Public Member Functions
Construction
	ExtenderMethod ()=default

	ExtenderMethod (XMLNode &_node)

virtual	~ExtenderMethod ()=default

MPBaseObject Overrides
virtual void	Print (std::ostream &_os) const override

Required Interface
virtual double	GetMinDistance () const
	Get the minimum extension distance.

virtual double	GetMaxDistance () const
	Get the maximum extension distance.

virtual bool	Extend (const CfgType &_start, const CfgType &_end, CfgType &_new, LPOutput< MPTraits > &_lp)=0

virtual bool	Extend (const CfgType &_start, const CfgType &_end, CfgType &_new, LPOutput< MPTraits > &_lp, CDInfo &_cdInfo)
	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 std::vector< size_t > &_robotIndexes={})

virtual bool	Extend (const GroupCfgType &_start, const GroupCfgType &_end, GroupCfgType &_new, GroupLPOutput< MPTraits > &_lp, CDInfo &_cdInfo, const std::vector< size_t > &_robotIndexes={})

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

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

Protected Attributes
bool	m_debug
	Print debug info?

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 ExtenderMethod< MPTraits >

Base algorithm abstraction for Extenders.

ExtenderMethod has one main method, Extend, to grow a simple path from a starting node in some input direction - note that not all expansion methods go in straight lines through $\mathcal{C}_{space}$ .

Usage:\n: ExtenderPointer e = this->GetExtender(m_exLabel);

CfgType start, goal, new;

LPOutput<MPTraits> lp;

bool pass = e->Extend(start, goal, new, lp);

MPBaseObject::GetExtender
ExtenderPointer GetExtender(const std::string &) const noexcept
Get an extender by label from the owning MPLibrary.
Definition: MPBaseObject.h:381

LPOutput
Definition: LPOutput.h:22

Todo:: Local planners and Extenders represent the same concepts and should be merged into a single class with both an Extend and LocalPlan function. This will help simplify several other objects within PMPL as well, such as bi-directional RRT.

Member Function Documentation

◆ Print()

template<typename MPTraits >

void ExtenderMethod< 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 BasicExtender< MPTraits >.

◆ Extend() [1/4]

template<class MPTraits >

virtual bool ExtenderMethod< MPTraits >::Extend	(	const CfgType &	_start,
		const CfgType &	_end,
		CfgType &	_new,
		LPOutput< MPTraits > &	_lp
	)

pure virtual

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

Parameters

_start	Initial configuration to grow from.
_end	Target configuration to grow towards.
_new	Placeholder for resulting configuration.
_lp	Placeholder 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.

Implemented in BasicExtender< MPTraits >.

◆ Extend() [2/4]

template<typename MPTraits >

bool ExtenderMethod< MPTraits >::Extend	(	const CfgType &	_start,
		const CfgType &	_end,
		CfgType &	_new,
		LPOutput< MPTraits > &	_lp,
		CDInfo &	_cdInfo
	)

virtual

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

Reimplemented in BasicExtender< MPTraits >.

◆ Extend() [3/4]

template<typename MPTraits >

bool ExtenderMethod< MPTraits >::Extend	(	const GroupCfgType &	_start,
		const GroupCfgType &	_end,
		GroupCfgType &	_new,
		GroupLPOutput< MPTraits > &	_lp,
		const std::vector< size_t > &	_robotIndexes = `{}`
	)

virtual

For groups. @override

Parameters

_robotIndexes The indexes of the robots which should move (empty for all).

Reimplemented in BasicExtender< MPTraits >.

◆ Extend() [4/4]

template<typename MPTraits >

bool ExtenderMethod< MPTraits >::Extend	(	const GroupCfgType &	_start,
		const GroupCfgType &	_end,
		GroupCfgType &	_new,
		GroupLPOutput< MPTraits > &	_lp,
		CDInfo &	_cdInfo,
		const std::vector< size_t > &	_robotIndexes = `{}`
	)

virtual

For groups, with CD info. @override

Parameters

_robotIndexes The indexes of the robots which should move (empty for all).

Reimplemented in BasicExtender< 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:

ExtenderMethod.h

Public Member Functions

Public Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ Print()

◆ Extend() [1/4]

◆ Extend() [2/4]

◆ Extend() [3/4]

◆ Extend() [4/4]

◆ Initialize()

◆ SetName()

◆ GetBaseFilename()