ConnectorMethod< MPTraits > Class Template Reference

Public Member Functions
Construction
	ConnectorMethod ()
	ConnectorMethod (XMLNode &_node)
virtual	~ConnectorMethod ()=default
MPBaseObject Overrides
virtual void	Print (std::ostream &_os) const override
virtual void	Initialize () override
Connection Interface
template<typename AbstractRoadmapType >
void	Connect (AbstractRoadmapType *const _r, const VertexSet *const _targetSet=nullptr, OutputIterator< AbstractRoadmapType > *const _collision=nullptr)
template<typename AbstractRoadmapType >
void	Connect (AbstractRoadmapType *const _r, const VID _source, const VertexSet *const _targetSet=nullptr, OutputIterator< AbstractRoadmapType > *const _collision=nullptr)
template<typename AbstractRoadmapType , typename InputIterator >
void	Connect (AbstractRoadmapType *const _r, InputIterator _sourceBegin, InputIterator _sourceEnd, const VertexSet *const _targetSet=nullptr, OutputIterator< AbstractRoadmapType > *const _collision=nullptr)
bool	IsRewiring () const noexcept
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::RoadmapType	RoadmapType
typedef MPTraits::GroupRoadmapType	GroupRoadmapType
typedef RoadmapType::VID	VID
typedef RoadmapType::VertexSet	VertexSet
Local Types
typedef std::pair< VID, VID >	ConnectionAttempt
typedef std::unordered_set< ConnectionAttempt >	ConnectionAttempts
typedef std::unordered_map< void *, ConnectionAttempts >	ConnectionAttemptsCache
template<typename AbstractRoadmapType >
using	OutputIterator = std::back_insert_iterator< std::vector< typename AbstractRoadmapType::VP > >
Local Types
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
Connection Helpers
virtual void	ConnectImpl (RoadmapType *const _r, const VID _source, const VertexSet *const _targetSet=nullptr, OutputIterator< RoadmapType > *const _collision=nullptr)
virtual void	ConnectImpl (GroupRoadmapType *const _r, const VID _source, const VertexSet *const _targetSet=nullptr, OutputIterator< GroupRoadmapType > *const _collision=nullptr)
template<typename AbstractRoadmapType >
void	ConnectNeighbors (AbstractRoadmapType *const _r, const VID _source, const std::vector< Neighbor > &_neighbors, OutputIterator< AbstractRoadmapType > *const _collision=nullptr, const bool _earlyQuit=false)
bool	ConnectNodes (RoadmapType *const _r, const VID _source, const VID _target, OutputIterator< RoadmapType > *const _collision=nullptr)
bool	ConnectNodes (GroupRoadmapType *const _r, const VID _source, const VID _target, OutputIterator< GroupRoadmapType > *const _collision=nullptr)
template<typename AbstractRoadmapType >
bool	DoNotCheck (AbstractRoadmapType *const _r, const VID _source, const VID _target) const
Connection Caching
void	CacheFailedConnection (void *const _map, const VID _source, const VID _target) noexcept
bool	IsCached (void *const _map, const VID _source, const VID _target) const noexcept
void	ClearConnectionAttempts ()
	Clear the attempts cache.

Protected Attributes
bool	m_debug
	Print debug info?
Internal State
ConnectionAttemptsCache	m_attemptsCache
	All failed connection attempts.
std::string	m_lpLabel
	Local Planner.
bool	m_skipIfSameCC {true}
	Skip connections within the same CC?
size_t	m_maxFailures {0}
	Maximum allowed failures per use.
size_t	m_failures {0}
	Failures in this use.
bool	m_oneWay {false}
	Create one-way edges or two-way?
bool	m_rewiring {false}
	Does this connector delete edges?
bool	m_selfEdges {false}
	Indicates if roadmap vertices should have self-edges.
std::vector< Neighbor >	m_neighborBuffer

Detailed Description

template<typename MPTraits>
class ConnectorMethod< MPTraits >

Base algorithm abstraction for Connectors. Connectors attempt to connect a set of 'source' roadmap vertices to each of a second 'target' set of vertices. Successes generate new edges in the roadmap.

Member Function Documentation

Print()

template<typename MPTraits >

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

overridevirtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from MPBaseObject< MPTraits >.

Reimplemented in CCsConnector< MPTraits >, and NeighborhoodConnector< MPTraits >.

Initialize()

template<typename MPTraits >

void ConnectorMethod< MPTraits >::Initialize

overridevirtual

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 from MPBaseObject< MPTraits >.

Connect() [1/3]

template<typename MPTraits >

template<typename AbstractRoadmapType >

void ConnectorMethod< MPTraits >::Connect	(	AbstractRoadmapType *const	_r,
		const VertexSet *const	_targetSet = nullptr,
		OutputIterator< AbstractRoadmapType > *const	_collision = nullptr
	)

Generate edges using all vertices in the roadmap as the source.

Parameters

_r	The roadmap to connect.
_targetSet	The set of target vertices, or null for the full roadmap.
_collision	An optional output iterator for collisions.

Connect() [2/3]

template<typename MPTraits >

template<typename AbstractRoadmapType >

void ConnectorMethod< MPTraits >::Connect	(	AbstractRoadmapType *const	_r,
		const VID	_source,
		const VertexSet *const	_targetSet = nullptr,
		OutputIterator< AbstractRoadmapType > *const	_collision = nullptr
	)

Generate edges using a single vertex as the source.

Parameters

_r	The roadmap to connect.
_source	The source vertex.
_targetSet	The set of target vertices, or null for the full roadmap.
_collision	An optional output iterator for collisions.

Connect() [3/3]

template<typename MPTraits >

template<typename AbstractRoadmapType , typename InputIterator >

void ConnectorMethod< MPTraits >::Connect	(	AbstractRoadmapType *const	_r,
		InputIterator	_sourceBegin,
		InputIterator	_sourceEnd,
		const VertexSet *const	_targetSet = nullptr,
		OutputIterator< AbstractRoadmapType > *const	_collision = nullptr
	)

Generate edges using a range of VIDs as the source.

Template Parameters

InputIterator

Either a roadmap iterator or any iterator that dereferences to a VID.

Parameters

_r	The roadmap to connect.
_sourceBegin	The beginning of the VID range.
_sourceEnd	The end of the VID range.
_targetSet	The set of target vertices, or null for the full roadmap.
_collision	An optional output iterator for collisions.

IsRewiring()

template<typename MPTraits >

bool ConnectorMethod< MPTraits >::IsRewiring

noexcept

Check whether this is a rewiring connector (which may delete edges).

Returns

True if this is a rewiring connector.

ConnectImpl() [1/2]

template<typename MPTraits >

void ConnectorMethod< MPTraits >::ConnectImpl ( RoadmapType *const  _r, const VID  _source, const VertexSet *const  _targetSet = nullptr, OutputIterator< RoadmapType > *const  _collision = nullptr  )

protectedvirtual

Connect a source node to some subset of a target set. Derived classes specify how this will happen.

Parameters

_r	The owning roadmap.
_source	The source node to connect.
_targetSet	The candidate target nodes, or null for the whole roadmap.
_collision	An optional output iterator for collisions.

Reimplemented in NeighborhoodConnector< MPTraits >.

ConnectImpl() [2/2]

template<typename MPTraits >

void ConnectorMethod< MPTraits >::ConnectImpl ( GroupRoadmapType *const  _r, const VID  _source, const VertexSet *const  _targetSet = nullptr, OutputIterator< GroupRoadmapType > *const  _collision = nullptr  )

protectedvirtual

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Reimplemented in NeighborhoodConnector< MPTraits >.

ConnectNeighbors()

template<typename MPTraits >

template<typename AbstractRoadmapType >

void ConnectorMethod< MPTraits >::ConnectNeighbors ( AbstractRoadmapType *const  _r, const VID  _source, const std::vector< Neighbor > &  _neighbors, OutputIterator< AbstractRoadmapType > *const  _collision = nullptr, const bool  _earlyQuit = false  )

protected

Try to connect a given configuration to a set of nearest neighbors.

Parameters

_r	The roadmap.
_source	The configuration.
_neighbors	The set of neighbors to try.
_collision	Output for invalid configurations.
_earlyQuit	Quit after the first successful connection?

ConnectNodes() [1/2]

template<typename MPTraits >

bool ConnectorMethod< MPTraits >::ConnectNodes ( RoadmapType *const  _r, const VID  _source, const VID  _target, OutputIterator< RoadmapType > *const  _collision = nullptr  )

protected

Attempt a connection between two individual configurations.

Parameters

_r	The roadmap.
_source	The source configuration's VID.
_target	The target configuration's VID.
_collision	Output for invalid configurations.

Returns

True if the connection succeeded.

ConnectNodes() [2/2]

template<typename MPTraits >

bool ConnectorMethod< MPTraits >::ConnectNodes ( GroupRoadmapType *const  _r, const VID  _source, const VID  _target, OutputIterator< GroupRoadmapType > *const  _collision = nullptr  )

protected

Attempt a connection between two group configurations.

Parameters

_r	The group roadmap.
_source	The source configuration's VID.
_target	The target configuration's VID.
_collision	Output for invalid configurations.

Returns

True if the connection succeeded.

DoNotCheck()

template<typename MPTraits >

template<typename AbstractRoadmapType >

bool ConnectorMethod< MPTraits >::DoNotCheck ( AbstractRoadmapType *const  _r, const VID  _source, const VID  _target  ) const

protected

Check whether a connection should be attempted.

Parameters

_r	The roadmap.
_source	The source vertex.
_target	The target vertex.

Returns

True if the connection should not be attempted.

CacheFailedConnection()

template<typename MPTraits >

void ConnectorMethod< MPTraits >::CacheFailedConnection ( void *const  _map, const VID  _source, const VID  _target  )

protectednoexcept

Add a failed connection attempt to the cache.

Parameters

_map	The map pointer (either individual or group roadmap).
_source	The source VID.
_target	The target VID.

IsCached()

template<typename MPTraits >

bool ConnectorMethod< MPTraits >::IsCached ( void *const  _map, const VID  _source, const VID  _target  ) const

protectednoexcept

Check if attempt is in the failure cache.

Parameters

_map	The map pointer (either individual or group roadmap).
_source	The source VID.
_target	The target VID.

Returns

True if the attempt to connect _source to _target has already failed.

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

Member Data Documentation

m_neighborBuffer

template<typename MPTraits >

std::vector<Neighbor> ConnectorMethod< MPTraits >::m_neighborBuffer

protected

This is a performance optimization which makes a big impact. The neighbor set can be as large as the roadmap, so it is important to avoid re-allocating it on every call to ConnectImpl.

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

• ConnectorMethod.h