CollisionDetectionValidity< MPTraits > Class Template Reference

Public Member Functions
Construction
	CollisionDetectionValidity ()
	CollisionDetectionValidity (XMLNode &_node)
virtual	~CollisionDetectionValidity ()
CollisionDetection Interface
virtual CollisionDetectionMethod *	GetCDMethod () const noexcept override
virtual bool	IsInsideObstacle (const Point3d &_p) override
virtual bool	WorkspaceVisibility (const Point3d &_a, const Point3d &_b) override
virtual bool	IsMultiBodyCollision (CDInfo &_cdInfo, const MultiBody *const _a, const MultiBody *const _b, const std::string &_caller) override
Validity Accessors
bool	GetValidity () const
	Get the current meaning of "valid" (true is default).
void	ToggleValidity ()
	Switches the meaning of "valid" to "invalid" and vice versa.
Individual Configuration Validity
bool	IsValid (CfgType &_cfg, CDInfo &_cdInfo, const std::string &_caller)
bool	IsValid (CfgType &_cfg, const std::string &_caller)
Group Configuration Validity
bool	IsValid (GroupCfgType &_cfg, CDInfo &_cdInfo, const std::string &_caller)
bool	IsValid (GroupCfgType &_cfg, const std::string &_caller)
I/O
virtual void	Print (std::ostream &_os) const
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
Local Types
typedef MPTraits::CfgType	CfgType
typedef MPTraits::GroupCfgType	GroupCfg
typedef GroupCfg::Formation	Formation
Motion Planning Types
typedef MPTraits::GroupCfgType	GroupCfgType
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
ValidityCheckerMethod Overrides
virtual bool	IsValidImpl (CfgType &_cfg, CDInfo &_cdInfo, const std::string &_caller) override
virtual bool	IsValidImpl (GroupCfg &_cfg, CDInfo &_cdInfo, const std::string &_caller) override
Helpers
virtual bool	IsInCollision (CDInfo &_cdInfo, const CfgType &_cfg, const std::string &_caller)
virtual bool	IsInCollision (CDInfo &_cdInfo, const GroupCfg &_cfg, const std::string &_caller)
virtual bool	IsInSelfCollision (CDInfo &_cdInfo, const MultiBody *const _multibody, const std::string &_caller)
virtual bool	IsInBoundaryCollision (CDInfo &_cdInfo, const CfgType &_cfg)
virtual bool	IsInObstacleCollision (CDInfo &_cdInfo, const MultiBody *const _multibody, const std::string &_caller)
virtual bool	IsInInterRobotCollision (CDInfo &_cdInfo, Robot *const _robot, const std::vector< Robot * > &_robots, const std::string &_caller)

Protected Attributes
bool	m_debug
	Print debug info?
Internal State
std::unique_ptr< CollisionDetectionMethod >	m_cdMethod
	< Underlying collision detection object.
bool	m_ignoreSelfCollision {false}
	Check self collisions.
bool	m_interRobotCollision {false}
	Check inter-robot collisions.
bool	m_ignoreAdjacentLinks {false}
	Ignore adj links in self collisions.
bool	m_ignoreSiblingCollisions {false}
	Ignore sibling links in self collisions.
Internal State
bool	m_validity {true}
	Use standard validity? False indicates negation.

Detailed Description

template<typename MPTraits>
class CollisionDetectionValidity< MPTraits >

Classifies validity based on collisions with other objects in the workspace.

There are three types of collision that can occur: 1. Self collision. Two or more pieces of the robot's geometry are overlapping in workspace. 2. Obstacle collision. The robot's geometry overlaps with some workspace obstacle. 3. Inter-robot collision. The robot's geometry overlaps with some other robot in its current configuration. For group configurations, collisions between robots within the group are considered as self-collisions, while collisions with robots not in the group are classified as inter-robot collisions. This distinction is made because considering self-collisions usually means that we want (group) configurations which are valid without considering the obstacles and other robots.

Any robot can be omitted from the collision checks by setting it as virtual. When collision checking a virtual robot, other robots are also ignored.

Note

This class interfaces with external CD libraries to determine collision information, sometimes including clearance and penetration information.

Todo:

Remove the 'GetCDMethod' function after re-implementing ObstacleClearanceValidity as a subtype of CollisionDetectionValidity.

Member Function Documentation

GetCDMethod()

template<typename MPTraits >

CollisionDetectionMethod * CollisionDetectionValidity< MPTraits >::GetCDMethod

overridevirtualnoexcept

Returns

Collision Detection object

Reimplemented from CollisionDetectionValidityMethod< MPTraits >.

IsInsideObstacle()

template<typename MPTraits >

bool CollisionDetectionValidity< MPTraits >::IsInsideObstacle ( const Point3d &  _p )

overridevirtual

Determine whether a workspace point lies inside of an obstacle.

Parameters

_p	The workspace point.

Returns

True if _p is inside an obstacle.

Implements CollisionDetectionValidityMethod< MPTraits >.

WorkspaceVisibility()

template<typename MPTraits >

bool CollisionDetectionValidity< MPTraits >::WorkspaceVisibility ( const Point3d &  _a, const Point3d &  _b  )

overridevirtual

Check if two workspace points are mutually visible.

Parameters

_a	The first point.
_b	The second point.

Returns

True if _a is visible from _b and vice versa.

Implements CollisionDetectionValidityMethod< MPTraits >.

IsMultiBodyCollision()

template<typename MPTraits >

bool CollisionDetectionValidity< MPTraits >::IsMultiBodyCollision ( CDInfo &  _cdInfo, const MultiBody *const  _a, const MultiBody *const  _b, const std::string &  _caller  )

overridevirtual

Check for collision between two multibodies.

Parameters

_cdInfo	CDInfo
_a	The first multibody.
_b	The second multibody.
_caller	Function calling validity checker.

Returns

True if _a and _b collide in their present configurations.

Implements CollisionDetectionValidityMethod< MPTraits >.

IsValidImpl() [1/2]

template<typename MPTraits >

bool CollisionDetectionValidity< MPTraits >::IsValidImpl ( CfgType &  _cfg, CDInfo &  _cdInfo, const std::string &  _caller  )

overrideprotectedvirtual

Implementation of the classification of a configuration to either cfree or cobst.

Parameters

_cfg	The individual configuration.
_cdInfo	Output for extra computed information such as clearance.
_caller	Name of the calling function.

Returns

True if _cfg is in cfree.

Implements ValidityCheckerMethod< MPTraits >.

IsValidImpl() [2/2]

template<typename MPTraits >

bool CollisionDetectionValidity< MPTraits >::IsValidImpl ( GroupCfg &  _cfg, CDInfo &  _cdInfo, const std::string &  _caller  )

overrideprotectedvirtual

Implementation of group cfg classification.

Parameters

_cfg	The group configuration.
_cdInfo	Output for extra computed information such as clearance.
_caller	Name of the calling function.

Returns

True if _cfg is in cfree.

Reimplemented from ValidityCheckerMethod< MPTraits >.

IsInCollision() [1/2]

template<typename MPTraits >

bool CollisionDetectionValidity< MPTraits >::IsInCollision ( CDInfo &  _cdInfo, const CfgType &  _cfg, const std::string &  _caller  )

protectedvirtual

Orchestrate collision computation between robot and environment multibodies

Parameters

_cdInfo	Output for collision detection info.
_cfg	Configuration of interest.
_caller	Name of the calling function.

Returns

True if the robot is in collision at _cfg.

IsInCollision() [2/2]

template<typename MPTraits >

bool CollisionDetectionValidity< MPTraits >::IsInCollision ( CDInfo &  _cdInfo, const GroupCfg &  _cfg, const std::string &  _caller  )

protectedvirtual

Orchestrate collision computation between robots in a group cfg and environment multibodies

Parameters

_cdInfo	Output for collision detection info.
_cfg	Group configuration of interest.
_caller	Name of the calling function.

Returns

True if the robot group is in collision at _cfg.

IsInSelfCollision()

template<typename MPTraits >

bool CollisionDetectionValidity< MPTraits >::IsInSelfCollision ( CDInfo &  _cdInfo, const MultiBody *const  _multibody, const std::string &  _caller  )

protectedvirtual

Check if any of the robot's bodies are in collision with each other.

Parameters

_cdInfo	Output for collision detection info. It will only be updated if the detected collision is closer than the previous.
_multibody	The robot's MultiBody.
_caller	Name of the calling function.

Returns

True if the robot is in self-collision.

IsInBoundaryCollision()

template<typename MPTraits >

bool CollisionDetectionValidity< MPTraits >::IsInBoundaryCollision ( CDInfo &  _cdInfo, const CfgType &  _cfg  )

protectedvirtual

Check if any of the robot's bodies are in collision with or outside the environment boundary.

Parameters

_cdInfo	Output for collision detection info. It will only be updated if the detected collision is closer than the previous.
_cfg	The robot configuration.

Returns

True if the robot is in self-collision.

IsInObstacleCollision()

template<typename MPTraits >

bool CollisionDetectionValidity< MPTraits >::IsInObstacleCollision ( CDInfo &  _cdInfo, const MultiBody *const  _multibody, const std::string &  _caller  )

protectedvirtual

Check if any of the robot's bodies are in collision with an obstacle.

Parameters

_cdInfo	Output for collision detection info. It will only be updated if the detected collision is closer than the previous.
_multibody	The robot's MultiBody.
_caller	Name of the calling function.

Returns

True if the robot is in collision with an obstacle.

IsInInterRobotCollision()

template<typename MPTraits >

bool CollisionDetectionValidity< MPTraits >::IsInInterRobotCollision ( CDInfo &  _cdInfo, Robot *const  _robot, const std::vector< Robot * > &  _robots, const std::string &  _caller  )

protectedvirtual

Check for a collision between a query robot and a specific set of other robots.

Parameters

_robot	The query robot.
_robots	The other robots.
_caller	Name of the calling function.

IsValid() [1/4]

template<typename MPTraits >

bool ValidityCheckerMethod< MPTraits >::IsValid ( CfgType &  _cfg, CDInfo &  _cdInfo, const std::string &  _caller  )

inherited

Classify a configuration to either cfree or cobst.

Parameters

_cfg	The individual configuration.
_cdInfo	Output for extra computed information such as clearance.
_caller	Name of the calling function.

Returns

True iff _cfg is in cfree, false otherwise.

IsValid() [2/4]

template<typename MPTraits >

bool ValidityCheckerMethod< MPTraits >::IsValid ( CfgType &  _cfg, const std::string &  _caller  )

inherited

This version does not return extra information. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

IsValid() [3/4]

template<typename MPTraits >

bool ValidityCheckerMethod< MPTraits >::IsValid ( GroupCfgType &  _cfg, CDInfo &  _cdInfo, const std::string &  _caller  )

inherited

Classify a gropu configuration to either cfree or cobst.

Parameters

_cfg	The group configuration.
_cdInfo	Output for extra computed information such as clearance.
_caller	Name of the calling function.

Returns

True iff _cfg is in cfree, false otherwise.

IsValid() [4/4]

template<typename MPTraits >

bool ValidityCheckerMethod< MPTraits >::IsValid ( GroupCfgType &  _cfg, const std::string &  _caller  )

inherited

This version does not return extra information. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Print()

template<typename MPTraits >

void MPBaseObject< MPTraits >::Print ( std::ostream &  _os ) const

virtualinherited

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented in ConditionalEvaluator< MPTraits >, PrintMapEvaluation< MPTraits >, MinkowskiDistance< MPTraits >, AdaptiveRRT< MPTraits >, BasicRRTStrategy< MPTraits >, CCsConnector< MPTraits >, ConnectorMethod< MPTraits >, NeighborhoodConnector< MPTraits >, BasicExtender< MPTraits >, ExtenderMethod< MPTraits >, LocalPlannerMethod< MPTraits >, StraightLine< MPTraits >, ComposeEvaluator< MPTraits >, LazyQuery< MPTraits >, QueryMethod< MPTraits >, SIPPMethod< MPTraits >, BasicPRM< MPTraits >, GroupDecoupledStrategy< MPTraits >, MPStrategyMethod< MPTraits >, TogglePRMStrategy< MPTraits >, BruteForceNF< MPTraits >, NeighborhoodFinderMethod< MPTraits >, and UniformRandomSampler< MPTraits >.

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

_s	Class 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:

• CollisionDetectionValidity.h