MinkowskiDistance< MPTraits > Class Template Reference

Public Member Functions
Construction
	MinkowskiDistance (double _r1=3, double _r2=3, double _r3=1./3, bool _normalize=false)
	MinkowskiDistance (XMLNode &_node)
virtual	~MinkowskiDistance ()=default
MPBaseObject Overrides
virtual void	Print (std::ostream &_os) const
DistanceMetricMethod Overrides
virtual double	Distance (const CfgType &_c1, const CfgType &_c2) override
virtual void	ScaleCfg (double _length, CfgType &_c, const CfgType &_o) override
Distance Interface
virtual double	Distance (const GroupCfgType &_c1, const GroupCfgType &_c2)
double	EdgeWeight (const RoadmapType *const _r, const typename RoadmapType::CEI &_edge) noexcept
double	EdgeWeight (const RoadmapType *const _r, const VID _source, const VID _target) noexcept
Configuration Scaling
These functions rescale a configuration vector based on this distance metric.
void	ScaleCfg (double _length, CfgType &_c)
virtual void	ScaleCfg (double _length, GroupCfgType &_c, const GroupCfgType &_o)
void	ScaleCfg (double _length, GroupCfgType &_c)
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
Local Types
typedef MPTraits::CfgType	CfgType
typedef MPTraits::GroupCfgType	GroupCfgType
Motion Planning Types
typedef MPTraits::RoadmapType	RoadmapType
typedef RoadmapType::VID	VID
typedef GroupCfgType::Formation	Formation
Local Types
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
Helpers
double	PositionDistance (const CfgType &_c)
double	OrientationDistance (const CfgType &_c)

Protected Attributes
bool	m_debug
	Print debug info?
Internal State
double	m_r1 {3}
	For position part.
double	m_r2 {3}
	For rotation part.
double	m_r3 {1. / 3.}
	For calculating root.
bool	m_normalize {false}
	Normalize distance w.r.t. environment?

Detailed Description

template<typename MPTraits>
class MinkowskiDistance< MPTraits >

Minkowski distance is a generalized L-p norm where the exponents p and 1/p each have separate values.

Todo:

Remove m_r2, which isn't part of the Minkowski difference and doesn't have any valid use.

Todo:

Move the normalization option up to the base class.

Todo:

Separate the computation of orientation and joint distances.

Member Function Documentation

Print()

template<typename MPTraits >

void MinkowskiDistance< MPTraits >::Print ( std::ostream &  _os ) const

virtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from MPBaseObject< MPTraits >.

Distance() [1/2]

template<typename MPTraits >

double MinkowskiDistance< MPTraits >::Distance ( const CfgType &  _c1, const CfgType &  _c2  )

overridevirtual

Compute a distance between two configurations.

Parameters

_c1	The first configuration.
_c2	The second configuration.

Returns

The computed distance between _c1 and _c2.

Implements DistanceMetricMethod< MPTraits >.

ScaleCfg() [1/4]

template<typename MPTraits >

void MinkowskiDistance< MPTraits >::ScaleCfg ( double  _length, CfgType &  _c, const CfgType &  _o  )

overridevirtual

Scale a directional configuration to a certain magnitude.

Parameters

_length	Desired magnitude.
_c	Configuration to be scaled.
_o	Origin of scaling.

Reimplemented from DistanceMetricMethod< MPTraits >.

Distance() [2/2]

template<typename MPTraits >

double DistanceMetricMethod< MPTraits >::Distance ( const GroupCfgType &  _c1, const GroupCfgType &  _c2  )

virtualinherited

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

EdgeWeight() [1/2]

template<typename MPTraits >

double DistanceMetricMethod< MPTraits >::EdgeWeight ( const RoadmapType *const  _r, const typename RoadmapType::CEI &  _edge  )

noexceptinherited

Compute the weight of an existing roadmap edge according to this metric.

Parameters

_r	The containing roadmap.
_edge	The edge iterator.

Returns

The total edge weight computed through each intermediate of the edge.

Todo:

We need to make this work for group roadmaps. Probably it needs to take the roadmap as a templated parameter and not be virtual (there is really only one way to do this).

EdgeWeight() [2/2]

template<typename MPTraits >

double DistanceMetricMethod< MPTraits >::EdgeWeight ( const RoadmapType *const  _r, const VID  _source, const VID  _target  )

noexceptinherited

Compute the weight of an existing roadmap edge according to this metric.

Parameters

_r	The containing roadmap.
_source	The source vertex descriptor.
_target	The target vertex descriptor.

Returns

The total edge weight computed through each intermediate of the edge (_source, _target) in _r.

Exceptions

If	the edge (_source, _target) does not exist in _r.

ScaleCfg() [2/4]

template<typename MPTraits >

void DistanceMetricMethod< MPTraits >::ScaleCfg ( double  _length, CfgType &  _c  )

inherited

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

ScaleCfg() [3/4]

template<typename MPTraits >

void DistanceMetricMethod< MPTraits >::ScaleCfg ( double  _length, GroupCfgType &  _c, const GroupCfgType &  _o  )

virtualinherited

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.

ScaleCfg() [4/4]

template<typename MPTraits >

void DistanceMetricMethod< MPTraits >::ScaleCfg ( double  _length, GroupCfgType &  _c  )

inherited

This version is for group configurations with default origin. 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

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

• MinkowskiDistance.h