#include <ValidityCheckerMethod.h>

Inheritance diagram for ValidityCheckerMethod:

[legend]

Collaboration diagram for ValidityCheckerMethod:

Public Types
Motion Planning Types
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
	ValidityCheckerMethod ()=default

	ValidityCheckerMethod (XMLNode &_node)

virtual	~ValidityCheckerMethod ()=default

Validity Accessors
bool	GetValidity () const
	Get the current meaning of "valid" (true is default). More...

void	ToggleValidity ()
	Switches the meaning of "valid" to "invalid" and vice versa. More...

Individual Configuration Validity
bool	IsValid (Cfg &_cfg, CDInfo &_cdInfo, const std::string &_caller)

bool	IsValid (Cfg &_cfg, const std::string &_caller)

Group Configuration Validity
bool	IsValid (GroupCfgType &_cfg, CDInfo &_cdInfo, const std::string &_caller)

bool	IsValid (GroupCfgType &_cfg, const std::string &_caller)

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...

Protected Member Functions
Helpers
virtual bool	IsValidImpl (Cfg &_cfg, CDInfo &_cdInfo, const std::string &_caller)=0

virtual bool	IsValidImpl (GroupCfgType &_cfg, CDInfo &_cdInfo, const std::string &_caller)

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

const std::string &	GetBaseFilename () const

Protected Attributes
Internal State
bool	m_validity {true}
	Use standard validity? False indicates negation. More...

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

Detailed Description

Base algorithm abstraction for ValidityCheckers.

Validity checkers define some notion of 'valid' for a configuration. The IsValid function evaluates a configuration with respect to this definition. The output may be inverted by calling ToggleValidity.

For collision-detection type checkers, a CDInfo object may carry additional information about the check.

@usage

ValidityCheckerPointer vc = this->GetValidityChecker(m_vcLabel);
Cfg c;
CDInfo cdInfo;
string callee("SomeFunc");
bool valid = vc->IsValid(c, cdInfo, callee);

Examples: ValidityCheckers_UseCase.cpp.

Member Typedef Documentation

◆ Formation

typedef GroupCfgType::Formation ValidityCheckerMethod::Formation

◆ GroupCfgType

typedef MPBaseObject::GroupCfgType ValidityCheckerMethod::GroupCfgType

Constructor & Destructor Documentation

◆ ValidityCheckerMethod() [1/2]

ValidityCheckerMethod::ValidityCheckerMethod ( )

default

◆ ValidityCheckerMethod() [2/2]

ValidityCheckerMethod::ValidityCheckerMethod ( XMLNode & _node )

inline

◆ ~ValidityCheckerMethod()

virtual ValidityCheckerMethod::~ValidityCheckerMethod ( )

virtualdefault

Member Function Documentation

◆ GetValidity()

bool ValidityCheckerMethod::GetValidity ( ) const

Get the current meaning of "valid" (true is default).

◆ IsValid() [1/4]

bool ValidityCheckerMethod::IsValid	(	Cfg &	_cfg,
		CDInfo &	_cdInfo,
		const std::string &	_caller
	)

Classify a configuration to either cfree or cobst.

Parameters

_cfg	The individual configuration.
_cdInfo	Output for extra computed information such as clearance.
_caller	Name of the calling function.

Returns: True iff _cfg is in cfree, false otherwise.

Examples: ValidityCheckers_UseCase.cpp.

◆ IsValid() [2/4]

bool ValidityCheckerMethod::IsValid	(	Cfg &	_cfg,
		const std::string &	_caller
	)

This version does not return extra information. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

◆ IsValid() [3/4]

bool ValidityCheckerMethod::IsValid	(	GroupCfgType &	_cfg,
		CDInfo &	_cdInfo,
		const std::string &	_caller
	)

Classify a gropu configuration to either cfree or cobst.

Parameters

_cfg	The group configuration.
_cdInfo	Output for extra computed information such as clearance.
_caller	Name of the calling function.

Returns: True iff _cfg is in cfree, false otherwise.

◆ IsValid() [4/4]

bool ValidityCheckerMethod::IsValid	(	GroupCfgType &	_cfg,
		const std::string &	_caller
	)

This version does not return extra information. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

◆ IsValidImpl() [1/2]

virtual bool ValidityCheckerMethod::IsValidImpl	(	Cfg &	_cfg,
		CDInfo &	_cdInfo,
		const std::string &	_caller
	)

protectedpure virtual

Implementation of the classification of a configuration to either cfree or cobst.

Parameters

_cfg	The individual configuration.
_cdInfo	Output for extra computed information such as clearance.
_caller	Name of the calling function.

Returns: True if _cfg is in cfree.

Implemented in TerrainValidityChecker, ObstacleClearanceValidity, NodeClearanceValidity, ComposeValidity, AlwaysTrueValidity, TopologicalMapValidity, ComposeCollision, and CollisionDetectionValidity.

◆ IsValidImpl() [2/2]

bool ValidityCheckerMethod::IsValidImpl	(	GroupCfgType &	_cfg,
		CDInfo &	_cdInfo,
		const std::string &	_caller
	)

protectedvirtual

Implementation of group cfg classification.

Parameters

_cfg	The group configuration.
_cdInfo	Output for extra computed information such as clearance.
_caller	Name of the calling function.

Returns: True if _cfg is in cfree.

Reimplemented in AlwaysTrueValidity, ComposeCollision, and CollisionDetectionValidity.

◆ ToggleValidity()

void ValidityCheckerMethod::ToggleValidity ( )

Switches the meaning of "valid" to "invalid" and vice versa.

Field Documentation

◆ m_validity

bool ValidityCheckerMethod::m_validity {true}

protected

Use standard validity? False indicates negation.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/ValidityCheckers/ValidityCheckerMethod.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/ValidityCheckers/ValidityCheckerMethod.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Formation

◆ GroupCfgType

Constructor & Destructor Documentation

◆ ValidityCheckerMethod() [1/2]

◆ ValidityCheckerMethod() [2/2]

◆ ~ValidityCheckerMethod()

Member Function Documentation

◆ GetValidity()

◆ IsValid() [1/4]

◆ IsValid() [2/4]

◆ IsValid() [3/4]

◆ IsValid() [4/4]

◆ IsValidImpl() [1/2]

◆ IsValidImpl() [2/2]

◆ ToggleValidity()

Field Documentation

◆ m_validity