SafeIntervalTool< MPTraits > Class Template Reference

Public Member Functions
Construction
	SafeIntervalTool ()
	SafeIntervalTool (XMLNode &_node)
virtual	~SafeIntervalTool ()
MPBaseObject Overrides
virtual void	Initialize () override
Interval Computation
Intervals	ComputeIntervals (const CfgType &_cfg)
Intervals	ComputeIntervals (const WeightType &_weight, const VID _source, const VID _target, RoadmapType *_roadmap)
Interval Checking
bool	ContainsTimestep (const Intervals &_intervals, const double _timestep)
I/O
virtual void	Print (std::ostream &_os) const
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
Motion Planning Types
typedef MPTraits::RoadmapType	RoadmapType
typedef MPTraits::CfgType	CfgType
typedef MPTraits::WeightType	WeightType
typedef MPTraits::Path	Path
typedef RoadmapType::VID	VID
Local Types
typedef std::vector< Range< double > >	Intervals
	A set of time intervals.
Local Types
typedef MPTraits::GroupRoadmapType	GroupRoadmapType
typedef MPTraits::LocalObstacleMap	LocalObstacleMap
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

Protected Attributes
bool	m_debug
	Print debug info?

Detailed Description

template<typename MPTraits>
class SafeIntervalTool< MPTraits >

Computes safe intervals for Cfgs and Edges. A 'safe interval' is an interval of time where collision with a known dynamic obstacle (with known trajectory) will not occur.

This tool implements the concept of a 'Safe Intervals' from the paper:

Phillips, Mike, and Maxim Likhachev. "Sipp: Safe interval path planning for dynamic environments." Robotics and Automation (ICRA), 2011 IEEE International Conference on. IEEE, 2011.

Member Function Documentation

Initialize()

template<typename MPTraits >

void SafeIntervalTool< MPTraits >::Initialize

overridevirtual

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 from MPBaseObject< MPTraits >.

ComputeIntervals() [1/2]

template<typename MPTraits >

SafeIntervalTool< MPTraits >::Intervals SafeIntervalTool< MPTraits >::ComputeIntervals

(

const CfgType &

_cfg

)

Compute the safe intervals for a given Cfg.

Parameters

_cfg	The configuration to compute safeIntervals's for.

Returns

The set of safe intervals for _cfg.

ComputeIntervals() [2/2]

template<typename MPTraits >

SafeIntervalTool< MPTraits >::Intervals SafeIntervalTool< MPTraits >::ComputeIntervals	(	const WeightType &	_weight,
		const VID	_source,
		const VID	_target,
		RoadmapType *	_roadmap
	)

Compute the safe intervals for a given Edge, a source and a target.

Parameters

_weight	The edge to compute safeIntervals's for.
_source	The source VID to compute safeIntervals's for.
_target	The target VID to compute safeIntervals's for.
_roadmap	The current roadmap.

Returns

The set of safe intervals for _weight.

ContainsTimestep()

template<typename MPTraits >

bool SafeIntervalTool< MPTraits >::ContainsTimestep	(	const Intervals &	_intervals,
		const double	_timestep
	)

Determine if a timestep is contained within a SafeInterval

Parameters

_intervals	The safe intervals to check in.
_timestep	The timestep to check.

Print()

template<typename MPTraits >

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

virtualinherited

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented in ConditionalEvaluator< MPTraits >, PrintMapEvaluation< MPTraits >, MinkowskiDistance< MPTraits >, AdaptiveRRT< MPTraits >, BasicRRTStrategy< MPTraits >, CCsConnector< MPTraits >, ConnectorMethod< MPTraits >, NeighborhoodConnector< MPTraits >, BasicExtender< MPTraits >, ExtenderMethod< MPTraits >, LocalPlannerMethod< MPTraits >, StraightLine< MPTraits >, ComposeEvaluator< MPTraits >, LazyQuery< MPTraits >, QueryMethod< MPTraits >, SIPPMethod< MPTraits >, BasicPRM< MPTraits >, GroupDecoupledStrategy< MPTraits >, MPStrategyMethod< MPTraits >, TogglePRMStrategy< MPTraits >, BruteForceNF< MPTraits >, NeighborhoodFinderMethod< MPTraits >, and UniformRandomSampler< 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

---

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

• SafeIntervalTool.h