Geometric skeleton of the workspace. More...

#include <WorkspaceSkeleton.h>

Inheritance diagram for WorkspaceSkeleton:

Collaboration diagram for WorkspaceSkeleton:

Public Types
Local Types
typedef GenericStateGraph< mathtool::Point3d, std::vector< mathtool::Point3d > >	BaseType

typedef BaseType::VID	VD

typedef BaseType::EID	ED

typedef BaseType::VI	vertex_iterator

typedef BaseType::VID	vertex_descriptor

typedef BaseType::EI	adj_edge_iterator

typedef mathtool::Point3d	CfgType

typedef std::vector< mathtool::Point3d >	EdgeType

Public Types inherited from GenericStateGraph< mathtool::Point3d, std::vector< mathtool::Point3d > >
enum class	HookType

using	STAPLGraph = stapl::sequential::graph< stapl::DIRECTED, stapl::NONMULTIEDGES, mathtool::Point3d, std::vector< mathtool::Point3d > >

typedef STAPLGraph::vertex_descriptor	VID

typedef STAPLGraph::edge_descriptor	EID

typedef EID::edge_id_type	EdgeID

typedef std::unordered_set< VID >	VertexSet

typedef STAPLGraph::vertex_iterator	VI

typedef STAPLGraph::adj_edge_iterator	EI

typedef STAPLGraph::const_vertex_iterator	CVI

typedef STAPLGraph::const_adj_edge_iterator	CEI

typedef STAPLGraph::vertex_property	VP

typedef STAPLGraph::edge_property	EP

typedef mathtool::Point3d	CfgType

typedef std::vector< mathtool::Point3d >	EdgeType

typedef stapl::sequential::vector_property_map< STAPLGraph, size_t >	ColorMap

typedef std::function< void(VI)>	VertexHook

typedef std::function< void(EI)>	EdgeHook

typedef CCTracker< GenericStateGraph< mathtool::Point3d, std::vector< mathtool::Point3d > > >	CCTrackerType

Public Member Functions
Construction
	WorkspaceSkeleton ()

Locators
vertex_iterator	FindNearestVertex (const mathtool::Point3d &_target)

vertex_iterator	FindVertex (const VD _vertexDescriptor)

adj_edge_iterator	FindEdge (const ED &_edgeDescriptor)

Modifiers
WorkspaceSkeleton	Direct (const mathtool::Point3d &_start)

void	Prune (const mathtool::Point3d &_goal)

void	RefineEdges (double _maxLength)
	Divide existing edges into sizes of at most _maxLength. More...

void	DoubleEdges ()

IO
void	Write (const std::string &_file)

void	Read (const std::string &_file)

Public Member Functions inherited from GenericStateGraph< mathtool::Point3d, std::vector< mathtool::Point3d > >
	GenericStateGraph ()

	GenericStateGraph (Robot *const _r)

	GenericStateGraph (const GenericStateGraph &_r)

	GenericStateGraph (GenericStateGraph &&_r)

GenericStateGraph &	operator= (const GenericStateGraph &_r)

GenericStateGraph &	operator= (GenericStateGraph &&_r)

bool	operator== (const GenericStateGraph &_r) const noexcept

bool	operator!= (const GenericStateGraph &_r) const noexcept

virtual VID	AddVertex (const mathtool::Point3d &_v) noexcept

virtual VID	AddVertex (const VID _vid, const mathtool::Point3d &_v) noexcept

virtual VID	AddDuplicateVertex (const mathtool::Point3d &_v) noexcept

virtual void	DeleteVertex (const VID _v) noexcept

virtual EID	AddEdge (const VID _source, const VID _target, const std::vector< mathtool::Point3d > &_w) noexcept

virtual std::pair< EID, EID >	AddEdge (const VID _source, const VID _target, const std::pair< std::vector< mathtool::Point3d >, std::vector< mathtool::Point3d > > &_w) noexcept

virtual EID	AddEdge (const EID _eid, const std::vector< mathtool::Point3d > &_w) noexcept

virtual EID	AddEdge (const VID _source, const VID _target) noexcept

virtual void	DeleteEdge (const VID _source, const VID _target) noexcept

virtual void	DeleteEdge (EI _iterator) noexcept

void	SetRobot (Robot *const _r) noexcept
	Set the robot pointer on all configurations in the map. More...

void	AppendRoadmap (const GenericStateGraph &_r)

void	SetCCTracker (StatClass *const _stats=nullptr)

size_t	Size () const noexcept
	Get the number of vertices in the roadmap. More...

bool	IsVertex (const VID _vid) const noexcept

bool	IsVertex (const mathtool::Point3d &_v) const noexcept

bool	IsVertex (const mathtool::Point3d &_v, CVI &_vi) const noexcept

bool	IsEdge (const VID _source, const VID _target) const noexcept

VID	GetVID (const T &_t) const noexcept

VID	GetVID (const VI &_t) const noexcept

VID	GetVID (const mathtool::Point3d &_t) const noexcept

const VertexSet &	GetPredecessors (const VID _vid) const noexcept

VID	GetLastVID () const noexcept
	Get the descriptor of the last vertex added to the graph. More...

size_t	GetTimestamp () const noexcept
	Each time the roadmap is modified, we update the timestamp. More...

const VertexSet &	GetAllVIDs () const noexcept
	Get the set of all VIDs in the roadmap. More...

Robot *	GetRobot () const noexcept
	Get the robot represented by this roadmap. More...

CCTrackerType *	GetCCTracker () const noexcept
	Get the connected component tracker. More...

VP &	GetVertex (T &_t) noexcept
	Retrieve a reference to a vertex property by descriptor or iterator. More...

VP &	GetVertex (VI &_t) noexcept

VP &	GetVertex (VID _t) noexcept

const VP &	GetVertex (T &_t) const noexcept

const VP &	GetVertex (CVI &_t) const noexcept

const VP &	GetVertex (VID _t) const noexcept

std::vector< VID >	GetChildren (const VID _vid) const noexcept

size_t	GetInDegree (const VID _vid) noexcept

std::vector< EI >	FindInboundEdges (const VID _vid)

bool	GetEdge (const VID _source, const VID _target, EI &_ei) noexcept

bool	GetEdge (const VID _source, const VID _target, CEI &_ei) const noexcept

EP &	GetEdge (const VID _source, const VID _target) noexcept

EP &	GetEdge (const EID _descriptor) noexcept

bool	IsHook (const HookType, const std::string &_label) const

void	InstallHook (const HookType _type, const std::string &_label, const VertexHook &_h)

void	InstallHook (const HookType _type, const std::string &_label, const EdgeHook &_h)

void	RemoveHook (const HookType _type, const std::string &_label)

void	DisableHooks () noexcept

void	EnableHooks () noexcept
	Enable the hook functions (default). More...

virtual void	ClearHooks () noexcept

virtual void	Write (const std::string &_filename, Environment *_env) const

Additional Inherited Members
Protected Member Functions inherited from GenericStateGraph< mathtool::Point3d, std::vector< mathtool::Point3d > >
void	ExecuteAddVertexHooks (const VI _iterator) noexcept

void	ExecuteDeleteVertexHooks (const VI _iterator) noexcept

void	ExecuteAddEdgeHooks (const EI _iterator) noexcept

void	ExecuteDeleteEdgeHooks (const EI _iterator) noexcept

std::string	ToString (const HookType &_t) const noexcept

Protected Attributes inherited from GenericStateGraph< mathtool::Point3d, std::vector< mathtool::Point3d > >
Robot *	m_robot
	The robot this roadmap is for. More...

size_t	m_timestamp
	Tracks the number of changes to the graph. More...

bool	m_enableHooks
	Use hook functions? More...

std::unordered_map< std::string, VertexHook >	m_addVertexHooks
	Hook functions to call when adding a vertex. More...

std::unordered_map< std::string, VertexHook >	m_deleteVertexHooks
	Hook functions to call when deleting a vertex. More...

std::unordered_map< std::string, EdgeHook >	m_addEdgeHooks
	Hook functions to call when adding an edge. More...

std::unordered_map< std::string, EdgeHook >	m_deleteEdgeHooks
	Hook functions to call when deleting an edge. More...

std::unique_ptr< CCTrackerType >	m_ccTracker
	Tracks weak CCs within the roadmap. More...

std::unordered_map< VID, VertexSet >	m_predecessors

VertexSet	m_allVIDs

Detailed Description

Geometric skeleton of the workspace.

Member Typedef Documentation

◆ adj_edge_iterator

typedef BaseType::EI WorkspaceSkeleton::adj_edge_iterator

◆ BaseType

typedef GenericStateGraph<mathtool::Point3d, std::vector<mathtool::Point3d> > WorkspaceSkeleton::BaseType

◆ CfgType

typedef mathtool::Point3d WorkspaceSkeleton::CfgType

◆ ED

typedef BaseType::EID WorkspaceSkeleton::ED

◆ EdgeType

typedef std::vector<mathtool::Point3d> WorkspaceSkeleton::EdgeType

◆ VD

typedef BaseType::VID WorkspaceSkeleton::VD

◆ vertex_descriptor

typedef BaseType::VID WorkspaceSkeleton::vertex_descriptor

◆ vertex_iterator

typedef BaseType::VI WorkspaceSkeleton::vertex_iterator

Constructor & Destructor Documentation

◆ WorkspaceSkeleton()

WorkspaceSkeleton::WorkspaceSkeleton ( )

Member Function Documentation

◆ Direct()

WorkspaceSkeleton WorkspaceSkeleton::Direct ( const mathtool::Point3d & _start )

Direct the skeleton so that all edges point outwards from the vertex nearest to a given starting point.

Parameters

_start A workspace point from which the direction should eminate.

Returns: A directed skeleton with flow pointing outward from _start.

◆ DoubleEdges()

void WorkspaceSkeleton::DoubleEdges ( )

Double up the edges so that each one has a duplicate facing the opposite direction with reversed path and same edge ID. This does not make sense with Direct or Prune. If you want to use with RefineEdges you should call that first to ensure the edge counterparts match exactly.

Note: This function assumes that all edges currently in the skeleton are unique and not reverse duplicates.

◆ FindEdge()

WorkspaceSkeleton::adj_edge_iterator WorkspaceSkeleton::FindEdge ( const ED & _edgeDescriptor )

Find an edge iterator in the skeleton by descriptor.

Parameters

_edgeDescriptor The descriptor of the edge to search for.

Returns: An iterator to the desired edge.

◆ FindNearestVertex()

WorkspaceSkeleton::vertex_iterator WorkspaceSkeleton::FindNearestVertex ( const mathtool::Point3d & _target )

Helper function to find the skeleton vertex that is closest to a given workspace point.

Parameters

_target The workspace point.

Returns: An iterator to the nearest skeleton vertex.

◆ FindVertex()

WorkspaceSkeleton::vertex_iterator WorkspaceSkeleton::FindVertex ( const VD _vertexDescriptor )

Find a vertex iterator in the skeleton by descriptor.

Parameters

_vertexDescriptor The descriptor of the vertex to search for.

Returns: An iterator to the desired vertex.

◆ Prune()

void WorkspaceSkeleton::Prune ( const mathtool::Point3d & _goal )

Prune the skeleton by removing vertices and edges that are not reachable by back-tracking the edges from the vertex nearst to a goal point. Only makes sense after calling Direct.

Parameters

_goal A workspace goal point.

◆ Read()

void WorkspaceSkeleton::Read ( const std::string & _file )

Reads the graph from a file.

Parameters

_file the output file name.

◆ RefineEdges()

void WorkspaceSkeleton::RefineEdges ( double _maxLength )

Divide existing edges into sizes of at most _maxLength.

◆ Write()

void WorkspaceSkeleton::Write ( const std::string & _file )

Writes the graph to a file.

Parameters

_file the output file name.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/Workspace/WorkspaceSkeleton.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/Workspace/WorkspaceSkeleton.cpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ adj_edge_iterator

◆ BaseType

◆ CfgType

◆ ED

◆ EdgeType

◆ VD

◆ vertex_descriptor

◆ vertex_iterator

Constructor & Destructor Documentation

◆ WorkspaceSkeleton()

Member Function Documentation

◆ Direct()

◆ DoubleEdges()

◆ FindEdge()

◆ FindNearestVertex()

◆ FindVertex()

◆ Prune()

◆ Read()

◆ RefineEdges()

◆ Write()