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

Inheritance diagram for Task:

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

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

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

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

	Task (const CSpaceBasePtr &cspace, const VectorXf &startCfg, const VectorXf &goalCfg, const std::string &taskName="AStarTask", float dcdStep=0.01f, float gridStepSize=2.5f, Ice::Long maximalPlanningTimeInSeconds=300)
	A task using the A* algorithm.

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

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

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.

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

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
	Task ()=default
	Ctor used by object factories.

Protected Member Functions inherited from MotionPlanningTaskWithDefaultMembers
	MotionPlanningTaskWithDefaultMembers ()=default

Protected Attributes
std::mutex	mtx

Path	solution = {{}, "Path"}

std::atomic_bool	taskIsAborted {false}

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

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

Protected Attributes inherited from MotionPlanningTaskCI
AMDCallbackCollection	waitForFinishedPlanning

AMDCallbackCollection	waitForFinishedRunning

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

Constructor & Destructor Documentation

◆ Task() [1/2]

Task	(	const CSpaceBasePtr &	cspace,
		const VectorXf &	startCfg,
		const VectorXf &	goalCfg,
		const std::string &	taskName = "AStarTask",
		float	dcdStep = 0.01f,
		float	gridStepSize = 2.5f,
		Ice::Long	maximalPlanningTimeInSeconds = 300 )

A task using the A* 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.

◆ Task() [2/2]

Task ( )

protecteddefault

Ctor used by object factories.

Member Function Documentation

◆ abortTask()

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

inlineoverride

Aborts planning.

◆ getPath()

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

override

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

◆ isPathCollisionFree()

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

◆ run()

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

override

Runs the task.

Parameters

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

Friends And Related Symbol Documentation

◆ ::armarx::GenericFactory

template<class Base, class Derived>

friend class ::armarx::GenericFactory

friend

Member Data Documentation

◆ mtx

std::mutex mtx

mutableprotected

◆ solution

Path solution = {{}, "Path"}

protected

◆ taskIsAborted

std::atomic_bool taskIsAborted {false}