightLine() [2/2]

StraightLine::StraightLine ( XMLNode & _node )

◆ ~StraightLine()

virtual StraightLine::~StraightLine ( )

virtualdefault

Member Function Documentation

◆ IsConnected() [1/2]

bool StraightLine::IsConnected	(	const Cfg &	_start,
		const Cfg &	_end,
		Cfg &	_col,
		LPOutput *	_lpOutput,
		double	_posRes,
		double	_oriRes,
		bool	_checkCollision = `true`,
		bool	_savePath = `false`
	)

overridevirtual

Validate a simple path between two nodes.

Parameters

_start	The starting configuration.
_end	The ending configuration.
_col	The witness configuration on failure.
_lpOutput	Weight and path computed from local plan.
_posRes	Positional DOF resolution.
_oriRes	Rotational DOF resolution.
_checkCollision	Use validity checking?
_savePath	Save all configurations along the path?

Returns: A boolean indicating whether the connection succeeded.

@usage

LocalPlannerPointer lp = this->GetLocalPlanner(m_lpLabel);
Environment* env = this->GetEnvironment();
CfgType c1, c2, col;
LPOutput lpOut;
lp->IsConnected(c1, c2, col, &lpOut, env->GetPositionRes(),
    env->GetOrientationRes());

Implements LocalPlannerMethod.

◆ IsConnected() [2/2]

bool StraightLine::IsConnected	(	const GroupCfgType &	_start,
		const GroupCfgType &	_end,
		GroupCfgType &	_col,
		GroupLPOutput *	_lpOutput,
		double	_posRes,
		double	_oriRes,
		bool	_checkCollision = `true`,
		bool	_savePath = `false`,
		const Formation &	_formation = `Formation()`
	)

overridevirtual

This version is for group configurations. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Todo:: This can likely be optimized. For one, only one Configure call should be necessary here. Also a lot of the group Cfgs here could be made individual if using the leader, then using Configure on that.

Reimplemented from LocalPlannerMethod.

◆ IsConnectedEqualVelocities()

bool StraightLine::IsConnectedEqualVelocities	(	const GroupCfgType &	_c1,
		const GroupCfgType &	_c2,
		GroupCfgType &	_col,
		GroupLPOutput *	_lpOutput,
		double	_positionRes,
		double	_orientationRes,
		bool	_checkCollision,
		bool	_savePath,
		const Formation &	_robotIndexes
	)

protectedvirtual

Decides if the robots move at equal velocity. This method implements an equal distance intermediate instead of a fixed quanity across all paths. If the cfg has reached its goal, increment will be set to 0 to wait for the other robots.

Todo:: This can likely be optimized. For one, only one Configure call should be necessary here. Also a lot of the group Cfgs here could be made individual if using the leader, then using Configure on that.

◆ IsConnectedFunc()

bool StraightLine::IsConnectedFunc	(	const Cfg &	_c1,
		const Cfg &	_c2,
		Cfg &	_col,
		LPOutput *	_lpOutput,
		double	_positionRes,
		double	_orientationRes,
		bool	_checkCollision = `true`,
		bool	_savePath = `false`
	)

protected

Default for non closed chains.

◆ IsConnectedSLBinary()

bool StraightLine::IsConnectedSLBinary	(	const Cfg &	_c1,
		const Cfg &	_c2,
		Cfg &	_col,
		LPOutput *	_lpOutput,
		int &	_cdCounter,
		double	_positionRes,
		double	_orientationRes,
		bool	_checkCollision = `true`,
		bool	_savePath = `false`
	)

protectedvirtual

Check if two Cfgs could be connected by straight line This method uses binary search to check clearances of Cfgs between _c1 and _c2.

Todo:: Why are we running a local planner on an interaction edge? That shouldn't be necessary since we need neither intermediates nor CD information in that case?

◆ IsConnectedSLSequential()

bool StraightLine::IsConnectedSLSequential	(	const Cfg &	_c1,
		const Cfg &	_c2,
		Cfg &	_col,
		LPOutput *	_lpOutput,
		int &	_cdCounter,
		double	_positionRes,
		double	_orientationRes,
		bool	_checkCollision = `true`,
		bool	_savePath = `false`
	)

protectedvirtual

Check if two Cfgs could be connected by straight line. This method implements straight line connection local planner by checking collision of each Cfg along the line. If the is any Cfg causes Robot collides with any obstacle, false will be returned.

Todo:: Why are we running a local planner on an interaction edge? That shouldn't be necessary since we need neither intermediates nor CD information in that case?

◆ Print()

void StraightLine::Print ( std::ostream & _os ) const

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from LocalPlannerMethod.

Field Documentation

◆ m_binaryEvaluation

bool StraightLine::m_binaryEvaluation {false}

protected

Use binary search?

◆ m_dmLabel

std::string StraightLine::m_dmLabel

protected

The metric for measuring edge length.

◆ m_equalVelocity

bool StraightLine::m_equalVelocity {false}

protected

decides if multi-robots move at same speed

◆ m_selfEdgeSteps

double StraightLine::m_selfEdgeSteps {1}

protected

◆ m_vcLabel

std::string StraightLine::m_vcLabel

protected

The validity checker.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/LocalPlanners/StraightLine.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/LocalPlanners/StraightLine.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Formation

◆ GroupCfgType

◆ GroupRoadmapType

◆ WeightType

Constructor & Destructor Documentation

◆ StraightLine() [1/2]

◆ StraightLine() [2/2]

◆ ~StraightLine()

Member Function Documentation

◆ IsConnected() [1/2]

◆ IsConnected() [2/2]

◆ IsConnectedEqualVelocities()

◆ IsConnectedFunc()

◆ IsConnectedSLBinary()

◆ IsConnectedSLSequential()

◆ Print()

Field Documentation

◆ m_binaryEvaluation

◆ m_dmLabel

◆ m_equalVelocity

◆ m_selfEdgeSteps

◆ m_vcLabel