PathType< MPTraits > Class Template Reference

Public Member Functions
template<typename MPLibrary >
const std::vector< typename MPTraits::CfgType >	FullCfgs (MPLibrary *const _lib) const
template<typename MPLibrary >
const std::vector< typename MPTraits::CfgType >	FullCfgsWithWait (MPLibrary *const _lib) const
Construction
	PathType (RoadmapType *const _r=nullptr)
Path Interface
Robot *	GetRobot () const noexcept
	Get the robot which travels this path.
RoadmapType *	GetRoadmap () const noexcept
	Get the roadmap used by this path.
size_t	Size () const noexcept
	Get the number of cfgs in the path.
bool	Empty () const noexcept
	Check if the path is empty.
double	Length () const
	Get the total edge weight.
const std::vector< VID > &	VIDs () const noexcept
	Get the VIDs in the path.
const std::pair< std::vector< VID >, std::vector< size_t > >	VIDsWaiting () const noexcept
	Get the VIDs and timesteps waiting in the path.
const std::vector< CfgType > &	Cfgs () const
template<typename MPLibrary >
const std::vector< CfgType >	FullCfgs (MPLibrary *const _lib) const
template<typename MPLibrary >
const std::vector< CfgType >	FullCfgsWithWait (MPLibrary *const _lib) const
size_t	TimeSteps () const
PathType &	operator+= (const PathType &_p)
PathType	operator+ (const PathType &_p) const
PathType &	operator+= (const std::vector< VID > &_vids)
PathType	operator+ (const std::vector< VID > &_vids) const
PathType &	operator= (const PathType &_p)
	Copy assignment operator.
void	Clear ()
	Clear all data in the path.
void	FlushCache ()
	Clear cached data, but leave the VIDs.
void	SetFinalWaitTimeSteps (const size_t &_timeSteps)
const size_t	GetFinalWaitTimeSteps () const
	Get the number of timesteps to wait after traversal of the path.
void	SetWaitTimes (std::vector< size_t > _waitTimes)
std::vector< size_t >	GetWaitTimes ()

Public Types
Motion Planning Types
typedef MPTraits::CfgType	CfgType
typedef MPTraits::RoadmapType	RoadmapType
typedef RoadmapType::VID	VID

Detailed Description

template<typename MPTraits>
class PathType< MPTraits >

A path of connected configurations from a given roadmap.

The implementation uses a vector of VID's as the primary representation. The corresponding configurations are computed lazily upon request.

Constructor & Destructor Documentation

PathType()

template<typename MPTraits >

PathType< MPTraits >::PathType

(

RoadmapType *const

_r = nullptr

)

Construct an empty path.

Parameters

_r	The roadmap used by this path.

Member Function Documentation

Cfgs()

template<typename MPTraits >

const std::vector< typename MPTraits::CfgType > & PathType< MPTraits >::Cfgs

Get a copy of the Cfgs in the path.

Warning

If the cfgs in the roadmap are later altered (i.e., if the DOF values or labels are edited), this copy will be out-of-date.

FullCfgs()

template<typename MPTraits >

template<typename MPLibrary >

const std::vector< CfgType > PathType< MPTraits >::FullCfgs

(

MPLibrary *const

_lib

)

const

Get the current full Cfg path with steps spaced one environment resolution apart. This is not cached due to its size and infrequent usage.

Parameters

_lib	The planning library to use.

Returns

The full path of configurations, including local-plan intermediates between the roadmap nodes.

FullCfgsWithWait()

template<typename MPTraits >

template<typename MPLibrary >

const std::vector< CfgType > PathType< MPTraits >::FullCfgsWithWait

(

MPLibrary *const

_lib

)

const

Get the current full Cfg path with wait times. Steps are spaced one environment resolution apart. This is not cached due to its size and infrequent usage.

Parameters

_lib	The planning library to use.

Returns

The full path of configurations, including local-plan intermediates between the roadmap nodes and waiting.

TimeSteps()

template<typename MPTraits >

size_t PathType< MPTraits >::TimeSteps

Get the number of timesteps calculated to traverse the path, including waiting times.

operator+=() [1/2]

template<typename MPTraits >

PathType< MPTraits > & PathType< MPTraits >::operator+=

(

const PathType< MPTraits > &

_p

)

Append another path to the end of this one.

Parameters

_p	The path to append.

operator+() [1/2]

template<typename MPTraits >

PathType< MPTraits > PathType< MPTraits >::operator+

(

const PathType< MPTraits > &

_p

)

const

Add another path to the end of this one and return the result.

Parameters

_p	The path to add.

operator+=() [2/2]

template<typename MPTraits >

PathType< MPTraits > & PathType< MPTraits >::operator+=

(

const std::vector< VID > &

_vids

)

Append a new set of VIDs to the end of this path.

Parameters

_vids

The VIDs to append.

operator+() [2/2]

template<typename MPTraits >

PathType< MPTraits > PathType< MPTraits >::operator+

(

const std::vector< VID > &

_vids

)

const

Add a new set of VIDs to the end of this path and return the result.

Parameters

_vids

The VIDs to add.

SetFinalWaitTimeSteps()

template<typename MPTraits >

void PathType< MPTraits >::SetFinalWaitTimeSteps

(

const size_t &

_timeSteps

)

Set the number of timesteps to wait after traversal of the path.

Parameters

_timeSteps

The number of desired timesteps.

SetWaitTimes()

template<typename MPTraits >

void PathType< MPTraits >::SetWaitTimes

(

std::vector< size_t >

_waitTimes

)

Set the wait times at each vertex in path Used in Safe Interval Path Planning

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

• Path.h