GroupLPOutput Struct Reference

#include <GroupLPOutput.h>

Collaboration diagram for GroupLPOutput:

Public Types
Motion Planning Types
typedef DefaultWeight< Cfg >	IndividualEdge
typedef GenericStateGraph< Cfg, IndividualEdge >	RoadmapType
typedef GroupCfg< RoadmapType >	GroupCfgType
typedef GroupLocalPlan< RoadmapType >	GroupWeightType
typedef GroupRoadmap< GroupCfgType, GroupWeightType >	GroupRoadmapType
typedef std::vector< GroupCfgType >	GroupCfgPath
Local Types
typedef std::pair< GroupWeightType, GroupWeightType >	LPEdge

Public Member Functions
Construction
	GroupLPOutput (GroupRoadmapType *const _map=nullptr, GroupCfgPath _path=GroupCfgPath(), GroupCfgPath _intermediates=GroupCfgPath())
	GroupLPOutput (GroupRoadmapType *const _map, const GroupWeightType &_edge)
Interface
void	Clear ()
void	SetLPLabel (const std::string &_label)
void	AddIntermediatesToWeights (const bool _saveIntermediates)
void	SetFormation (const std::vector< size_t > &_formation)
void	SetIndividualEdges (const std::vector< size_t > &_formation)
std::vector< size_t >	GetFormation ()
void	SetEdgeWeights (const double _weight)

Data Fields
Internal State
GroupRoadmapType *	m_groupRoadmap {nullptr}
GroupCfgPath	m_path
GroupCfgPath	m_intermediates
LPEdge	m_edge

Detailed Description

Computed information from a local plan.

Stores all information available from local plan computations, including intermediates along edges (not straight line), the path generated, and the edge weights to be added to the RoadmapGraph.

Todo:

Destroy this object and have LPs/Extenders work directly with a GroupLocalPlan.

Member Typedef Documentation

GroupCfgPath

typedef std::vector<GroupCfgType> GroupLPOutput::GroupCfgPath

GroupCfgType

typedef GroupCfg<RoadmapType> GroupLPOutput::GroupCfgType

GroupRoadmapType

typedef GroupRoadmap<GroupCfgType, GroupWeightType> GroupLPOutput::GroupRoadmapType

GroupWeightType

typedef GroupLocalPlan<RoadmapType> GroupLPOutput::GroupWeightType

IndividualEdge

typedef DefaultWeight<Cfg> GroupLPOutput::IndividualEdge

LPEdge

typedef std::pair<GroupWeightType, GroupWeightType> GroupLPOutput::LPEdge

RoadmapType

typedef GenericStateGraph<Cfg, IndividualEdge> GroupLPOutput::RoadmapType

Constructor & Destructor Documentation

GroupLPOutput() [1/2]

GroupLPOutput::GroupLPOutput	(	GroupRoadmapType *const	_map = nullptr,
		GroupCfgPath	_path = GroupCfgPath(),
		GroupCfgPath	_intermediates = GroupCfgPath()
	)

GroupLPOutput() [2/2]

GroupLPOutput::GroupLPOutput	(	GroupRoadmapType *const	_map,
		const GroupWeightType &	_edge
	)

Member Function Documentation

AddIntermediatesToWeights()

void GroupLPOutput::AddIntermediatesToWeights

(

const bool

_saveIntermediates

)

Clear()

void GroupLPOutput::Clear

(

)

GetFormation()

std::vector<size_t> GroupLPOutput::GetFormation ( )

inline

SetEdgeWeights()

void GroupLPOutput::SetEdgeWeights

(

const double

_weight

)

SetFormation()

void GroupLPOutput::SetFormation

(

const std::vector< size_t > &

_formation

)

SetIndividualEdges()

void GroupLPOutput::SetIndividualEdges

(

const std::vector< size_t > &

_formation

)

Todo:

We need to preserve the intermediates.

Todo:

This is not a correct edge for each individual robot - they will not all have the same weight. This needs to be tracked separately.

SetLPLabel()

void GroupLPOutput::SetLPLabel

(

const std::string &

_label

)

Field Documentation

m_edge

LPEdge GroupLPOutput::m_edge

m_groupRoadmap

GroupRoadmapType* GroupLPOutput::m_groupRoadmap {nullptr}

m_intermediates

GroupCfgPath GroupLPOutput::m_intermediates

m_path

GroupCfgPath GroupLPOutput::m_path

---

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

• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/LocalPlanners/GroupLPOutput.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/LocalPlanners/GroupLPOutput.cpp