#include <UniformObstacleBasedSampler.h>

Inheritance diagram for UniformObstacleBasedSampler:

Collaboration diagram for UniformObstacleBasedSampler:

Public Types
Motion Planning Types
typedef MPBaseObject::GroupCfgType	GroupCfgType

Public Types inherited from SamplerMethod
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef std::vector< Cfg >::iterator	InputIterator

typedef std::back_insert_iterator< std::vector< Cfg > >	OutputIterator

typedef std::vector< GroupCfgType >::iterator	GroupInputIterator

typedef std::back_insert_iterator< std::vector< GroupCfgType > >	GroupOutputIterator

typedef std::map< Robot , const Boundary >	BoundaryMap
	A map from robots to sampling boundaries. 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
	UniformObstacleBasedSampler (XMLNode &_node)

virtual	~UniformObstacleBasedSampler ()=default

	UniformObstacleBasedSampler (string _vcLabel="", string _dmLabel="", double _margin=0, bool _useBoundary=false)

MPBaseObject Overrides
void	Print (ostream &_os) const override

Sampler Interface
virtual bool	Sampler (Cfg &_cfg, const Boundary *const _boundary, std::vector< Cfg > &_result, std::vector< Cfg > &_invalid) override

virtual bool	Sampler (GroupCfgType &_cfg, const Boundary *const _boundary, std::vector< GroupCfgType > &_result, std::vector< GroupCfgType > &_invalid) override

Public Member Functions inherited from SamplerMethod
	SamplerMethod ()=default

	SamplerMethod (XMLNode &_node)

virtual	~SamplerMethod ()=0

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid, OutputIterator _invalid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary const _robotBoundary, const Boundary const _eeBoundary, OutputIterator _valid, OutputIterator _invalid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary const _robotBoundary, const Boundary const _eeBoundary, OutputIterator _valid)

virtual void	Filter (InputIterator _first, InputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid, OutputIterator _invalid)

void	Filter (InputIterator _first, InputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid, GroupOutputIterator _invalid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const BoundaryMap &_boundary, GroupOutputIterator _valid, GroupOutputIterator _invalid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const BoundaryMap &_boundary, GroupOutputIterator _valid)

virtual void	Filter (GroupInputIterator _first, GroupInputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid, GroupOutputIterator _invalid)

void	Filter (GroupInputIterator _first, GroupInputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

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 SamplerMethod
virtual bool	Sampler (Cfg &_cfg, const Boundary const _robotBoundary, const Boundary const _eeBoundary, std::vector< Cfg > &_valid, std::vector< Cfg > &_invalid)

virtual bool	Sampler (GroupCfgType &_cfg, const BoundaryMap &_boundaryMap, std::vector< GroupCfgType > &_valid, std::vector< GroupCfgType > &_invalid)

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

This sampler generates obstacle-based configurations that uniformly cover the contact surface. It first generates a set of uniformly distributed fixed length segments, and then tests intermediate points on the segments in order to find valid configurations adjacent to invalid configurations. Those are retained as roadmap nodes.

Reference: https://bit.ly/3P1f8dq Hsin-Yi Yeh and Shawna Thomas and David Eppstein and Nancy M. Amato. "UOBPRM: A uniformly distributed obstacle-based PRM". TRO 2012.

Member Typedef Documentation

◆ GroupCfgType

typedef MPBaseObject::GroupCfgType UniformObstacleBasedSampler::GroupCfgType

Constructor & Destructor Documentation

◆ UniformObstacleBasedSampler() [1/2]

UniformObstacleBasedSampler::UniformObstacleBasedSampler ( XMLNode & _node )

◆ ~UniformObstacleBasedSampler()

virtual UniformObstacleBasedSampler::~UniformObstacleBasedSampler ( )

virtualdefault

◆ UniformObstacleBasedSampler() [2/2]

UniformObstacleBasedSampler::UniformObstacleBasedSampler	(	string	_vcLabel = `""`,
		string	_dmLabel = `""`,
		double	_margin = `0`,
		bool	_useBoundary = `false`
	)

Member Function Documentation

◆ Print()

void UniformObstacleBasedSampler::Print ( ostream & _os ) const

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from MPBaseObject.

◆ Sampler() [1/2]

bool UniformObstacleBasedSampler::Sampler	(	Cfg &	_cfg,
		const Boundary *const	_boundary,
		std::vector< Cfg > &	_result,
		std::vector< Cfg > &	_invalid
	)

overridevirtual

Takes the input configuration and applies the sampler rule to generate output configurations on the contact surface.

Parameters

_cfg	The input configuration.
_boundary	The sampling boundary.
_result	The resulting output configurations.
_invalid	The (optional) return for failed attempts.

Returns: true if a valid configuration was generated, false otherwise.

Reimplemented from SamplerMethod.

◆ Sampler() [2/2]

bool UniformObstacleBasedSampler::Sampler	(	GroupCfgType &	_cfg,
		const Boundary *const	_boundary,
		std::vector< GroupCfgType > &	_valid,
		std::vector< GroupCfgType > &	_invalid
	)

overridevirtual

Takes a single input configuration and applies the sampler rule to generate one or more output configurations.

Parameters

_cfg	The input group configuration.
_boundary	The sampling boundary.
_valid	The resulting output configurations.
_invalid	The (optional) return for failed attempts.

Returns: True if a valid configuration was generated, false otherwise.

Reimplemented from SamplerMethod.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/Samplers/UniformObstacleBasedSampler.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/Samplers/UniformObstacleBasedSampler.cpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ GroupCfgType

Constructor & Destructor Documentation

◆ UniformObstacleBasedSampler() [1/2]

◆ ~UniformObstacleBasedSampler()

◆ UniformObstacleBasedSampler() [2/2]

Member Function Documentation

◆ Print()

◆ Sampler() [1/2]

◆ Sampler() [2/2]