GroupLPOutput< MPTraits > Struct Template Reference

Public Member Functions
Construction
	GroupLPOutput (GroupRoadmapType *const _map=nullptr, GroupCfgPath _path=GroupCfgPath(), GroupCfgPath _intermediates=GroupCfgPath())
	GroupLPOutput (GroupRoadmapType *const _map, const GroupWeightType &_edge)
Interface
void	Clear ()
void	SetLPLabel (const std::string &_label)
void	AddIntermediatesToWeights (const bool _saveIntermediates)
void	SetActiveRobots (const std::vector< size_t > &_activeRobots)
void	SetIndividualEdges (const std::vector< size_t > &_activeRobots)
std::vector< size_t >	GetActiveRobots ()
void	SetSkipEdge ()
void	SetEdgeWeights (const double _weight)

Public Types
Motion Planning Types
typedef MPTraits::WeightType	IndividualEdge
typedef MPTraits::GroupCfgType	GroupCfgType
typedef MPTraits::GroupWeightType	GroupWeightType
typedef MPTraits::GroupRoadmapType	GroupRoadmapType
typedef std::vector< GroupCfgType >	GroupCfgPath
Local Types
typedef std::pair< GroupWeightType, GroupWeightType >	LPEdge

Public Attributes
Internal State
GroupRoadmapType *	m_groupRoadmap {nullptr}
GroupCfgPath	m_path
GroupCfgPath	m_intermediates
LPEdge	m_edge

Detailed Description

template<typename MPTraits>
struct GroupLPOutput< MPTraits >

Computed information from a local plan.

Stores all information available from local plan computations, including intermediates along edges (not straight line), the path generated, and the edge weights to be added to the RoadmapGraph.

Todo:

Destroy this object and have LPs/Extenders work directly with a GroupLocalPlan.

---

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

• GroupLPOutput.h