Public Member Functions
Construction
	GroupStrategyMethod ()=default

	GroupStrategyMethod (XMLNode &_node)

virtual	~GroupStrategyMethod ()=default

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

Interface
void	operator() ()
	Execute the strategy by calling Initialize, Run, and Finalize.

void	EnableOutputFiles (const bool _enable=true)

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::GroupPathType	GroupPath

typedef MPTraits::GroupRoadmapType	GroupRoadmapType

typedef GroupRoadmapType::VID	VID

typedef SamplerMethod< MPTraits >::BoundaryMap	BoundaryMap

Motion Planning Types
typedef MPTraits::RoadmapType	RoadmapType

Local Types
typedef MPTraits::LocalObstacleMap	LocalObstacleMap

typedef MPTraits::Path	Path

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

MPStrategyMethod Overrides
virtual void	Finalize () override
	Clean-up and output results. More...

virtual size_t	GenerateStart (const std::string &_samplerLabel) override

virtual std::vector< size_t >	GenerateGoals (const std::string &_samplerLabel) override

Helpers
BoundaryMap	GetStartBoundaryMap () const noexcept

std::vector< BoundaryMap >	GetGoalBoundaryMaps () const noexcept

Helpers
virtual void	Run ()
	Call Iterate until EvaluateMap is true. More...

virtual bool	EvaluateMap ()
	Check if we satisfied all map evaluators.

virtual void	Iterate ()
	Execute one iteration of the strategy. More...

virtual void	ClearRoadmap ()
	Pre-clear the roadmap(s) if requested.

Protected Attributes
bool	m_debug
	Print debug info?

Internal State
std::string	m_querySampler
	Sampler for generating start/goal.

std::vector< std::string >	m_meLabels
	The list of map evaluators to use.

size_t	m_iterations {0}
	The number of executed iterations.

bool	m_writeOutput {true}
	Write output at the end?

bool	m_clearMap {false}
	Clear the roadmap(s) before run?

Detailed Description

template<typename MPTraits>
class GroupStrategyMethod< MPTraits >

Base algorithm abstraction for MPStrategies that plan for robot groups.

Todo:: Incorporate path constraints when generating the start and goal.

Member Function Documentation

◆ Finalize()

template<typename MPTraits >

void GroupStrategyMethod< MPTraits >::Finalize

overrideprotectedvirtual

Clean-up and output results.

Reimplemented from MPStrategyMethod< MPTraits >.

Reimplemented in GroupDecoupledStrategy< MPTraits >.

◆ GenerateStart()

template<typename MPTraits >

size_t GroupStrategyMethod< MPTraits >::GenerateStart ( const std::string & _samplerLabel )

overrideprotectedvirtual

Generate a 'start' node for the task and add it to the roadmap.

Parameters

_samplerLabel The label for the sampler to use if no query sampler was provided, or empty to require a query sampler.

Returns: The VID of the generated configuration.

Note: This returns size_t so that it will work for both individual and group strategies (all VID types are typedefs for size_t).

Reimplemented from MPStrategyMethod< MPTraits >.

◆ GenerateGoals()

template<typename MPTraits >

std::vector< size_t > GroupStrategyMethod< MPTraits >::GenerateGoals ( const std::string & _samplerLabel )

overrideprotectedvirtual

Generate 'goal' node(s) for the task and add it(them) to the roadmap.

Parameters

_samplerLabel The label for the sampler to use if no query sampler was provided, or empty to require a query sampler.

Returns: The VIDs of the generated configurations.

Note: This returns size_t so that it will work for both individual and group strategies (all VID types are typedefs for size_t).

Reimplemented from MPStrategyMethod< MPTraits >.

◆ GetStartBoundaryMap()

template<typename MPTraits >

GroupStrategyMethod< MPTraits >::BoundaryMap GroupStrategyMethod< MPTraits >::GetStartBoundaryMap

protectednoexcept

Get a map from robot -> boundary for the current group task's start constraints.

◆ GetGoalBoundaryMaps()

template<typename MPTraits >

std::vector< typename GroupStrategyMethod< MPTraits >::BoundaryMap > GroupStrategyMethod< MPTraits >::GetGoalBoundaryMaps

protectednoexcept

Get a map from robot -> boundary for each of the current group task's goal constraints.

◆ Print()

template<typename MPTraits >

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

overridevirtualinherited

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from MPBaseObject< MPTraits >.

Reimplemented in AdaptiveRRT< MPTraits >, BasicRRTStrategy< MPTraits >, BasicPRM< MPTraits >, GroupDecoupledStrategy< MPTraits >, and TogglePRMStrategy< MPTraits >.

◆ EnableOutputFiles()

template<typename MPTraits >

void MPStrategyMethod< MPTraits >::EnableOutputFiles ( const bool _enable = true )

inherited

Set output file writing to on or off (on by default). This is used to suppress generation of roadmap, path, and stat files.

Parameters

_enable True to enable, false to disable.

◆ Run()

template<typename MPTraits >

void MPStrategyMethod< MPTraits >::Run

protectedvirtualinherited

Call Iterate until EvaluateMap is true.

Reimplemented in ValidationStrategy< MPTraits >.

◆ Iterate()

template<typename MPTraits >

virtual void MPStrategyMethod< MPTraits >::Iterate ( )

protectedvirtualinherited

Execute one iteration of the strategy.

Reimplemented in BasicPRM< MPTraits >, BasicRRTStrategy< MPTraits >, GroupDecoupledStrategy< MPTraits >, and TogglePRMStrategy< 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:

GroupStrategyMethod.h

Public Member Functions

Public Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ Finalize()

◆ GenerateStart()

◆ GenerateGoals()

◆ GetStartBoundaryMap()

◆ GetGoalBoundaryMaps()

◆ Print()

◆ EnableOutputFiles()

◆ Run()

◆ Iterate()

◆ Initialize()

◆ SetName()

◆ GetBaseFilename()