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LKHSearch< MPTraits > Class Template Referencefinal

Public Member Functions

Construction
 LKHSearch ()
 
 LKHSearch (XMLNode &_node)
 
virtual ~LKHSearch ()
 
MPBaseObject Overrides
virtual void Initialize () override
 
Graph Seach
std::vector< std::vector< typename TRPGoalMap< MPTraits >::vertex_descriptor > > SearchTRP (TRPGoalMap< MPTraits > *_map)
 
I/O
virtual void Print (std::ostream &_os) const
 
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.
 
MPLibraryGetMPLibrary () 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::MPToolsGetMPTools () const noexcept
 Get the MPTools container from the owning MPLibrary.
 
Problem Accessors
MPProblemGetMPProblem () const noexcept
 Get the library's current MPProblem.
 
EnvironmentGetEnvironment () const noexcept
 Get the current environment.
 
MPTaskGetTask () const noexcept
 Get the current task.
 
GroupTaskGetGroupTask () const noexcept
 Get the current group task.
 
Solution Accessors
MPSolutionGetMPSolution () const noexcept
 
RoadmapTypeGetRoadmap (Robot *const _r=nullptr) const noexcept
 Get the current free-space roadmap.
 
GroupRoadmapTypeGetGroupRoadmap (RobotGroup *const _g=nullptr) const noexcept
 Get the current free-space group roadmap.
 
RoadmapTypeGetBlockRoadmap (Robot *const _r=nullptr) const noexcept
 Get the current obstacle-space roadmap.
 
PathGetPath (Robot *const _r=nullptr) const noexcept
 Get the current best path.
 
GroupPathGetGroupPath (RobotGroup *const _g=nullptr) const noexcept
 Get the current best group path.
 
StatClassGetStatClass () const noexcept
 Get the current StatClass.
 
LocalObstacleMapGetLocalObstacleMap () const noexcept
 Get the local obstacle map.
 
GoalTrackerGetGoalTracker () const noexcept
 Get the goal tracker.
 

Public Types

Motion Planning Types
typedef MPTraits::CfgType CfgType
 
typedef MPTraits::WeightType WeightType
 
typedef MPTraits::RoadmapType Roadmap
 
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
 

Detailed Description

template<typename MPTraits>
class LKHSearch< MPTraits >

Interfaces with the LKH libray in utils. Uses a heursitic to evaluate variants of the Traveling Salesman Problem.

Paramters for the LKH library are set in parameter file designated in the XML file. The parameter file must designate the problem file being passed to the library which is written here (problem file called ProblemFile.atsp for now but it needs to be updated to take in different types of problems as ".atsp" is specific to the atypical traveling saleman problem).

Member Function Documentation

◆ Initialize()

template<typename MPTraits >
void LKHSearch< MPTraits >::Initialize
overridevirtual

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 from MPBaseObject< MPTraits >.

◆ SearchTRP()

template<typename MPTraits >
std::vector< std::vector< typename TRPGoalMap< MPTraits >::vertex_descriptor > > LKHSearch< MPTraits >::SearchTRP ( TRPGoalMap< MPTraits > *  _map)

Runs the LKH library ATSP search on a transformed TRP.

Parameters
_mapMap representing the TRP problem.
Returns
Set of path indices for the robots in the group. Index of the set corresponds to the index of the robot inthe container in the goal map as input in the TRPTool::Initialize function.

◆ Print()

template<typename MPTraits >
void MPBaseObject< MPTraits >::Print ( std::ostream &  _os) const
virtualinherited

◆ SetName()

template<typename MPTraits >
void MPBaseObject< MPTraits >::SetName ( const std::string &  _s)
protectedinherited
Parameters
_sClass 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: