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BasicExtender< MPTraits > Class Template Reference
Algorithm Abstractions » Extenders

Public Member Functions

Construction
 BasicExtender ()
 
 BasicExtender (XMLNode &_node)
 
virtual ~BasicExtender ()=default
 
MPBaseObject Overrides
virtual void Print (std::ostream &_os) const override
 
ExtenderMethod Overrides
virtual bool Extend (const CfgType &_start, const CfgType &_end, CfgType &_new, LPOutput< MPTraits > &_lp) override
 
virtual bool Extend (const CfgType &_start, const CfgType &_end, CfgType &_new, LPOutput< MPTraits > &_lp, CDInfo &_cdInfo) override
 An optional version if CDInfo is desired. Not required to implement. More...
 
virtual bool Extend (const GroupCfgType &_start, const GroupCfgType &_end, GroupCfgType &_new, GroupLPOutput< MPTraits > &_lp, const Formation &_robotIndexes=Formation()) override
 
virtual bool Extend (const GroupCfgType &_start, const GroupCfgType &_end, GroupCfgType &_new, GroupLPOutput< MPTraits > &_lp, CDInfo &_cdInfo, const Formation &_robotIndexes=Formation()) override
 
Required Interface
virtual double GetMinDistance () const
 Get the minimum extension distance.
 
virtual double GetMaxDistance () const
 Get the maximum extension distance.
 
Initialization
virtual void Initialize ()
 
Name and Label Accessors
const std::string & GetName () const
 Get the class name for this object.
 
const std::string & GetLabel () const
 Get the unique label for this object.
 
std::string GetNameAndLabel () const
 Get the unique string identifier for this object "m_name::m_label".
 
void SetLabel (const std::string &)
 Set the unique label for this object.
 
MPLibrary Accessors
void SetMPLibrary (MPLibrary *) noexcept
 Set the owning MPLibrary.
 
MPLibrary * GetMPLibrary () const noexcept
 Get the owning MPLibrary.
 
bool IsRunning () const noexcept
 Check the library's running flag.
 
DistanceMetricPointer GetDistanceMetric (const std::string &) const noexcept
 Get a distance metric by label from the owning MPLibrary.
 
ValidityCheckerPointer GetValidityChecker (const std::string &) const noexcept
 Get a validity checker by label from the owning MPLibrary.
 
NeighborhoodFinderPointer GetNeighborhoodFinder (const std::string &) const noexcept
 Get a neighborhood finder by label from the owning MPLibrary.
 
SamplerPointer GetSampler (const std::string &) const noexcept
 Get a sampler by label from the owning MPLibrary.
 
LocalPlannerPointer GetLocalPlanner (const std::string &) const noexcept
 Get a local planner by label from the owning MPLibrary.
 
ExtenderPointer GetExtender (const std::string &) const noexcept
 Get an extender by label from the owning MPLibrary.
 
PathModifierPointer GetPathModifier (const std::string &) const noexcept
 Get a path modifier by label from the owning MPLibrary.
 
ConnectorPointer GetConnector (const std::string &) const noexcept
 Get a connector by label from the owning MPLibrary.
 
MetricPointer GetMetric (const std::string &) const noexcept
 Get a metric by label from the owning MPLibrary.
 
MapEvaluatorPointer GetMapEvaluator (const std::string &) const noexcept
 Get a map evaluator by label from the owning MPLibrary.
 
MPStrategyPointer GetMPStrategy (const std::string &) const noexcept
 Get a strategy by label from the owning MPLibrary.
 
MPTraits::MPTools * GetMPTools () const noexcept
 Get the MPTools container from the owning MPLibrary.
 
Problem Accessors
MPProblem * GetMPProblem () const noexcept
 Get the library's current MPProblem.
 
Environment * GetEnvironment () const noexcept
 Get the current environment.
 
MPTask * GetTask () const noexcept
 Get the current task.
 
GroupTask * GetGroupTask () const noexcept
 Get the current group task.
 
Solution Accessors
MPSolution * GetMPSolution () const noexcept
 
RoadmapType * GetRoadmap (Robot *const _r=nullptr) const noexcept
 Get the current free-space roadmap.
 
GroupRoadmapType * GetGroupRoadmap (RobotGroup *const _g=nullptr) const noexcept
 Get the current free-space group roadmap.
 
RoadmapType * GetBlockRoadmap (Robot *const _r=nullptr) const noexcept
 Get the current obstacle-space roadmap.
 
Path * GetPath (Robot *const _r=nullptr) const noexcept
 Get the current best path.
 
GroupPath * GetGroupPath (RobotGroup *const _g=nullptr) const noexcept
 Get the current best group path.
 
StatClass * GetStatClass () const noexcept
 Get the current StatClass.
 
LocalObstacleMap * GetLocalObstacleMap () const noexcept
 Get the local obstacle map.
 
GoalTracker * GetGoalTracker () const noexcept
 Get the goal tracker.
 

Public Types

Motion Planning Types
typedef MPTraits::CfgType CfgType
 
typedef MPTraits::GroupCfgType GroupCfgType
 
typedef MPTraits::GroupWeightType GroupWeightType
 
typedef GroupCfgType::Formation Formation
 
Local Types
typedef MPTraits::RoadmapType RoadmapType
 
typedef MPTraits::GroupRoadmapType GroupRoadmapType
 
typedef MPTraits::LocalObstacleMap LocalObstacleMap
 
typedef MPTraits::Path Path
 
typedef MPTraits::GroupPathType GroupPath
 
typedef MPTraits::MPLibrary MPLibrary
 
typedef MPTraits::MPSolution MPSolution
 
typedef MPTraits::GoalTracker GoalTracker
 
typedef MPLibrary::SamplerPointer SamplerPointer
 
typedef MPLibrary::LocalPlannerPointer LocalPlannerPointer
 
typedef MPLibrary::ExtenderPointer ExtenderPointer
 
typedef MPLibrary::PathModifierPointer PathModifierPointer
 
typedef MPLibrary::ConnectorPointer ConnectorPointer
 
typedef MPLibrary::MetricPointer MetricPointer
 
typedef MPLibrary::MapEvaluatorPointer MapEvaluatorPointer
 
typedef MPLibrary::MPStrategyPointer MPStrategyPointer
 
typedef MPLibrary::DistanceMetricPointer DistanceMetricPointer
 
typedef MPLibrary::ValidityCheckerPointer ValidityCheckerPointer
 
typedef MPLibrary::NeighborhoodFinderPointer NeighborhoodFinderPointer
 

Protected Member Functions

void SetName (const std::string &_s)
 
const std::string & GetBaseFilename () const
 
Helpers
bool Expand (const CfgType &_start, const CfgType &_end, CfgType &_newCfg, double _delta, LPOutput< MPTraits > &_lp, double _posRes, double _oriRes)
 
bool Expand (const CfgType &_start, const CfgType &_end, CfgType &_newCfg, double _delta, LPOutput< MPTraits > &_lp, CDInfo &_cdInfo, double _posRes, double _oriRes)
 
bool Expand (const GroupCfgType &_start, const GroupCfgType &_end, GroupCfgType &_newCfg, double _delta, GroupLPOutput< MPTraits > &_lp, double _posRes, double _oriRes, const Formation &_robotIndexes=Formation())
 GroupCfg Overrides.
 
bool Expand (const GroupCfgType &_start, const GroupCfgType &_end, GroupCfgType &_newCfg, double _delta, GroupLPOutput< MPTraits > &_lp, CDInfo &_cdInfo, double _posRes, double _oriRes, const Formation &_robotIndexes=Formation())
 

Protected Attributes

bool m_debug
 Print debug info?
 
Internal State
std::string m_dmLabel
 The distance metric to use.
 
std::string m_vcLabel
 The validity checker to use.
 
bool m_randomOrientation {true}
 Setting this to false fixes orientation.
 
Extender Properties
double m_minDist {.1}
 The minimum valid extension distance.
 
double m_maxDist {1.}
 The maximum valid extension distance.
 

Detailed Description

template<class MPTraits>
class BasicExtender< MPTraits >

Basic straight-line extension.

Extends in straight-line through $\mathcal{C}_{space}$ until either the target is reached, $\mathcal{C}_{obst}$ is encountered, or the max distance is exceeded.

Member Function Documentation

◆ Print()

template<typename MPTraits >
void BasicExtender< MPTraits >::Print ( std::ostream &  _os) const
overridevirtual

Print internal state of this object.

Parameters
_osThe std::ostream to print to.

Reimplemented from ExtenderMethod< MPTraits >.

◆ Extend() [1/4]

template<typename MPTraits >
bool BasicExtender< MPTraits >::Extend ( const CfgType &  _start,
const CfgType &  _end,
CfgType &  _new,
LPOutput< MPTraits > &  _lp 
)
overridevirtual

Extends a local plan from a starting configuration towards a target configuration.

Parameters
_startInitial configuration to grow from.
_endTarget configuration to grow towards.
_newPlaceholder for resulting configuration.
_lpPlaceholder for polygonal chain configurations for non-straight-line extention operations and associated weight.
Returns
True if the extension produced a valid configuration that was at least the minimum distance away from the starting point.

Implements ExtenderMethod< MPTraits >.

◆ Extend() [2/4]

template<typename MPTraits >
bool BasicExtender< MPTraits >::Extend ( const CfgType &  _start,
const CfgType &  _end,
CfgType &  _new,
LPOutput< MPTraits > &  _lp,
CDInfo &  _cdInfo 
)
overridevirtual

An optional version if CDInfo is desired. Not required to implement.

Reimplemented from ExtenderMethod< MPTraits >.

◆ Extend() [3/4]

template<typename MPTraits >
bool BasicExtender< MPTraits >::Extend ( const GroupCfgType &  _start,
const GroupCfgType &  _end,
GroupCfgType &  _new,
GroupLPOutput< MPTraits > &  _lp,
const Formation &  _robotIndexes = Formation() 
)
overridevirtual

For groups. @override

Parameters
_robotIndexesThe indexes of the robots which should move (empty for all).

Reimplemented from ExtenderMethod< MPTraits >.

◆ Extend() [4/4]

template<typename MPTraits >
bool BasicExtender< MPTraits >::Extend ( const GroupCfgType &  _start,
const GroupCfgType &  _end,
GroupCfgType &  _new,
GroupLPOutput< MPTraits > &  _lp,
CDInfo &  _cdInfo,
const Formation &  _robotIndexes = Formation() 
)
overridevirtual

For groups, with CD info. @override

Parameters
_robotIndexesThe indexes of the robots which should move (empty for all).

Reimplemented from ExtenderMethod< MPTraits >.

◆ Expand()

template<typename MPTraits >
bool BasicExtender< MPTraits >::Expand ( const CfgType &  _start,
const CfgType &  _end,
CfgType &  _newCfg,
double  _delta,
LPOutput< MPTraits > &  _lp,
double  _posRes,
double  _oriRes 
)
protected

Basic utility for "extend" a RRT tree. Assumed to be given a start node and a goal node to grow towards. Resulting node extended towards the goal is passed by reference and modified.

Parameters
_startCfg to grow from.
_endCfg to grow toward.
_newCfgReturn for newly created cfg.
_deltaMaximum distance to grow
Returns
True if the extension produced a valid configuration that is at least the minimum distance away from the starting point.

◆ Initialize()

template<typename MPTraits >
virtual void MPBaseObject< MPTraits >::Initialize ( )
virtualinherited

Initialize this object for the current MPProblem. This should reset any internal state of the algorithms so that they are ready for execution. It is also the place to initialize any state that depends on the current problem.

Warning
This member will be called for every compiled algorithm in the planning library - even those that will not be used. If an algorithm needs to do expenisve setup, then this method should only set a flag that tells it to do so on first use. The only exceptions are the MPStrategies, which will only have their initialize called on first use.

Reimplemented in ConnectorMethod< MPTraits >, CBSQuery< MPTraits >, ComposeEvaluator< MPTraits >, LazyQuery< MPTraits >, QueryMethod< MPTraits >, SIPPMethod< MPTraits >, TimeEvaluator< MPTraits >, TimeMetric< MPTraits >, AdaptiveRRT< MPTraits >, BasicPRM< MPTraits >, BasicRRTStrategy< MPTraits >, TogglePRMStrategy< MPTraits >, ValidationStrategy< MPTraits >, LKHSearch< MPTraits >, ClearanceUtility< MPTraits >, ReachabilityUtil< MPTraits >, SafeIntervalTool< MPTraits >, and TopologicalMap< MPTraits >.

◆ SetName()

template<typename MPTraits >
void MPBaseObject< MPTraits >::SetName ( const std::string &  _s)
protectedinherited
Parameters
_sClass name

◆ GetBaseFilename()

template<typename MPTraits >
const std::string & MPBaseObject< MPTraits >::GetBaseFilename ( ) const
protectedinherited
Returns
base file name from MPProblem
The documentation for this class was generated from the following file:
PPL is a project of Texas A&M University Generated on Mon Jan 31 2022 15:28:35 for PPL by   doxygen 1.9.3