LocalPlannerMethod< MPTraits > Class Template Reference

Public Member Functions
Construction
	LocalPlannerMethod (bool _saveIntermediates=false)
	LocalPlannerMethod (XMLNode &_node)
virtual	~LocalPlannerMethod ()=default
MPBaseObject Overrides
virtual void	Print (std::ostream &_os) const override
Local Planner Interface
virtual bool	IsConnected (const CfgType &_start, const CfgType &_end, CfgType &_col, LPOutput< MPTraits > *_lpOutput, double _posRes, double _oriRes, bool _checkCollision=true, bool _savePath=false)=0
bool	IsConnected (const CfgType &_start, const CfgType &_end, LPOutput< MPTraits > *_lpOutput, double _posRes, double _oriRes, bool _checkCollision=true, bool _savePath=false)
virtual bool	IsConnected (const GroupCfgType &_start, const GroupCfgType &_end, GroupCfgType &_col, GroupLPOutput< MPTraits > *_lpOutput, double _posRes, double _oriRes, bool _checkCollision=true, bool _savePath=false, const Formation &_formation=Formation())
bool	IsConnected (const GroupCfgType &_start, const GroupCfgType &_end, GroupLPOutput< MPTraits > *_lpOutput, double _posRes, double _oriRes, bool _checkCollision=true, bool _savePath=false, const Formation &_formation=Formation())
std::vector< CfgType >	BlindPath (const std::vector< CfgType > &_waypoints, const double _posRes, const double _oriRes)
std::vector< CfgType >	BlindPath (const std::vector< CfgType > &_waypoints)
std::vector< GroupCfgType >	BlindPath (const std::vector< GroupCfgType > &_waypoints, const double _posRes, const double _oriRes, const Formation &_formation=Formation())
std::vector< GroupCfgType >	BlindPath (const std::vector< GroupCfgType > &_waypoints, const Formation &_formation=Formation())
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 GroupCfgType::Formation	Formation
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?
Internal State
bool	m_saveIntermediates {false}
	Save the intermediates in the roadmap?

Detailed Description

template<typename MPTraits>
class LocalPlannerMethod< MPTraits >

Base algorithm abstraction for Local Planners.

LocalPlannerMethod has two main functions: IsConnected and BlindPath.

IsConnected takes as input two configurations , , an LPOutput, validation resolutions, and optional booleans dictating whether to check collision and save the path. The function both returns true or false to validate the simple path between and , but also populates the LPOutput structure with useful information.

BlindPath is a helper to plan between waypoints without collision checking. This is useful for working with pre-validated paths.

Todo:

All local planners need to use a distance metric to set their edge weights properly; currently many of them are simply using the number of intermediate steps as a weight.

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 LocalPlannerMethod< 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 StraightLine< MPTraits >.

IsConnected() [1/4]

template<typename MPTraits >

virtual bool LocalPlannerMethod< MPTraits >::IsConnected ( const CfgType &  _start, const CfgType &  _end, CfgType &  _col, LPOutput< MPTraits > *  _lpOutput, double  _posRes, double  _oriRes, bool  _checkCollision = true, bool  _savePath = false  )

pure virtual

Validate a simple path between two nodes.

Parameters

_start	The starting configuration.
_end	The ending configuration.
_col	The witness configuration on failure.
_lpOutput	Weight and path computed from local plan.
_posRes	Positional DOF resolution.
_oriRes	Rotational DOF resolution.
_checkCollision	Use validity checking?
_savePath	Save all configurations along the path?

Returns

A boolean indicating whether the connection succeeded.

Usage:\n

LocalPlannerPointer lp = this->GetLocalPlanner(m_lpLabel);
Environment* env = this->GetEnvironment();
CfgType c1, c2, col;
LPOutput<MPTraits> lpOut;
lp->IsConnected(c1, c2, col, &lpOut, env->GetPositionRes(),
    env->GetOrientationRes());

Implemented in StraightLine< MPTraits >.

IsConnected() [2/4]

template<typename MPTraits >

bool LocalPlannerMethod< MPTraits >::IsConnected	(	const CfgType &	_start,
		const CfgType &	_end,
		LPOutput< MPTraits > *	_lpOutput,
		double	_posRes,
		double	_oriRes,
		bool	_checkCollision = true,
		bool	_savePath = false
	)

This version does not return a collision node. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

IsConnected() [3/4]

template<typename MPTraits >

bool LocalPlannerMethod< MPTraits >::IsConnected ( const GroupCfgType &  _start, const GroupCfgType &  _end, GroupCfgType &  _col, GroupLPOutput< MPTraits > *  _lpOutput, double  _posRes, double  _oriRes, bool  _checkCollision = true, bool  _savePath = false, const Formation &  _formation = Formation()  )

virtual

This version is for group configurations. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Reimplemented in StraightLine< MPTraits >.

IsConnected() [4/4]

template<typename MPTraits >

bool LocalPlannerMethod< MPTraits >::IsConnected	(	const GroupCfgType &	_start,
		const GroupCfgType &	_end,
		GroupLPOutput< MPTraits > *	_lpOutput,
		double	_posRes,
		double	_oriRes,
		bool	_checkCollision = true,
		bool	_savePath = false,
		const Formation &	_formation = Formation()
	)

This version for group configurations does not return a collision node. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

BlindPath() [1/3]

template<typename MPTraits >

std::vector< typename MPTraits::CfgType > LocalPlannerMethod< MPTraits >::BlindPath	(	const std::vector< CfgType > &	_waypoints,
		const double	_posRes,
		const double	_oriRes
	)

Blind-plan between a set of waypoints. Also useful for reconstructing previously validated edges.

Parameters

_waypoints	The waypoint configurations.
_posRes	Positional DOF resolution.
_oriRes	Rotational DOF resolution.

Returns

Configurations along path through _waypoints up to a resolution (_posRes, _oriRes). Does not include the first or last configuration.

Usage:\n

LocalPlannerPointer lp = this->GetLocalPlanner(m_lpLabel);
Environment* env = this->GetEnvironment();
CfgType c1, c2;
lp->BlindPath({c1, c2}, env->GetPositionRes(), env->GetOrientationRes());

BlindPath() [2/3]

template<typename MPTraits >

std::vector< typename MPTraits::CfgType > LocalPlannerMethod< MPTraits >::BlindPath

(

const std::vector< CfgType > &

_waypoints

)

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

BlindPath() [3/3]

template<typename MPTraits >

std::vector< typename MPTraits::GroupCfgType > LocalPlannerMethod< MPTraits >::BlindPath	(	const std::vector< GroupCfgType > &	_waypoints,
		const Formation &	_formation = Formation()
	)

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

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:

• LocalPlannerMethod.h