NeighborhoodFinderMethod< MPTraits > Class Template Reference

Public Member Functions
Construction
	NeighborhoodFinderMethod (const Type _type=Type::OTHER)
	NeighborhoodFinderMethod (XMLNode &_node, const Type _type=Type::OTHER, const bool _requireDM=true)
virtual	~NeighborhoodFinderMethod ()=default
MPBaseObject Overrides
virtual void	Print (std::ostream &_os) const override
Accessors
Type	GetType () const noexcept
virtual size_t &	GetK () noexcept
virtual double &	GetRadius () noexcept
virtual void	SetDMLabel (const std::string &_label) noexcept
virtual const std::string &	GetDMLabel () const noexcept
Nearest-Neighbor Queries
virtual void	FindNeighbors (RoadmapType *const _r, const CfgType &_cfg, const VertexSet &_candidates, OutputIterator _out)=0
virtual void	FindNeighbors (GroupRoadmapType *const _r, const GroupCfgType &_cfg, const VertexSet &_candidates, OutputIterator _out)=0
template<typename AbstractRoadmapType >
void	FindNeighbors (AbstractRoadmapType *const _r, const typename AbstractRoadmapType::CfgType &_cfg, OutputIterator _out)
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
enum class	Type { K , RADIUS , APPROX , OTHER }
	The type of neighbors found. More...
typedef std::back_insert_iterator< std::vector< Neighbor > >	OutputIterator
	Output iterator for writing discovered neighbors to a container.
Motion Planning Types
typedef MPTraits::RoadmapType	RoadmapType
typedef RoadmapType::VID	VID
typedef RoadmapType::VertexSet	VertexSet
typedef MPTraits::CfgType	CfgType
typedef MPTraits::GroupRoadmapType	GroupRoadmapType
typedef MPTraits::GroupCfgType	GroupCfgType
Local Types
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
template<typename AbstractRoadmapType >
bool	DirectEdge (const AbstractRoadmapType *_g, const typename AbstractRoadmapType::CfgType &_c, const typename AbstractRoadmapType::VID _v) const noexcept

Protected Attributes
bool	m_debug
	Print debug info?
Internal State
Todo: Remove m_k and m_radius - these don't apply to all NFs so it doesn't make sense to have them here. Fix design errors in SRT method which require this.
Type	m_nfType {Type::OTHER}
	Type of neighborhood finder.
size_t	m_k {0}
	How many closest neighbors to find?
double	m_radius {0}
	Maximum distance of closest neighbors.
std::string	m_dmLabel
	The distance metric to use.
bool	m_unconnected {false}
	Require neighbors with no direct edge.

Detailed Description

template<typename MPTraits>
class NeighborhoodFinderMethod< MPTraits >

Base algorithm abstraction for NeighborhoodFinders, which are methods that solve nearest-neighbor queries against configurations in a roadmap.

The primary function 'FindNeighbors' takes an input configuration and optionally a set of candidate neighbors. It returns the computed set of "nearest" neighbors and their distances (through the 'Neighbor' structure).

Usage:\n

NeighborhoodFinderPointer nf = this->GetNeighborhoodFinder(m_nfLabel);
CfgType queryCfg;
VertexSet candidates;
std::vector<Neighbor> neighbors;
nf->FindNeighbors(this->GetRoadmap(), queryCfg, candidates,
                  std::back_inserter(neighbors));

Member Enumeration Documentation

Type

template<typename MPTraits >

enum class NeighborhoodFinderMethod::Type

strong

The type of neighbors found.

Enumerator
K	k-closest neighbors
RADIUS	All neighbors within a radius.
APPROX	Approximate nearest neighbors.
OTHER	Something else.

Member Function Documentation

Print()

template<typename MPTraits >

void NeighborhoodFinderMethod< 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 BruteForceNF< MPTraits >.

GetType()

template<typename MPTraits >

NeighborhoodFinderMethod< MPTraits >::Type NeighborhoodFinderMethod< MPTraits >::GetType

noexcept

Returns

Type of neighborhood finder

GetK()

template<typename MPTraits >

size_t & NeighborhoodFinderMethod< MPTraits >::GetK

virtualnoexcept

Returns

Number of closest neighbors to find

GetRadius()

template<typename MPTraits >

double & NeighborhoodFinderMethod< MPTraits >::GetRadius

virtualnoexcept

Returns

Distance of farthest potential neighbor

SetDMLabel()

template<typename MPTraits >

void NeighborhoodFinderMethod< MPTraits >::SetDMLabel ( const std::string &  _label )

virtualnoexcept

Set the distance metric label.

Parameters

_label

The new DM label to use.

GetDMLabel()

template<typename MPTraits >

const std::string & NeighborhoodFinderMethod< MPTraits >::GetDMLabel

virtualnoexcept

Get the distance metric label.

Returns

The label for the current DM.

FindNeighbors() [1/3]

template<typename MPTraits >

virtual void NeighborhoodFinderMethod< MPTraits >::FindNeighbors ( RoadmapType *const  _r, const CfgType &  _cfg, const VertexSet &  _candidates, OutputIterator  _out  )

pure virtual

Some methods can be implemented more efficiently if the candidates are provided in a hash set. This function is to support that; the default implementation forwards to the iterator version.

Parameters

_r	The roadmap.
_cfg	The query configuration.
_candidates	The set of candidate VIDs.
_out	Output iterator.

Implemented in BruteForceNF< MPTraits >.

FindNeighbors() [2/3]

template<typename MPTraits >

virtual void NeighborhoodFinderMethod< MPTraits >::FindNeighbors ( GroupRoadmapType *const  _r, const GroupCfgType &  _cfg, const VertexSet &  _candidates, OutputIterator  _out  )

pure virtual

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

Implemented in BruteForceNF< MPTraits >.

FindNeighbors() [3/3]

template<typename MPTraits >

template<typename AbstractRoadmapType >

void NeighborhoodFinderMethod< MPTraits >::FindNeighbors	(	AbstractRoadmapType *const	_r,
		const typename AbstractRoadmapType::CfgType &	_cfg,
		OutputIterator	_out
	)

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

DirectEdge()

template<typename MPTraits >

template<typename AbstractRoadmapType >

bool NeighborhoodFinderMethod< MPTraits >::DirectEdge ( const AbstractRoadmapType *  _g, const typename AbstractRoadmapType::CfgType &  _c, const typename AbstractRoadmapType::VID  _v  ) const

protectednoexcept

Checks if there is a direct edge to potential neighbor.

Parameters

_g	The roadmap graph we are searching.
_c	The query configuration.
_v	A potential neighbor for _c.

Returns

True if there is already a direct edge from _c to _v.

Note

Takes linear time in |g|.

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:

• NeighborhoodFinderMethod.h