#include <WorkspaceTranslationDistance.h>

Inheritance diagram for WorkspaceTranslationDistance:

Collaboration diagram for WorkspaceTranslationDistance:

Public Member Functions
Construction
	WorkspaceTranslationDistance ()

	WorkspaceTranslationDistance (XMLNode &_node)

virtual	~WorkspaceTranslationDistance ()=default

Distance Interface
virtual double	Distance (const Cfg &_c1, const Cfg &_c2) override

Public Member Functions inherited from DistanceMetricMethod
	DistanceMetricMethod ()=default

	DistanceMetricMethod (XMLNode &_node)

virtual	~DistanceMetricMethod ()=default

virtual double	Distance (const GroupCfgType &_c1, const GroupCfgType &_c2)

double	EdgeWeight (const RoadmapType *const _r, const typename RoadmapType::CEI &_edge) noexcept

double	EdgeWeight (const RoadmapType *const _r, const VID _source, const VID _target) noexcept

virtual void	ScaleCfg (double _length, Cfg &_c, const Cfg &_o)

void	ScaleCfg (double _length, Cfg &_c)

virtual void	ScaleCfg (double _length, GroupCfgType &_c, const GroupCfgType &_o)

void	ScaleCfg (double _length, GroupCfgType &_c)

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...

Additional Inherited Members
Public Types inherited from DistanceMetricMethod
typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

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

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

Compute the L2 norm of the workspace translation between each body.

This is a reasonable approximation of swept volume for either a composite c-space or a manipulator with very constrained joint motion. Large joint motions break down the assumptions as the links may have to sweep large distances in workspace to complete the transition - in that case it is a poor approximation. It is best avoided for manipulators which make large changes in joint space.

Constructor & Destructor Documentation

◆ WorkspaceTranslationDistance() [1/2]

WorkspaceTranslationDistance::WorkspaceTranslationDistance ( )

◆ WorkspaceTranslationDistance() [2/2]

WorkspaceTranslationDistance::WorkspaceTranslationDistance ( XMLNode & _node )

◆ ~WorkspaceTranslationDistance()

virtual WorkspaceTranslationDistance::~WorkspaceTranslationDistance ( )

virtualdefault

Member Function Documentation

◆ Distance()

double WorkspaceTranslationDistance::Distance	(	const Cfg &	_c1,
		const Cfg &	_c2
	)

overridevirtual

Compute a distance between two configurations.

Parameters

_c1	The first configuration.
_c2	The second configuration.

Returns: The computed distance between _c1 and _c2.

Implements DistanceMetricMethod.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/DistanceMetrics/WorkspaceTranslationDistance.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/DistanceMetrics/WorkspaceTranslationDistance.cpp

Public Member Functions