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

Inheritance diagram for Task:

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

std::pair< float, float >	calcOffsets (float length, std::mt19937 &gen)

PathWithCostSeq	getAllPathsWithCost (const Ice::Current &=Ice::emptyCurrent) const override

PathWithCost	getBestPath (const Ice::Current &=Ice::emptyCurrent) const override

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

Path	getNthPath (Ice::Long n, const Ice::Current &=Ice::emptyCurrent) const override

PathWithCost	getNthPathWithCost (Ice::Long n, const Ice::Current &=Ice::emptyCurrent) const override

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

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

PathWithCost	getPathWithCost (const Ice::Current &=Ice::emptyCurrent) const override

bool	isPathCollisionFree (const VectorXf &from, const VectorXf &to)

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

	Task (MotionPlanningTaskBasePtr previousStep, const std::string &taskName="RandomShortcutPostprocessorTask", Ice::Long maxTimeForPostprocessingInSeconds=6000, Ice::Float dcdStep=0.01, Ice::Long maxTries=10000, Ice::Float minShortcutImprovementRatio=0.1, Ice::Float minPathImprovementRatio=0.01)

	~Task () override=default

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

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

	PostprocessingMotionPlanningTask (const MotionPlanningTaskBasePtr &previousStep, const std::string &taskName)

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

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 ()

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

Public Member Functions inherited from MotionPlanningMultiPathWithCostTaskCI
PathSeq	getAllPaths (const Ice::Current &=Ice::emptyCurrent) const override

Path	getNthPath (Ice::Long n, const Ice::Current &=Ice::emptyCurrent) const override

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

Public Member Functions inherited from MotionPlanningMultiPathTaskCI
Path	getPath (const Ice::Current &=Ice::emptyCurrent) const override

Public Member Functions inherited from MotionPlanningWithCostTaskCI
Path	getPath (const Ice::Current &=Ice::emptyCurrent) const override

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

Protected Member Functions inherited from PostprocessingMotionPlanningTask
	PostprocessingMotionPlanningTask ()=default

Protected Attributes
std::mutex	mtx

PathWithCostSeq	paths

Path	postprocessedSolution

std::atomic_bool	taskIsAborted {false}

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 45 of file Task.h.

Constructor & Destructor Documentation

◆ Task() [1/2]

Task	(	MotionPlanningTaskBasePtr	previousStep,
		const std::string &	taskName = `"RandomShortcutPostprocessorTask"`,
		Ice::Long	maxTimeForPostprocessingInSeconds = `6000`,
		Ice::Float	dcdStep = `0.01`,
		Ice::Long	maxTries = `10000`,
		Ice::Float	minShortcutImprovementRatio = `0.1`,
		Ice::Float	minPathImprovementRatio = `0.01`
	)

Definition at line 38 of file Task.cpp.

◆ ~Task()

~Task ( )

overridedefault

◆ 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 91 of file Task.cpp.

◆ calcOffsets()

std::pair< float, float > calcOffsets	(	float	length,
		std::mt19937 &	gen
	)

Definition at line 416 of file Task.cpp.

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◆ getAllPathsWithCost()

PathWithCostSeq getAllPathsWithCost ( const Ice::Current & = Ice::emptyCurrent ) const

override

Definition at line 354 of file Task.cpp.

◆ getBestPath()

PathWithCost getBestPath ( const Ice::Current & = Ice::emptyCurrent ) const

override

Definition at line 341 of file Task.cpp.

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◆ getMaximalPlanningTimeInSeconds()

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

inlineoverride

Definition at line 94 of file Task.h.

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◆ getNthPath()

Path getNthPath	(	Ice::Long	n,
		const Ice::Current &	= `Ice::emptyCurrent`
	)		const

inlineoverride

Definition at line 66 of file Task.h.

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◆ getNthPathWithCost()

PathWithCost getNthPathWithCost	(	Ice::Long	n,
		const Ice::Current &	= `Ice::emptyCurrent`
	)		const

override

Definition at line 347 of file Task.cpp.

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◆ getPath()

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

inlineoverride

Definition at line 72 of file Task.h.

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◆ getPathCount()

Ice::Long getPathCount ( const Ice::Current & = Ice::emptyCurrent ) const

override

Definition at line 334 of file Task.cpp.

◆ getPathWithCost()

PathWithCost getPathWithCost ( const Ice::Current & = Ice::emptyCurrent ) const

inlineoverridevirtual

Reimplemented from MotionPlanningMultiPathWithCostTaskCI.

Definition at line 60 of file Task.h.

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◆ isPathCollisionFree()

bool isPathCollisionFree	(	const VectorXf &	from,
		const VectorXf &	to
	)

Definition at line 361 of file Task.cpp.

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◆ run()

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

override

Runs the task.

Parameters

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

Definition at line 101 of file Task.cpp.

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Friends And Related Function Documentation

◆ ::armarx::GenericFactory

friend class ::armarx::GenericFactory

friend

Definition at line 122 of file Task.h.

Member Data Documentation

◆ mtx

std::mutex mtx

mutableprotected

Definition at line 115 of file Task.h.

◆ paths

PathWithCostSeq paths

protected

Definition at line 117 of file Task.h.

◆ postprocessedSolution

Path postprocessedSolution

protected

Definition at line 116 of file Task.h.

◆ taskIsAborted

std::atomic_bool taskIsAborted {false}

protected

Definition at line 118 of file Task.h.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Task() [1/2]

◆ ~Task()

◆ Task() [2/2]

Member Function Documentation

◆ abortTask()

◆ calcOffsets()

◆ getAllPathsWithCost()

◆ getBestPath()

◆ getMaximalPlanningTimeInSeconds()

◆ getNthPath()

◆ getNthPathWithCost()

◆ getPath()

◆ getPathCount()

◆ getPathWithCost()

◆ isPathCollisionFree()

◆ run()

Friends And Related Function Documentation

◆ ::armarx::GenericFactory

Member Data Documentation

◆ mtx

◆ paths

◆ postprocessedSolution

◆ taskIsAborted