PPL API Reference |
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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. | |
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::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 |
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).
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.
Reimplemented from MPBaseObject< 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.
_map | Map representing the TRP problem. |
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virtualinherited |
Print internal state of this object.
_os | The std::ostream to print to. |
Reimplemented in ConditionalEvaluator< MPTraits >, PrintMapEvaluation< MPTraits >, MinkowskiDistance< MPTraits >, AdaptiveRRT< MPTraits >, BasicRRTStrategy< MPTraits >, CCsConnector< MPTraits >, ConnectorMethod< MPTraits >, NeighborhoodConnector< MPTraits >, BasicExtender< MPTraits >, ExtenderMethod< MPTraits >, LocalPlannerMethod< MPTraits >, StraightLine< MPTraits >, ComposeEvaluator< MPTraits >, LazyQuery< MPTraits >, QueryMethod< MPTraits >, SIPPMethod< MPTraits >, BasicPRM< MPTraits >, GroupDecoupledStrategy< MPTraits >, MPStrategyMethod< MPTraits >, TogglePRMStrategy< MPTraits >, BruteForceNF< MPTraits >, NeighborhoodFinderMethod< MPTraits >, and UniformRandomSampler< MPTraits >.
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protectedinherited |
_s | Class name |
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protectedinherited |