Public Member Functions
Construction
	DistanceMetricMethod ()=default

	DistanceMetricMethod (XMLNode &_node)

virtual	~DistanceMetricMethod ()=default

Distance Interface
virtual double	Distance (const CfgType &_c1, const CfgType &_c2)=0

virtual double	Distance (const GroupCfgType &_c1, const GroupCfgType &_c2)

double	EdgeWeight (const RoadmapType *const _r, const typename RoadmapType::CEI &_edge) noexcept

double	EdgeWeight (const RoadmapType *const _r, const VID _source, const VID _target) noexcept

Configuration Scaling
These functions rescale a configuration vector based on this distance metric.
virtual void	ScaleCfg (double _length, CfgType &_c, const CfgType &_o)

void	ScaleCfg (double _length, CfgType &_c)

virtual void	ScaleCfg (double _length, GroupCfgType &_c, const GroupCfgType &_o)

void	ScaleCfg (double _length, GroupCfgType &_c)

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
Motion Planning Types
typedef MPTraits::CfgType	CfgType

typedef MPTraits::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

typedef MPTraits::GroupCfgType	GroupCfgType

typedef GroupCfgType::Formation	Formation

Local Types
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

Protected Attributes
bool	m_debug
	Print debug info?

Detailed Description

template<typename MPTraits>
class DistanceMetricMethod< MPTraits >

Base algorithm abstraction for Distance Metrics.

DistanceMetricMethod has two important methods: Distance and ScaleCfg.

Distance takes as input two configurations $c_1$ and $c_2$ and returns the computed transition distance between them.

Usage:\n: auto dm = this->GetDistanceMetric(m_dmLabel);

CfgType c1, c2;

double dist = dm->Distance(c1, c2);

MPBaseObject::GetDistanceMetric
DistanceMetricPointer GetDistanceMetric(const std::string &) const noexcept
Get a distance metric by label from the owning MPLibrary.
Definition: MPBaseObject.h:336

ScaleCfg is purposed to scale a $d$ -dimensional ray in $\mathcal{C}_{space}$ to a certain magnitude based upon a general DM.

Usage:\n: auto dm = this->GetDistanceMetric(m_dmLabel);

CfgType ray, origin;

double length;

dm->ScaleCfg(length, ray, origin);

Member Function Documentation

◆ Distance() [1/2]

template<typename MPTraits >

virtual double DistanceMetricMethod< MPTraits >::Distance	(	const CfgType &	_c1,
		const CfgType &	_c2
	)

pure virtual

Compute a distance between two configurations.

Parameters

_c1	The first configuration.
_c2	The second configuration.

Returns: The computed distance between _c1 and _c2.

Implemented in MinkowskiDistance< MPTraits >.

◆ Distance() [2/2]

template<typename MPTraits >

double DistanceMetricMethod< MPTraits >::Distance	(	const GroupCfgType &	_c1,
		const GroupCfgType &	_c2
	)

virtual

This version is for group configurations. The default implementation returns the summed individual distances. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

◆ EdgeWeight() [1/2]

template<typename MPTraits >

double DistanceMetricMethod< MPTraits >::EdgeWeight	(	const RoadmapType *const	_r,
		const typename RoadmapType::CEI &	_edge
	)

noexcept

Compute the weight of an existing roadmap edge according to this metric.

Parameters

_r	The containing roadmap.
_edge	The edge iterator.

Returns: The total edge weight computed through each intermediate of the edge.

Todo:: We need to make this work for group roadmaps. Probably it needs to take the roadmap as a templated parameter and not be virtual (there is really only one way to do this).

◆ EdgeWeight() [2/2]

template<typename MPTraits >

double DistanceMetricMethod< MPTraits >::EdgeWeight	(	const RoadmapType *const	_r,
		const VID	_source,
		const VID	_target
	)

noexcept

Compute the weight of an existing roadmap edge according to this metric.

Parameters

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

Returns: The total edge weight computed through each intermediate of the edge (_source, _target) in _r.

Exceptions

If	the edge (_source, _target) does not exist in _r.

◆ ScaleCfg() [1/4]

template<typename MPTraits >

void DistanceMetricMethod< MPTraits >::ScaleCfg	(	double	_length,
		CfgType &	_c,
		const CfgType &	_o
	)

virtual

Scale a directional configuration to a certain magnitude.

Parameters

_length	Desired magnitude.
_c	Configuration to be scaled.
_o	Origin of scaling.

Reimplemented in MinkowskiDistance< MPTraits >.

◆ ScaleCfg() [2/4]

template<typename MPTraits >

void DistanceMetricMethod< MPTraits >::ScaleCfg	(	double	_length,
		CfgType &	_c
	)

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

◆ ScaleCfg() [3/4]

template<typename MPTraits >

void DistanceMetricMethod< MPTraits >::ScaleCfg	(	double	_length,
		GroupCfgType &	_c,
		const GroupCfgType &	_o
	)

virtual

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

◆ ScaleCfg() [4/4]

template<typename MPTraits >

void DistanceMetricMethod< MPTraits >::ScaleCfg	(	double	_length,
		GroupCfgType &	_c
	)

This version is for group configurations with default origin. 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

◆ 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:

DistanceMetricMethod.h

Public Member Functions

Public Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ Distance() [1/2]

◆ Distance() [2/2]

◆ EdgeWeight() [1/2]

◆ EdgeWeight() [2/2]

◆ ScaleCfg() [1/4]

◆ ScaleCfg() [2/4]

◆ ScaleCfg() [3/4]

◆ ScaleCfg() [4/4]

◆ Print()

◆ Initialize()

◆ SetName()

◆ GetBaseFilename()