MPLibraryType< MPTraits > Class Template Reference

Classes
struct	Solver

Public Member Functions
Construction
	MPLibraryType ()
	MPLibraryType (const std::string &_filename)
virtual	~MPLibraryType ()
Configuration
void	ReadXMLFile (const std::string &_filename)
Distance Metric Accessors
DistanceMetricPointer	GetDistanceMetric (const std::string &_l)
void	AddDistanceMetric (DistanceMetricPointer _dm, const std::string &_l)
Validity Checker Accessors
ValidityCheckerPointer	GetValidityChecker (const std::string &_l)
void	AddValidityChecker (ValidityCheckerPointer _vc, const std::string &_l)
void	ToggleValidity ()
	Toggle (negate) the validity output for ALL validity checkers.
Neighborhood Finder Accessors
NeighborhoodFinderPointer	GetNeighborhoodFinder (const std::string &_l)
void	AddNeighborhoodFinder (NeighborhoodFinderPointer _nf, const std::string &_l)
Sampler Accessors
const SamplerSet *const	GetSamplers () const
SamplerPointer	GetSampler (const std::string &_l)
void	AddSampler (SamplerPointer _s, const std::string &_l)
Local Planner Accessors
LocalPlannerPointer	GetLocalPlanner (const std::string &_l)
void	AddLocalPlanner (LocalPlannerPointer _lp, const std::string &_l)
Extender Accessors
ExtenderPointer	GetExtender (const std::string &_l)
void	AddExtender (ExtenderPointer _mps, const std::string &_l)
Path Modifier Accessors
PathModifierPointer	GetPathModifier (const std::string &_l)
void	AddPathModifier (PathModifierPointer _ps, const std::string &_l)
Connector Accessors
ConnectorPointer	GetConnector (const std::string &_l)
void	AddConnector (ConnectorPointer _c, const std::string &_l)
Metric Accessors
MetricPointer	GetMetric (const std::string &_l)
void	AddMetric (MetricPointer _m, const std::string &_l)
Map Evaluator Accessors
MapEvaluatorPointer	GetMapEvaluator (const std::string &_l)
void	AddMapEvaluator (MapEvaluatorPointer _me, const std::string &_l)
MPStrategy Accessors
const MPStrategySet *const	GetMPStrategies () const
MPStrategyPointer	GetMPStrategy (const std::string &_l)
void	AddMPStrategy (MPStrategyPointer _mps, const std::string &_l)
MPTools Accessors
MPTools *	GetMPTools ()
Input Accessors
MPProblem *	GetMPProblem () const noexcept
void	SetMPProblem (MPProblem *const _problem) noexcept
MPTask *	GetTask () const noexcept
void	SetTask (MPTask *const _task) noexcept
GroupTask *	GetGroupTask () const noexcept
void	SetGroupTask (GroupTask *const _task) noexcept
const std::string &	GetBaseFilename () const noexcept
void	SetBaseFilename (const std::string &_s) noexcept
Solution Accessors
MPSolution *	GetMPSolution () const noexcept
void	SetMPSolution (MPSolution *_sol) noexcept
RoadmapType *	GetRoadmap (Robot *const _r=nullptr) const noexcept
GroupRoadmapType *	GetGroupRoadmap (RobotGroup *const _g=nullptr) const noexcept
RoadmapType *	GetBlockRoadmap (Robot *const _r=nullptr) const noexcept
Path *	GetPath (Robot *const _r=nullptr) const noexcept
GroupPath *	GetGroupPath (RobotGroup *const _g=nullptr) const noexcept
LocalObstacleMap *	GetLocalObstacleMap (Robot *const _r=nullptr) const noexcept
GoalTracker *	GetGoalTracker () const noexcept
StatClass *	GetStatClass () const noexcept
Edge Reconstruction
std::vector< typename RoadmapType::VP >	ReconstructEdge (RoadmapType *const _roadmap, const VID _source, const VID _target, const double _posRes, const double _oriRes)
std::vector< typename GroupRoadmapType::VP >	ReconstructEdge (GroupRoadmapType *const _roadmap, const VID _source, const VID _target, const double _posRes, const double _oriRes)
template<typename AbstractRoadmapType >
std::vector< typename AbstractRoadmapType::VP >	ReconstructEdge (AbstractRoadmapType *const _roadmap, const VID _source, const VID _target)
Execution Interface
void	Halt ()
bool	IsRunning () const noexcept
	Check to see if the strategy should continue.
void	SetSeed () const noexcept
	Set the current seed to match the first solver node.
void	SetSeed (const long _seed) const noexcept
void	AddSolver (const std::string &_label, long _seed, const std::string &_baseFileName, bool _vizmoDebug=false)
std::vector< std::string >	GetSolverLabels ()
void	Solve (MPProblem *_problem, MPTask *_task, MPSolution *_solution)
void	Solve (MPProblem *_problem, MPTask *_task)
void	Solve (MPProblem *_problem, GroupTask *_task)
	Group overload:
void	Solve (MPProblem *_problem, GroupTask *_task, MPSolution *_solution)
void	Solve (MPProblem *_problem, MPTask *_task, MPSolution *_solution, const std::string &_label, const long _seed, const std::string &_baseFilename)
Debugging
void	Print (ostream &_os) const
	Print each method set.

Public Types
Motion Planning Types
typedef MPTraits::MPSolution	MPSolution
typedef MPTraits::RoadmapType	RoadmapType
typedef RoadmapType::VID	VID
typedef MPTraits::CfgType	CfgType
typedef MPTraits::GroupRoadmapType	GroupRoadmapType
typedef MPTraits::Path	Path
typedef MPTraits::GroupPathType	GroupPath
typedef MPTraits::MPTools	MPTools
typedef MPTraits::LocalObstacleMap	LocalObstacleMap
typedef MPTraits::GoalTracker	GoalTracker
Method Set Types
typedef MethodSet< MPTraits, DistanceMetricMethod< MPTraits > >	DistanceMetricSet
typedef MethodSet< MPTraits, ValidityCheckerMethod< MPTraits > >	ValidityCheckerSet
typedef MethodSet< MPTraits, NeighborhoodFinderMethod< MPTraits > >	NeighborhoodFinderSet
typedef MethodSet< MPTraits, SamplerMethod< MPTraits > >	SamplerSet
typedef MethodSet< MPTraits, LocalPlannerMethod< MPTraits > >	LocalPlannerSet
typedef MethodSet< MPTraits, ExtenderMethod< MPTraits > >	ExtenderSet
typedef MethodSet< MPTraits, PathModifierMethod< MPTraits > >	PathModifierSet
typedef MethodSet< MPTraits, ConnectorMethod< MPTraits > >	ConnectorSet
typedef MethodSet< MPTraits, MetricMethod< MPTraits > >	MetricSet
typedef MethodSet< MPTraits, MapEvaluatorMethod< MPTraits > >	MapEvaluatorSet
typedef MethodSet< MPTraits, MPStrategyMethod< MPTraits > >	MPStrategySet
Method Pointer Types
typedef ValidityCheckerSet::MethodPointer	ValidityCheckerPointer
typedef DistanceMetricSet::MethodPointer	DistanceMetricPointer
typedef NeighborhoodFinderSet::MethodPointer	NeighborhoodFinderPointer
typedef SamplerSet::MethodPointer	SamplerPointer
typedef LocalPlannerSet::MethodPointer	LocalPlannerPointer
typedef ExtenderSet::MethodPointer	ExtenderPointer
typedef PathModifierSet::MethodPointer	PathModifierPointer
typedef ConnectorSet::MethodPointer	ConnectorPointer
typedef MetricSet::MethodPointer	MetricPointer
typedef MapEvaluatorSet::MethodPointer	MapEvaluatorPointer
typedef MPStrategySet::MethodPointer	MPStrategyPointer

Protected Attributes
Method Sets
Method sets hold and offer access to the motion planning objects of the corresponding type.
DistanceMetricSet *	m_distanceMetrics {nullptr}
ValidityCheckerSet *	m_validityCheckers {nullptr}
NeighborhoodFinderSet *	m_neighborhoodFinders {nullptr}
SamplerSet *	m_samplers {nullptr}
LocalPlannerSet *	m_localPlanners {nullptr}
ExtenderSet *	m_extenders {nullptr}
PathModifierSet *	m_pathModifiers {nullptr}
ConnectorSet *	m_connectors {nullptr}
MetricSet *	m_metrics {nullptr}
MapEvaluatorSet *	m_mapEvaluators {nullptr}
MPStrategySet *	m_mpStrategies {nullptr}

Detailed Description

template<typename MPTraits>
class MPLibraryType< MPTraits >

A collection of planning algorithms that can operate on a specific MPProblem and MPTask.

Member Function Documentation

ReadXMLFile()

template<typename MPTraits >

void MPLibraryType< MPTraits >::ReadXMLFile

(

const std::string &

_filename

)

Read an XML file to set the algorithms and parameters in this instance.

Parameters

_filename

The XML file name.

ReconstructEdge() [1/3]

template<typename MPTraits >

std::vector< typename MPTraits::RoadmapType::VP > MPLibraryType< MPTraits >::ReconstructEdge	(	RoadmapType *const	_roadmap,
		const VID	_source,
		const VID	_target,
		const double	_posRes,
		const double	_oriRes
	)

Recompute a roadmap edge path at full resolution (source and target cfgs are not included).

Parameters

_roadmap	The roadmap pointer.
_source	The source VID.
_target	The target VID.
_posRes	The position resolution to use.
_oriRes	The orientation resolution to use.

Returns

A vector of cfgs along the edge, spaced at resolution intervals.

ReconstructEdge() [2/3]

template<typename MPTraits >

std::vector< typename MPTraits::GroupRoadmapType::VP > MPLibraryType< MPTraits >::ReconstructEdge	(	GroupRoadmapType *const	_roadmap,
		const VID	_source,
		const VID	_target,
		const double	_posRes,
		const double	_oriRes
	)

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

ReconstructEdge() [3/3]

template<typename MPTraits >

template<typename AbstractRoadmapType >

std::vector< typename AbstractRoadmapType::VP > MPLibraryType< MPTraits >::ReconstructEdge	(	AbstractRoadmapType *const	_roadmap,
		const VID	_source,
		const VID	_target
	)

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

Halt()

template<typename MPTraits >

void MPLibraryType< MPTraits >::Halt

Halt the current strategy and move on to finalization. Useful for controlling the library from an external client object.

SetSeed()

template<typename MPTraits >

void MPLibraryType< MPTraits >::SetSeed ( const long  _seed ) const

noexcept

Set the current seed.

Parameters

_seed

The seed value.

AddSolver()

template<typename MPTraits >

void MPLibraryType< MPTraits >::AddSolver	(	const std::string &	_label,
		long	_seed,
		const std::string &	_baseFileName,
		bool	_vizmoDebug = false
	)

Add an input set to this MPLibrary.

Parameters

_label	The MPStrategy label to use.
_seed	The random seed to use.
_baseFileName	The base name of the XML file to use.
_vizmoDebug	Enable/disable vizmo debug.

Solve() [1/3]

template<typename MPTraits >

void MPLibraryType< MPTraits >::Solve	(	MPProblem *	_problem,
		MPTask *	_task,
		MPSolution *	_solution
	)

Run a single input (solver) and get back its solution.

Parameters

_problem	The problem representation.
_task	The task representation.
_solution	The solution container, which may or may not already be populated. Existing solutions should be extended, not overwritten.

Solve() [2/3]

template<typename MPTraits >

void MPLibraryType< MPTraits >::Solve	(	MPProblem *	_problem,
		MPTask *	_task
	)

Run each input (solver) in sequence.

Parameters

_problem	The problem representation.
_task	The task representation.

Solve() [3/3]

template<typename MPTraits >

void MPLibraryType< MPTraits >::Solve	(	MPProblem *	_problem,
		MPTask *	_task,
		MPSolution *	_solution,
		const std::string &	_label,
		const long	_seed,
		const std::string &	_baseFilename
	)

Run a specific MPStrategy from the XML file with a designated seed and base output file name. This is intended for use with the simulator where agents may need to call various strategies within a single execution.

Parameters

_problem	The problem representation.
_task	The task representation.
_solution	The solution container, which may or may not already be populated. Existing solutions should be extended, not overwritten.
_label	The label of the MPStrategy to call.
_seed	The seed to use.
_baseFilename	The base name for output files.

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The documentation for this class was generated from the following file:

• MPLibrary.h