#include <TogglePRMStrategy.h>

Inheritance diagram for TogglePRMStrategy:

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Collaboration diagram for TogglePRMStrategy:

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Public Types
Motion Planning Types
typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

typedef BasicPRM::SamplerSetting	SamplerSetting

Local Types
typedef std::deque< std::pair< bool, Cfg > >	ToggleQueue

Public Types inherited from BasicPRM
typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

Public Types inherited from MPStrategyMethod
typedef size_t	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
Construction
	TogglePRMStrategy ()

	TogglePRMStrategy (XMLNode &_node)

virtual	~TogglePRMStrategy ()=default

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

Public Member Functions inherited from BasicPRM
	BasicPRM ()

	BasicPRM (XMLNode &_node)

virtual	~BasicPRM ()=default

Public Member Functions inherited from MPStrategyMethod
	MPStrategyMethod ()=default

	MPStrategyMethod (XMLNode &_node)

virtual	~MPStrategyMethod ()

void	operator() ()
	Execute the strategy by calling Initialize, Run, and Finalize. More...

void	EnableOutputFiles (const bool _enable=true)

virtual void	Initialize ()

Public Member Functions inherited from MPBaseObject
	MPBaseObject (const std::string &_label="", const std::string &_name="", bool _debug=false)

	MPBaseObject (XMLNode &_node)

virtual	~MPBaseObject ()

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
MPStrategyMethod Overrides
virtual void	Initialize () override

virtual void	Iterate () override
	Execute one iteration of the strategy. More...

Helpers
void	GenerateNodes ()
	Sample new nodes and put them into the toggle queue. More...

void	ConnectHelper (const bool _valid, const VID _vid)

void	Enqueue (const Cfg &_cfg)

Protected Member Functions inherited from BasicPRM
std::vector< VID >	Sample ()

void	Connect (const std::vector< VID > &_vids)

Protected Member Functions inherited from MPStrategyMethod
virtual void	Run ()
	Call Iterate until EvaluateMap is true. More...

virtual bool	EvaluateMap ()
	Check if we satisfied all map evaluators. More...

virtual void	Finalize ()
	Clean-up and output results. More...

virtual void	ClearRoadmap ()
	Pre-clear the roadmap(s) if requested. More...

virtual size_t	GenerateStart (const std::string &_samplerLabel="")

virtual std::vector< size_t >	GenerateGoals (const std::string &_samplerLabel="")

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

const std::string &	GetBaseFilename () const

Protected Attributes
Internal State
std::vector< std::string >	m_colConnectorLabels

std::string	m_vcLabel
	Validity checker for lazy samplers. More...

bool	m_priority {false}
	Give priority to valid nodes in the queue? More...

ToggleQueue	m_queue
	Queue for sharing information between maps. More...

Protected Attributes inherited from BasicPRM
std::vector< SamplerSetting >	m_samplers
	Sampler labels with number and attempts of sampler. More...

std::vector< std::string >	m_connectorLabels
	Connector labels for node-to-node. More...

std::string	m_inputMapFilename
	Input roadmap to initialize map. More...

bool	m_fixBase {false}

std::unique_ptr< Boundary >	m_samplingBoundary
	An optional sampling boundary for fixing the base. More...

Protected Attributes inherited from MPStrategyMethod
std::string	m_querySampler
	Sampler for generating start/goal. More...

std::vector< std::string >	m_meLabels
	The list of map evaluators to use. More...

size_t	m_iterations {0}
	The number of executed iterations. More...

bool	m_writeOutput {true}
	Write output at the end? More...

bool	m_clearMap {false}
	Clear the roadmap(s) before run? More...

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

Detailed Description

Toggle PRM builds two roadmaps, one free and one obstacle. The information discovered about each space is used to assist the mapping of the other space.

Reference: Jory Denny, Nancy Amato. "Toggle PRM: A Coordinated Mapping of C-free and C-obstacle in Arbitrary Dimension." WAFR 2012.

Todo:: This can probably derive from BasicPRM to reduce duplication of common code.

Member Typedef Documentation

◆ RoadmapType

typedef MPBaseObject::RoadmapType TogglePRMStrategy::RoadmapType

◆ SamplerSetting

typedef BasicPRM::SamplerSetting TogglePRMStrategy::SamplerSetting

◆ ToggleQueue

typedef std::deque<std::pair<bool, Cfg> > TogglePRMStrategy::ToggleQueue

◆ VID

typedef RoadmapType::VID TogglePRMStrategy::VID

Constructor & Destructor Documentation

◆ TogglePRMStrategy() [1/2]

TogglePRMStrategy::TogglePRMStrategy ( )

◆ TogglePRMStrategy() [2/2]

TogglePRMStrategy::TogglePRMStrategy ( XMLNode & _node )

◆ ~TogglePRMStrategy()

virtual TogglePRMStrategy::~TogglePRMStrategy ( )

virtualdefault

Member Function Documentation

◆ ConnectHelper()

void TogglePRMStrategy::ConnectHelper	(	const bool	_valid,
		const VID	_vid
	)

protected

Try to connect a new node to the correct roadmap.

Parameters

_valid	Is the new node valid?
_vid	The new node's VID.

◆ Enqueue()

void TogglePRMStrategy::Enqueue ( const Cfg & _cfg )

protected

Add a configuration to the toggle queue.

Parameters

_cfg	The configuration to enqueue. Must already be validated by a collision-detection VC.

◆ GenerateNodes()

void TogglePRMStrategy::GenerateNodes ( )

protected

Sample new nodes and put them into the toggle queue.

◆ Initialize()

void TogglePRMStrategy::Initialize ( )

overrideprotectedvirtual

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.

Todo:: Move input map parsing to the MPSolution somehow?

Reimplemented from BasicPRM.

◆ Iterate()

void TogglePRMStrategy::Iterate ( )

overrideprotectedvirtual

Execute one iteration of the strategy.

Reimplemented from BasicPRM.

◆ Print()

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

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from BasicPRM.

Field Documentation

◆ m_colConnectorLabels

std::vector<std::string> TogglePRMStrategy::m_colConnectorLabels

protected

◆ m_priority

bool TogglePRMStrategy::m_priority {false}

protected

Give priority to valid nodes in the queue?

◆ m_queue

ToggleQueue TogglePRMStrategy::m_queue

protected

Queue for sharing information between maps.

◆ m_vcLabel

std::string TogglePRMStrategy::m_vcLabel

protected

Validity checker for lazy samplers.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MPStrategies/TogglePRMStrategy.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MPStrategies/TogglePRMStrategy.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ RoadmapType

◆ SamplerSetting

◆ ToggleQueue

◆ VID

Constructor & Destructor Documentation

◆ TogglePRMStrategy() [1/2]

◆ TogglePRMStrategy() [2/2]

◆ ~TogglePRMStrategy()

Member Function Documentation

◆ ConnectHelper()

◆ Enqueue()

◆ GenerateNodes()

◆ Initialize()

◆ Iterate()

◆ Print()

Field Documentation

◆ m_colConnectorLabels

◆ m_priority

◆ m_queue

◆ m_vcLabel