Maintains a set of GoalMap for multiple roadmap/task pairs. More...

Public Member Functions
Construction
	GoalTrackerType (MPLibrary *const _library)

	~GoalTrackerType ()

Interface
template<typename Roadmap , typename Task >
const VIDSet &	GetStartVIDs (Roadmap const _roadmap, const Task const _task) const

const VIDSet &	GetStartVIDs () const

template<typename Roadmap , typename Task >
const VIDSet &	GetGoalVIDs (Roadmap const _roadmap, const Task const _task, const size_t _index) const

const VIDSet &	GetGoalVIDs (const size_t _index) const

template<typename Roadmap , typename Task >
size_t	UnreachedGoalCount (Roadmap const _roadmap, const Task const _task) const

size_t	UnreachedGoalCount () const

template<typename Roadmap , typename Task >
std::vector< size_t >	UnreachedGoalIndexes (Roadmap const _roadmap, const Task const _task) const

std::vector< size_t >	UnreachedGoalIndexes () const

void	AddMap (RoadmapType const _roadmap, const MPTask const _task)

void	AddMap (GroupRoadmapType const _roadmap, const GroupTask const _task)

bool	IsMap (RoadmapType const _roadmap, const MPTask const _task) const

bool	IsMap (GroupRoadmapType const _roadmap, const GroupTask const _task) const

void	Clear ()
	Clear all goal maps.

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::MPLibrary	MPLibrary

typedef MPTraits::RoadmapType	RoadmapType

typedef MPTraits::GroupRoadmapType	GroupRoadmapType

typedef RoadmapType::VID	VID

Local Types
typedef std::unordered_set< VID >	VIDSet

Local Types
typedef MPTraits::LocalObstacleMap	LocalObstacleMap

typedef MPTraits::Path	Path

typedef MPTraits::GroupPathType	GroupPath

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 GoalTrackerType< MPTraits >

Maintains a set of GoalMap for multiple roadmap/task pairs.

Constructor & Destructor Documentation

◆ GoalTrackerType()

template<typename MPTraits >

GoalTrackerType< MPTraits >::GoalTrackerType ( MPLibrary *const _library )

Construct a goal tracker, which must be owned by a specific MPLibrary.

Parameters

_library The owning library.

Member Function Documentation

◆ GetStartVIDs() [1/2]

template<typename MPTraits >

template<typename Roadmap , typename Task >

const GoalTrackerType< MPTraits >::VIDSet & GoalTrackerType< MPTraits >::GetStartVIDs	(	Roadmap *const	_roadmap,
		const Task *const	_task
	)		const

Find the VIDs which satisfy the start constraint for a roadmap/task pair.

Parameters

_roadmap	The roadmap.
_task	The task.

Returns: The set of VIDs from _roadmap which satisfy the start constraints for _task.

◆ GetStartVIDs() [2/2]

template<typename MPTraits >

const GoalTrackerType< MPTraits >::VIDSet & GoalTrackerType< MPTraits >::GetStartVIDs

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

Exceptions

If	both a group and individual 'current' task are set.

◆ GetGoalVIDs() [1/2]

template<typename MPTraits >

template<typename Roadmap , typename Task >

const GoalTrackerType< MPTraits >::VIDSet & GoalTrackerType< MPTraits >::GetGoalVIDs	(	Roadmap *const	_roadmap,
		const Task *const	_task,
		const size_t	_index
	)		const

Find the VIDs which satisfy a particular goal constraint for a roadmap/task pair.

Parameters

_roadmap	The roadmap.
_task	The task.
_index	The goal constraint index.

Returns: The set of VIDs from _roadmap which satisfy goal constraint _index from task _task.

◆ GetGoalVIDs() [2/2]

template<typename MPTraits >

const GoalTrackerType< MPTraits >::VIDSet & GoalTrackerType< MPTraits >::GetGoalVIDs ( const size_t _index ) const

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

Exceptions

If	both a group and individual 'current' task are set.

◆ UnreachedGoalCount() [1/2]

template<typename MPTraits >

template<typename Roadmap , typename Task >

size_t GoalTrackerType< MPTraits >::UnreachedGoalCount	(	Roadmap *const	_roadmap,
		const Task *const	_task
	)		const

Check the number of unreached goals for a roadmap/task.

Parameters

_roadmap	The roadmap.
_task	The task.

Returns: The number of unreached goals.

◆ UnreachedGoalCount() [2/2]

template<typename MPTraits >

size_t GoalTrackerType< MPTraits >::UnreachedGoalCount

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

Exceptions

If	both a group and individual 'current' task are set.

◆ UnreachedGoalIndexes() [1/2]

template<typename MPTraits >

template<typename Roadmap , typename Task >

std::vector< size_t > GoalTrackerType< MPTraits >::UnreachedGoalIndexes	(	Roadmap *const	_roadmap,
		const Task *const	_task
	)		const

Get the indexes of the goal constraints which have not yet been satisfied.

Parameters

_roadmap	The roadmap.
_task	The task.

Returns: The unreached goal indexes.

◆ UnreachedGoalIndexes() [2/2]

template<typename MPTraits >

std::vector< size_t > GoalTrackerType< MPTraits >::UnreachedGoalIndexes

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

Exceptions

If	both a group and individual 'current' task are set.

◆ AddMap() [1/2]

template<typename MPTraits >

void GoalTrackerType< MPTraits >::AddMap	(	RoadmapType *const	_roadmap,
		const MPTask *const	_task
	)

Add a goal map for a roadmap/task pair.

Parameters

_roadmap	The roadmap.
_task	The task.

◆ AddMap() [2/2]

template<typename MPTraits >

void GoalTrackerType< MPTraits >::AddMap	(	GroupRoadmapType *const	_roadmap,
		const GroupTask *const	_task
	)

Add a goal map for a group roadmap/task pair.

Parameters

_roadmap	The group roadmap.
_task	The task.

◆ IsMap() [1/2]

template<typename MPTraits >

bool GoalTrackerType< MPTraits >::IsMap	(	RoadmapType *const	_roadmap,
		const MPTask *const	_task
	)		const

Check for a goal map for a roadmap/task pair.

Parameters

_roadmap	The roadmap.
_task	The task.

◆ IsMap() [2/2]

template<typename MPTraits >

bool GoalTrackerType< MPTraits >::IsMap	(	GroupRoadmapType *const	_roadmap,
		const GroupTask *const	_task
	)		const

Check for a goal map for a group roadmap/task pair.

Parameters

_roadmap	The group roadmap.
_task	The task.

◆ 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:

GoalTracker.h

Public Member Functions

Public Types

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GoalTrackerType()

Member Function Documentation

◆ GetStartVIDs() [1/2]

◆ GetStartVIDs() [2/2]

◆ GetGoalVIDs() [1/2]

◆ GetGoalVIDs() [2/2]

◆ UnreachedGoalCount() [1/2]

◆ UnreachedGoalCount() [2/2]

◆ UnreachedGoalIndexes() [1/2]

◆ UnreachedGoalIndexes() [2/2]

◆ AddMap() [1/2]

◆ AddMap() [2/2]

◆ IsMap() [1/2]

◆ IsMap() [2/2]

◆ Print()

◆ Initialize()

◆ SetName()

◆ GetBaseFilename()