LPOutput Struct Reference

#include <LPOutput.h>

Collaboration diagram for LPOutput:

Public Types
Motion Planning Types
typedef DefaultWeight< Cfg >	WeightType
Local Types
typedef std::pair< WeightType, WeightType >	LPEdge

Public Member Functions
Construction
	LPOutput ()
Interface
void	Clear ()
void	SetLPLabel (const std::string &_label)
void	AddIntermediatesToWeights (const bool _saveIntermediates)

Data Fields
Internal State
std::vector< Cfg >	m_path
std::vector< Cfg >	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 LocalPlan object, which should replace the DefaultWeight class as our roadmap edge.

Examples

Extenders_UseCase.cpp, and LocalPlanner_UseCase.cpp.

Member Typedef Documentation

LPEdge

typedef std::pair<WeightType, WeightType> LPOutput::LPEdge

WeightType

typedef DefaultWeight<Cfg> LPOutput::WeightType

Constructor & Destructor Documentation

LPOutput()

LPOutput::LPOutput

(

)

Member Function Documentation

AddIntermediatesToWeights()

void LPOutput::AddIntermediatesToWeights

(

const bool

_saveIntermediates

)

Clear()

void LPOutput::Clear

(

)

SetLPLabel()

void LPOutput::SetLPLabel

(

const std::string &

_label

)

Field Documentation

m_edge

LPEdge LPOutput::m_edge

A pair of weight objects. The first is in the forward direction and the second is its reverse.

m_intermediates

std::vector<Cfg> LPOutput::m_intermediates

The set of 'intermediate' configurations, between each of which is a straight-line path in c-space (i.e. these are the vertices of a polygonal chain). Does not include the start or goal configurations.

m_path

std::vector<Cfg> LPOutput::m_path

The resolution-level path computed by a local planner. Does not include the start or goal configurations.

---

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

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