#include <RobotComponents/components/MotionPlanning/Tasks/RRTConnect/Task.h>

Inheritance diagram for Task:

Public Member Functions
void	abortTask (const Ice::Current &=Ice::emptyCurrent) override
	Aborts planning. More...

Path	getPath (const Ice::Current &=Ice::emptyCurrent) const override

void	postEnqueueing () override
	Called by the planning server after the task was enqueued. More...

void	run (const RemoteObjectNodePrxList &remoteNodes, const Ice::Current &=Ice::emptyCurrent) override
	Runs the task. More...

void	setPath (const Path &path, const Ice::Current &=Ice::emptyCurrent) override

	Task (const CSpaceBasePtr &cspace, const VectorXf &startCfg, const VectorXf &goalCfg, const std::string &taskName="RRTConnectTask", Ice::Long maximalPlanningTimeInSeconds=300, float dcdStep=0.01f, Ice::Long workerCount=4)
	A task using the rrtconnect algorithm. More...

void	workerHasAborted (Ice::Long workerId, const Ice::Current &=Ice::emptyCurrent) override

Public Member Functions inherited from MotionPlanningTaskWithDefaultMembers
CSpaceBasePtr	getCSpace (const Ice::Current &=Ice::emptyCurrent) const override

float	getDcdStep (const Ice::Current &=Ice::emptyCurrent) const override

VectorXf	getGoal (const Ice::Current &=Ice::emptyCurrent) const override

Ice::Long	getMaximalPlanningTimeInSeconds (const Ice::Current &=Ice::emptyCurrent) const override

VectorXf	getStart (const Ice::Current &=Ice::emptyCurrent) const override

	MotionPlanningTaskWithDefaultMembers (const VectorXf &startCfg, const VectorXf &goalCfg, const CSpaceBasePtr &cspace, Ice::Float dcdStep, Ice::Long maximalPlanningTimeInSeconds, const std::string &taskName)
	ctor More...

Public Member Functions inherited from MotionPlanningTask
void	addTaskStatusCallback (std::function< void(TaskStatus::Status)> cb)

Ice::Long	getPlanningTime (const Ice::Current &) const override

MotionPlanningTaskBasePrx &	getProxy ()

Ice::Long	getRefiningTime (const Ice::Current &) const override

Ice::Long	getRunningTime (const Ice::Current &) const override

std::string	getTaskName (const Ice::Current &=Ice::emptyCurrent) const override

TaskStatus::Status	getTaskStatus (const Ice::Current &=Ice::emptyCurrent) const override

	MotionPlanningTask ()=default

virtual void	onPlanningDone ()

virtual void	onRefiningDone ()

virtual void	registerAtIceAdapter (Ice::ObjectAdapterPtr &adapter, const Ice::Identity ident)

bool	setTaskStatus (TaskStatus::Status newTaskStatus, const Ice::Current &=Ice::emptyCurrent) override

	~MotionPlanningTask () override=default

Public Member Functions inherited from MotionPlanningTaskCI
bool	finishedRunning (const Ice::Current &=Ice::emptyCurrent) const override
	Returns whether the task has finished planning. More...

bool	isRunning (const Ice::Current &=Ice::emptyCurrent) const override
	Returns whether the task is currently planning. More...

void	waitForFinishedPlanning_async (const AMD_MotionPlanningTaskControlInterface_waitForFinishedPlanningPtr &cb, const Ice::Current &=Ice::emptyCurrent) override

void	waitForFinishedRunning_async (const AMD_MotionPlanningTaskControlInterface_waitForFinishedRunningPtr &cb, const Ice::Current &=Ice::emptyCurrent) override

Protected Member Functions
void	checkParameters ()
	Checks for illegal parameters. More...

	Task ()=default
	Ctor used by object factories. More...

Protected Member Functions inherited from MotionPlanningTaskWithDefaultMembers
	MotionPlanningTaskWithDefaultMembers ()=default

Protected Attributes
std::condition_variable	doneCV

std::mutex	mtx

Path	solution

std::vector< bool >	workerAbortedFlags

Protected Attributes inherited from MotionPlanningTask
Ice::Long	planningTime = 0
	The planning time in microseconds. More...

Ice::Long	refiningTime = 0
	The refining time in microseconds. More...

Protected Attributes inherited from MotionPlanningTaskCI
AMDCallbackCollection	waitForFinishedPlanning

AMDCallbackCollection	waitForFinishedRunning

Friends
template<class Base , class Derived >
class	::armarx::GenericFactory

Detailed Description

Definition at line 47 of file Task.h.

Constructor & Destructor Documentation

◆ Task() [1/2]

Task	(	const CSpaceBasePtr &	cspace,
		const VectorXf &	startCfg,
		const VectorXf &	goalCfg,
		const std::string &	taskName = `"RRTConnectTask"`,
		Ice::Long	maximalPlanningTimeInSeconds = `300`,
		float	dcdStep = `0.01f`,
		Ice::Long	workerCount = `4`
	)

A task using the rrtconnect algorithm.

Parameters

cspace	The used cspace.
startCfg	The start configuration.
goalCfg	The goal configuration.
dcdStep	The step size used for discrete collision checking.
maximalPlanningTimeInSeconds	The maximal planning time in seconds.
workerCount	The maximal number of computation nodes used.

Definition at line 31 of file Task.cpp.

◆ Task() [2/2]

Task ( )

protecteddefault

Ctor used by object factories.

Member Function Documentation

◆ abortTask()

void abortTask ( const Ice::Current & = Ice::emptyCurrent )

override

Aborts planning.

Definition at line 42 of file Task.cpp.

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◆ checkParameters()

void checkParameters ( )

protected

Checks for illegal parameters.

◆ getPath()

Path getPath ( const Ice::Current & = Ice::emptyCurrent ) const

override

Returns: The found path. (empty if no path is found)

Definition at line 50 of file Task.cpp.

◆ postEnqueueing()

void postEnqueueing ( )

overridevirtual

Called by the planning server after the task was enqueued.

Override this function to prepare some work (e.g. setting the status from eNew to eQueued)

Reimplemented from MotionPlanningTask.

Definition at line 183 of file Task.cpp.

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◆ run()

void run	(	const RemoteObjectNodePrxList &	remoteNodes,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Runs the task.

Parameters

remoteNodes The list of RemoteObjectNodeInterfacePrx used to distribute work to computers.

Definition at line 63 of file Task.cpp.

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◆ setPath()

void setPath	(	const Path &	path,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 174 of file Task.cpp.

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◆ workerHasAborted()

void workerHasAborted	(	Ice::Long	workerId,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 56 of file Task.cpp.

Friends And Related Function Documentation

◆ ::armarx::GenericFactory

friend class ::armarx::GenericFactory

friend

Definition at line 117 of file Task.h.

Member Data Documentation

◆ doneCV

std::condition_variable doneCV

mutableprotected

Definition at line 110 of file Task.h.

◆ mtx

std::mutex mtx

mutableprotected

Definition at line 109 of file Task.h.

◆ solution

Path solution

protected

Definition at line 112 of file Task.h.

◆ workerAbortedFlags

std::vector<bool> workerAbortedFlags

protected

Definition at line 114 of file Task.h.

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

RobotComponents/components/MotionPlanning/Tasks/RRTConnect/Task.h
RobotComponents/components/MotionPlanning/Tasks/RRTConnect/Task.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Task() [1/2]

◆ Task() [2/2]

Member Function Documentation

◆ abortTask()

◆ checkParameters()

◆ getPath()

◆ postEnqueueing()

◆ run()

◆ setPath()

◆ workerHasAborted()

Friends And Related Function Documentation

◆ ::armarx::GenericFactory

Member Data Documentation

◆ doneCV

◆ mtx

◆ solution

◆ workerAbortedFlags