DefaultWeight< CfgType > Class Template Reference

Public Member Functions
Construction
	DefaultWeight (const std::string &_label="", const double _w=0, const std::vector< CfgType > &_intermediates=std::vector< CfgType >())
virtual	~DefaultWeight ()=default
Assignment
virtual const DefaultWeight &	operator= (const DefaultWeight &_w)
Ordering and Equality
virtual bool	operator== (const DefaultWeight &_w) const noexcept
virtual bool	operator!= (const DefaultWeight &_w) const noexcept
virtual bool	operator< (const DefaultWeight &_other) const noexcept
Properties
const std::string &	GetLPLabel () const noexcept
	Get the string label value.
void	SetLPLabel (const std::string &_lpLabel) noexcept
	Set the string label value.
std::vector< CfgType > &	GetIntermediates () noexcept
const std::vector< CfgType > &	GetIntermediates () const noexcept
void	SetIntermediates (const std::vector< CfgType > &_intermediates) noexcept
	Set the intermediate configurations corresponding to the current weight.
void	SetIntermediates (std::vector< CfgType > &&_intermediates) noexcept
	Set the intermediate configurations corresponding to the current weight.
double	GetWeight () const noexcept
	Get the numerical weight value.
void	SetWeight (const double _w) noexcept
	Set the numerical weight value.
void	SetControl (const Control &_c) noexcept
	Set a singular control corresponding to the path given by the weight.
const ControlSet &	GetControlSet () const noexcept
	Get a vector of controls corresponding to the path given by the weight.
ControlSet &	GetControlSet () noexcept
	Get a vector of controls corresponding to the path given by the weight.
void	SetControlSet (const ControlSet &_c) noexcept
	Set a vector of controls corresponding to the path given by the weight.
bool	IsChecked (const int _mult) const noexcept
	Is the checked resolution multiple at most _mult?
void	SetChecked (const int _mult) noexcept
bool	HasClearance () const noexcept
double	GetClearance () const noexcept
	Get the clearance value of the current weight.
void	SetClearance (const double _c) noexcept
size_t	GetTimeSteps () const noexcept
void	SetTimeSteps (std::size_t _steps) noexcept

Protected Attributes
Internal State
std::string	m_lpLabel
	Label of local planner that built this edge.
double	m_weight {0.}
	The edge length.
std::vector< CfgType >	m_intermediates
	Intermediate configurations.
int	m_checkedMult {std::numeric_limits<int>::max()}
	The checked resolution multiple (for lazy query), or max if none.
double	m_clearance {std::numeric_limits<double>::infinity()}
	The clearance value, or inf if not evaluated.
ControlSet	m_controls
	The controls used.
size_t	m_timeSteps {0}
	The number of timesteps to apply the controls.

I/O
static Robot *	inputRobot = nullptr
virtual void	Read (std::istream &_is)
virtual void	Write (std::ostream &_os) const
void	Clear ()
	Clear all of the contents of the object to a reinitialized state. More...

Stuff for stapl graph interface
virtual DefaultWeight	operator+ (const DefaultWeight &_other) const
	This only adds weights, it doesn't take intermediates into account.
double	Weight () const noexcept
static DefaultWeight	MaxWeight () noexcept

Detailed Description

template<class CfgType>
class DefaultWeight< CfgType >

Default weight class for roadmap edges. Defined as a value and a set of intermediate configurations.

Weight is the concept for what is stored on the graph edges. Essentially, edges are defined as polygonal chains I = {q_1, q_2, ..., q_n} through . They have two essential properties: a weight value representing some idea of distance between the two end points of the edge and a set of intermediate configurations defining the polygonal chain (not including the start and goal configurations).

Constructor & Destructor Documentation

DefaultWeight()

template<typename CfgType >

DefaultWeight< CfgType >::DefaultWeight	(	const std::string &	_label = "",
		const double	_w = 0,
		const std::vector< CfgType > &	_intermediates = std::vector<CfgType>()
	)

Construct a weight.

Parameters

_label	An initial string label for identification.
_w	An initial weight value.
_intermediates	A vector of intermediate configurations.

Member Function Documentation

operator=()

template<class CfgType >

const DefaultWeight< CfgType > & DefaultWeight< CfgType >::operator= ( const DefaultWeight< CfgType > &  _w )

virtual

Set the current weight to a copy of a given weight.

Parameters

_w	The given weight.

operator==()

template<typename CfgType >

bool DefaultWeight< CfgType >::operator== ( const DefaultWeight< CfgType > &  _w ) const

virtualnoexcept

Check if the current and given weights are equal.

Parameters

_w	The given weight.

Returns

True is equal, false otherwise.

operator!=()

template<typename CfgType >

bool DefaultWeight< CfgType >::operator!= ( const DefaultWeight< CfgType > &  _w ) const

virtualnoexcept

Check if the current and given weights are unequal.

Parameters

_w	The given weight.

Returns

True is unequal, false otherwise.

operator<()

template<typename CfgType >

bool DefaultWeight< CfgType >::operator< ( const DefaultWeight< CfgType > &  _other ) const

virtualnoexcept

Check if the current weight is less than a given weight by numerical weight value.

Parameters

_w	The given weight.

Returns

True is current weight value is less, false otherwise.

GetIntermediates() [1/2]

template<typename CfgType >

std::vector< CfgType > & DefaultWeight< CfgType >::GetIntermediates

noexcept

Get a vector of intermediate configurations corresponding to the current weight.

GetIntermediates() [2/2]

template<typename CfgType >

const std::vector< CfgType > & DefaultWeight< CfgType >::GetIntermediates

noexcept

Get a vector of intermediate configurations corresponding to the current weight.

SetChecked()

template<typename CfgType >

void DefaultWeight< CfgType >::SetChecked ( const int  _mult )

noexcept

Set the checked resolution multiple to a lesser value than current.

Parameters

_mult

The new desired value.

SetClearance()

template<typename CfgType >

void DefaultWeight< CfgType >::SetClearance ( const double  _c )

noexcept

Set the clearance value of the current weight.

Parameters

The	desired new clearance value.

GetTimeSteps()

template<typename CfgType >

std::size_t DefaultWeight< CfgType >::GetTimeSteps

noexcept

Get the number of timesteps of the local plan corresponding to the weight's intermediates' path.

SetTimeSteps()

template<typename CfgType >

void DefaultWeight< CfgType >::SetTimeSteps ( std::size_t  _steps )

noexcept

Set the number of timesteps of the local plan corresponding to the weight's intermediates' path.

Read()

template<typename CfgType >

void DefaultWeight< CfgType >::Read ( std::istream &  _is )

virtual

Read an edge in from an input stream.

Parameters

_is	The input stream to read from.

Write()

template<typename CfgType >

void DefaultWeight< CfgType >::Write ( std::ostream &  _os ) const

virtual

Write an edge to an output stream.

Parameters

_os	The output stream to write to.

Clear()

template<typename CfgType >

void DefaultWeight< CfgType >::Clear

Clear all of the contents of the object to a reinitialized state.

Clears out the contents of all vectors and zeros out all member values. Intended to reinitialize an object to its default-constructed state. This was found to be required by Read(), due to stapl's reuse of a temp obj.

Member Data Documentation

inputRobot

template<typename CfgType >

Robot * DefaultWeight< CfgType >::inputRobot = nullptr

static

A static pointer to the current robot, which is needed to parse any intermediate configurations in the edge.

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

• Weight.h