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ValidityCheckerMethod< MPTraits > Class Template Referenceabstract
Algorithm Abstractions » Validity Checkers

Public Member Functions

Construction
 ValidityCheckerMethod ()=default
 
 ValidityCheckerMethod (XMLNode &_node)
 
virtual ~ValidityCheckerMethod ()=default
 
Validity Accessors
bool GetValidity () const
 Get the current meaning of "valid" (true is default).
 
void ToggleValidity ()
 Switches the meaning of "valid" to "invalid" and vice versa.
 
Individual Configuration Validity
bool IsValid (CfgType &_cfg, CDInfo &_cdInfo, const std::string &_caller)
 
bool IsValid (CfgType &_cfg, const std::string &_caller)
 
Group Configuration Validity
bool IsValid (GroupCfgType &_cfg, CDInfo &_cdInfo, const std::string &_caller)
 
bool IsValid (GroupCfgType &_cfg, const std::string &_caller)
 
I/O
virtual void Print (std::ostream &_os) const
 
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

Motion Planning Types
typedef MPTraits::CfgType CfgType
 
typedef MPTraits::GroupCfgType GroupCfgType
 
typedef GroupCfgType::Formation Formation
 
Local Types
typedef MPTraits::RoadmapType RoadmapType
 
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
virtual bool IsValidImpl (CfgType &_cfg, CDInfo &_cdInfo, const std::string &_caller)=0
 
virtual bool IsValidImpl (GroupCfgType &_cfg, CDInfo &_cdInfo, const std::string &_caller)
 

Protected Attributes

bool m_debug
 Print debug info?
 
Internal State
bool m_validity {true}
 Use standard validity? False indicates negation.
 

Detailed Description

template<typename MPTraits>
class ValidityCheckerMethod< MPTraits >

Base algorithm abstraction for Validity Checkers.

Validity checkers define some notion of 'valid' for a configuration. The IsValid function evaluates a configuration with respect to this definition. The output may be inverted by calling ToggleValidity.

For collision-detection type checkers, a CDInfo object may carry additional information about the check.

Usage:\n
ValidityCheckerPointer vc = this->GetValidityChecker(m_vcLabel);
CfgType c;
CDInfo cdInfo;
string callee("SomeFunc");
bool valid = vc->IsValid(c, cdInfo, callee);
MPBaseObject::GetValidityChecker
ValidityCheckerPointer GetValidityChecker(const std::string &) const noexcept
Get a validity checker by label from the owning MPLibrary.
Definition: MPBaseObject.h:345
CDInfo
Definition: CDInfo.h:139

Member Function Documentation

◆ IsValid() [1/4]

template<typename MPTraits >
bool ValidityCheckerMethod< MPTraits >::IsValid ( CfgType &  _cfg,
CDInfo &  _cdInfo,
const std::string &  _caller 
)

Classify a configuration to either cfree or cobst.

Parameters
_cfgThe individual configuration.
_cdInfoOutput for extra computed information such as clearance.
_callerName of the calling function.
Returns
True iff _cfg is in cfree, false otherwise.

◆ IsValid() [2/4]

template<typename MPTraits >
bool ValidityCheckerMethod< MPTraits >::IsValid ( CfgType &  _cfg,
const std::string &  _caller 
)

This version does not return extra information. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

◆ IsValid() [3/4]

template<typename MPTraits >
bool ValidityCheckerMethod< MPTraits >::IsValid ( GroupCfgType &  _cfg,
CDInfo &  _cdInfo,
const std::string &  _caller 
)

Classify a gropu configuration to either cfree or cobst.

Parameters
_cfgThe group configuration.
_cdInfoOutput for extra computed information such as clearance.
_callerName of the calling function.
Returns
True iff _cfg is in cfree, false otherwise.

◆ IsValid() [4/4]

template<typename MPTraits >
bool ValidityCheckerMethod< MPTraits >::IsValid ( GroupCfgType &  _cfg,
const std::string &  _caller 
)

This version does not return extra information. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

◆ IsValidImpl() [1/2]

template<typename MPTraits >
virtual bool ValidityCheckerMethod< MPTraits >::IsValidImpl ( CfgType &  _cfg,
CDInfo &  _cdInfo,
const std::string &  _caller 
)
protectedpure virtual

Implementation of the classification of a configuration to either cfree or cobst.

Parameters
_cfgThe individual configuration.
_cdInfoOutput for extra computed information such as clearance.
_callerName of the calling function.
Returns
True if _cfg is in cfree.

Implemented in CollisionDetectionValidity< MPTraits >, ComposeCollision< MPTraits >, AlwaysTrueValidity< MPTraits >, and ComposeValidity< MPTraits >.

◆ IsValidImpl() [2/2]

template<typename MPTraits >
bool ValidityCheckerMethod< MPTraits >::IsValidImpl ( GroupCfgType &  _cfg,
CDInfo &  _cdInfo,
const std::string &  _caller 
)
protectedvirtual

Implementation of group cfg classification.

Parameters
_cfgThe group configuration.
_cdInfoOutput for extra computed information such as clearance.
_callerName of the calling function.
Returns
True if _cfg is in cfree.

Reimplemented in CollisionDetectionValidity< MPTraits >, and ComposeCollision< MPTraits >.

◆ Print()

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

Print internal state of this object.

Parameters
_osThe 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 >.

◆ 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
_sClass 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:
PPL is a project of Texas A&M University Generated on Mon Jan 31 2022 15:28:35 for PPL by   doxygen 1.9.3