This file is part of ArmarX. More...

Classes
struct	ClutterParameters

struct	CorridorParameters

struct	NamedPose
	A pose from the room's navigation graph, kept with its name so a failing request can be reported as something a reader recognises rather than a pair of coordinates. More...

struct	Record
	What one planning request produced. More...

struct	Request

struct	RoomScene
	The room as the planner sees it, assembled from PriorKnowledgeData. More...

struct	SamplingParameters

struct	SerpentineParameters

Enumerations
enum class	RequestKind { Uniform , NearObstacle , Location , CorridorExit }

Functions
int	addClutter (analysis::Scene &scene, const ClutterParameters &parameters, std::mt19937 &rng)
	Scatter boxes through the room to create tight passages.

RoomScene	buildRoomScene (const std::filesystem::path &priorKnowledge, const std::string &room, const std::vector< std::string > &sceneFiles, float wallThickness=200.F)
	Build the scene for a room from PriorKnowledgeData.

bool	contains (const algorithms::SceneBounds &bounds, const Eigen::Vector2f &point)
	Whether a point lies within the bounds, edges included.

algorithms::SceneBounds	makeCorridor (analysis::Scene &scene, const CorridorParameters &parameters)
	A dead-end corridor opening into the rest of the room.

float	makeSerpentine (analysis::Scene &scene, const SerpentineParameters &parameters, float robotRadius)
	Replace the room's contents with transverse walls whose openings alternate sides.

Record	measure (const Request &request, const std::optional< global_planning::GlobalPlannerResult > &result, const algorithms::Costmap &costmap, float plannedSeconds)
	Measure a planning result against the costmap.

std::vector< Request >	sampleRequests (RequestKind kind, int count, const algorithms::Costmap &costmap, const RoomScene &room, const SamplingParameters &parameters, std::mt19937 &rng)
	Draw `count` requests of the given kind.

std::string	summarize (const std::vector< Record > &records, float checkerClearance)
	Aggregate over a sweep, grouped by request kind.

std::string	toString (const RequestKind kind)

void	writeRecord (std::ostream &out, const Record &record)
	One JSON object per line, so a sweep streams to disk and can be diffed across revisions.

Variables
constexpr std::size_t	roomWallCount = 4
	Number of wall boxes `buildRoomScene` puts at the front of the obstacle list.

Detailed Description

This file is part of ArmarX.

ArmarX is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 2 as published by the Free Software Foundation.

ArmarX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Enumeration Type Documentation

◆ RequestKind

enum class RequestKind

strong

Enumerator
Uniform	Start and goal drawn uniformly from the cells in open space, i.e. whose clearance is at least `SamplingParameters::nearObstacleMaxClearance` – the complement of `NearObstacle`, not all collision-free cells.
NearObstacle	Start and goal drawn from cells whose clearance sits just above zero, so the poses hug obstacle edges. This is where the smoother is actually under load.
Location	Pairs of poses from the room's navigation graph – the requests the robot really receives here.
CorridorExit	Start inside a narrow corridor, goal out in the open. Directional on purpose. Every other kind draws both endpoints from the same population, which never produces the case where the robot is boxed in at the start and free at the end – and that asymmetry is the point, because the optimizer holds the start fixed. A start deep in a corridor constrains the first segments in a way no amount of optimizing downstream can relieve.

Definition at line 31 of file Sampling.h.

Function Documentation

◆ addClutter()

int addClutter	(	analysis::Scene &	scene,
		const ClutterParameters &	parameters,
		std::mt19937 &	rng )

Scatter boxes through the room to create tight passages.

Seeded from the caller's generator, so a cluttered sweep is as reproducible as a plain one. Returns the number actually placed, which falls short of count once the room saturates.

Definition at line 304 of file RoomScene.cpp.

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◆ buildRoomScene()

RoomScene buildRoomScene	(	const std::filesystem::path &	priorKnowledge,
		const std::string &	room,
		const std::vector< std::string > &	sceneFiles,
		float	wallThickness = 200.F )

Build the scene for a room from PriorKnowledgeData.

Each object's oriented bounding box is transformed by the object's pose and projected to the ground plane. Room walls come from the room polygon's axis-aligned bounds.

Parameters

priorKnowledge	Root of the PriorKnowledgeData `data/PriorKnowledgeData` directory.
room	Room path within the scene collections, e.g. `50_19/R007`.
sceneFiles	Scene descriptions to merge, e.g. `static_scene`, `mobile_kitchen`.
wallThickness	Thickness [mm] of the boxes standing in for the room walls.

Definition at line 106 of file RoomScene.cpp.

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◆ contains()

bool contains	(	const algorithms::SceneBounds &	bounds,
		const Eigen::Vector2f &	point )

Whether a point lies within the bounds, edges included.

Definition at line 99 of file RoomScene.cpp.

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◆ makeCorridor()

algorithms::SceneBounds makeCorridor	(	analysis::Scene &	scene,
		const CorridorParameters &	parameters )

A dead-end corridor opening into the rest of the room.

Models the case the serpentine does not: the robot starts inside tight space and has to get out. The difference matters because the optimizer holds the start fixed, so a start deep in a corridor constrains the path in a way a start in open space never does – the first segments have one free endpoint each and no room either side.

Removes the furniture, keeping only the room walls.

Returns: The region the corridor occupies, so requests can be drawn as exits from it.

Definition at line 386 of file RoomScene.cpp.

◆ makeSerpentine()

float makeSerpentine	(	analysis::Scene &	scene,
		const SerpentineParameters &	parameters,
		float	robotRadius )

Replace the room's contents with transverse walls whose openings alternate sides.

Forces a serpentine path: every wall is a tight passage followed by a reversal, so a single request exercises threading and turning repeatedly. Furniture is removed rather than added to, so the passage width is the only thing constraining the path and the scene stays interpretable.

Returns: The narrowest clearance [mm] the scene offers a robot of the given radius, so the caller can refuse to run a sweep that is unwinnable by construction.

Definition at line 421 of file RoomScene.cpp.

◆ measure()

Record measure	(	const Request &	request,
		const std::optional< global_planning::GlobalPlannerResult > &	result,
		const algorithms::Costmap &	costmap,
		const float	plannedSeconds )

Measure a planning result against the costmap.

Definition at line 137 of file Metrics.cpp.

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◆ sampleRequests()

std::vector< Request > sampleRequests	(	RequestKind	kind,
		int	count,
		const algorithms::Costmap &	costmap,
		const RoomScene &	room,
		const SamplingParameters &	parameters,
		std::mt19937 &	rng )

Draw count requests of the given kind.

Deterministic for a given seed, so a sweep can be repeated across revisions and the per-request records compared directly.

Definition at line 88 of file Sampling.cpp.

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◆ summarize()

std::string summarize	(	const std::vector< Record > &	records,
		float	checkerClearance )

Aggregate over a sweep, grouped by request kind.

Parameters

checkerClearance The clearance [mm] the trajectory checker enforces, used to separate requests the smoother could never have satisfied from ones it failed.

Definition at line 294 of file Metrics.cpp.

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◆ toString()

std::string toString ( const RequestKind kind )

Definition at line 70 of file Sampling.cpp.

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◆ writeRecord()

void writeRecord	(	std::ostream &	out,
		const Record &	record )

One JSON object per line, so a sweep streams to disk and can be diffed across revisions.

Definition at line 245 of file Metrics.cpp.

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Variable Documentation

◆ roomWallCount

std::size_t roomWallCount = 4

inlineconstexpr

Number of wall boxes buildRoomScene puts at the front of the obstacle list.

Definition at line 66 of file RoomScene.h.

Classes

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

◆ RequestKind

Function Documentation

◆ addClutter()

◆ buildRoomScene()

◆ contains()

◆ makeCorridor()

◆ makeSerpentine()

◆ measure()

◆ sampleRequests()

◆ summarize()

◆ toString()

◆ writeRecord()

Variable Documentation

◆ roomWallCount