MPTraits< C, W > Struct Template Reference

Defines available methods in the Motion Planning Universe for Cfg. More...

Public Types
typedef C	CfgType
typedef W	WeightType
typedef RoadmapGraph< C, W >	RoadmapType
typedef PathType< MPTraits >	Path
typedef MPLibraryType< MPTraits >	MPLibrary
typedef MPSolutionType< MPTraits >	MPSolution
typedef MPToolsType< MPTraits >	MPTools
typedef LocalObstacleMapType< MPTraits >	LocalObstacleMap
typedef GoalTrackerType< MPTraits >	GoalTracker
typedef GroupLocalPlan< CfgType >	GroupWeightType
typedef GroupRoadmap< GroupCfg, GroupWeightType >	GroupRoadmapType
typedef GroupPath< MPTraits >	GroupPathType
typedef GroupCfg	GroupCfgType
typedef boost::mpl::list< EuclideanDistance< MPTraits >, MinkowskiDistance< MPTraits > >	DistanceMetricMethodList
typedef boost::mpl::list< CollisionDetectionValidity< MPTraits >, AlwaysTrueValidity< MPTraits >, ComposeValidity< MPTraits >, ComposeCollision< MPTraits > >	ValidityCheckerMethodList
typedef boost::mpl::list< BruteForceNF< MPTraits > >	NeighborhoodFinderMethodList
typedef boost::mpl::list< UniformRandomSampler< MPTraits > >	SamplerMethodList
typedef boost::mpl::list< StraightLine< MPTraits > >	LocalPlannerMethodList
typedef boost::mpl::list< BasicExtender< MPTraits > >	ExtenderMethodList
typedef boost::mpl::list< >	PathModifierMethodList
typedef boost::mpl::list< NeighborhoodConnector< MPTraits > >	ConnectorMethodList
typedef boost::mpl::list< NumNodesMetric< MPTraits > >	MetricMethodList
typedef boost::mpl::list< CBSQuery< MPTraits >, ComposeEvaluator< MPTraits >, ConditionalEvaluator< MPTraits >, LazyQuery< MPTraits >, QueryMethod< MPTraits >, SIPPMethod< MPTraits >, TimeEvaluator< MPTraits > >	MapEvaluatorMethodList
typedef boost::mpl::list< AdaptiveRRT< MPTraits >, BasicPRM< MPTraits >, BasicRRTStrategy< MPTraits >, GroupDecoupledStrategy< MPTraits >, GroupStrategyMethod< MPTraits >, TogglePRMStrategy< MPTraits >, ValidationStrategy< MPTraits > >	MPStrategyMethodList
typedef C	CfgType
typedef W	WeightType
typedef C	CfgRef
typedef MPProblem< MPTraits >	MPProblemType
typedef boost::mpl::list< EuclideanDistance< MPTraits >, ScaledEuclideanDistance< MPTraits > >	DistanceMetricMethodList
typedef boost::mpl::list< AlwaysTrueValidity< MPTraits >, CollisionDetectionValidity< MPTraits > >	ValidityCheckerMethodList
typedef boost::mpl::list< BruteForceNF< MPTraits >, RadiusNF< MPTraits > >	NeighborhoodFinderMethodList
typedef boost::mpl::list< BridgeTestSampler< MPTraits >, GaussianSampler< MPTraits >, ObstacleBasedSampler< MPTraits >, UniformRandomSampler< MPTraits > >	SamplerMethodList
typedef boost::mpl::list< StraightLine< MPTraits > >	LocalPlannerMethodList
typedef boost::mpl::list< BasicExtender< MPTraits > >	ExtenderMethodList
typedef boost::mpl::list< >	PathModifierMethodList
typedef boost::mpl::list< CCsConnector< MPTraits >, NeighborhoodConnector< MPTraits >, RegionConnector< MPTraits >, RegionRRTConnect< MPTraits >, RewireConnector< MPTraits >, RRTConnect< MPTraits > >	ConnectorMethodList
typedef boost::mpl::list< NumNodesMetric< MPTraits > >	MetricMethodList
typedef boost::mpl::list< ConditionalEvaluator< MPTraits > >	MapEvaluatorMethodList
typedef boost::mpl::list< BasicParallelPRM< MPTraits >, BlindRRT< MPTraits >, BulkRRT< MPTraits >, RadialBlindRRT< MPTraits >, RadialSubdivisionRRT< MPTraits >, RegularSubdivisionMethod< MPTraits > >	MPStrategyMethodList
typedef C	CfgType
typedef W	WeightType
typedef RoadmapGraph< C, W >	RoadmapType
typedef PathType< MPTraits >	Path
typedef MPLibraryTests< MPTraits >	MPLibrary
typedef MPSolutionType< MPTraits >	MPSolution
typedef MPToolsType< MPTraits >	MPTools
typedef LocalObstacleMapType< MPTraits >	LocalObstacleMap
typedef GoalTrackerType< MPTraits >	GoalTracker
typedef GroupLocalPlan< CfgType >	GroupWeightType
typedef GroupRoadmap< GroupCfg, GroupWeightType >	GroupRoadmapType
typedef GroupPath< MPTraits >	GroupPathType
typedef GroupCfg	GroupCfgType
typedef boost::mpl::list< >	DistanceMetricMethodList
typedef boost::mpl::list< AlwaysTrueValidityTest< MPTraits > >	ValidityCheckerMethodList
typedef boost::mpl::list< >	NeighborhoodFinderMethodList
typedef boost::mpl::list< UniformRandomSamplerTest< MPTraits > >	SamplerMethodList
typedef boost::mpl::list< >	LocalPlannerMethodList
typedef boost::mpl::list< >	ExtenderMethodList
typedef boost::mpl::list< >	PathModifierMethodList
typedef boost::mpl::list< >	ConnectorMethodList
typedef boost::mpl::list< >	MetricMethodList
typedef boost::mpl::list< LazyQueryTest< MPTraits > >	MapEvaluatorMethodList
typedef boost::mpl::list< ValidationStrategy< MPTraits > >	MPStrategyMethodList

Detailed Description

template<typename C, typename W = DefaultWeight<C>>
struct MPTraits< C, W >

Defines available methods in the Motion Planning Universe for Cfg.

Defines available methods in the Motion Planning Universe for Cfg under parallel compile.

Template Parameters

C	Cfg type
W	Weight type

MPTraits is a type class which defines the motion planning universe. We construct our methods through a factory design pattern, and thus this states all available classes within an abstraction that you can use in the system. Essentially, the important types are the CfgType or the abstraction class, the WeightType or the edge type of the graph, and a type list for each algorithm abstraction — here you only need to define what you need, as extraneous methods in the type class imply longer compile times.

Template Parameters

C	Cfg type
W	Weight type

TODO::Update this description MPTraits is a type class which defines the motion planning universe. We construct our methods through a factory design pattern, and thus this states all available classes within an abstraction that you can use in the system. Essentially, the important types are the CfgType or the abstraction class, the WeightType or the edge type of the graph, and a type list for each algorithm abstraction — here you only need to define what you need, as extraneous methods in the type class imply longer compile times.

All methods should have "Test" at the end to specify that they are using the test version, and the test version header file should be included at the top of this file.

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The documentation for this struct was generated from the following files:

• TMPBaseObject.h
• CfgTraits.h
• ParallelCfgTraits.h
• TestTraits.h