Manages the planning of the addirrt* algorithm. More...

#include <RobotComponents/components/MotionPlanning/Tasks/AdaptiveDynamicDomainInformedRRTStar/ManagerNode.h>

Inheritance diagram for ManagerNode:

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

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

std::string	getDefaultName () const override

Ice::Int	getMaxCpus (const Ice::Current &=Ice::emptyCurrent) const override

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

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

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

FullIceTree	getTree (const Ice::Current &=Ice::emptyCurrent) const override

Update	getUpdate (Ice::Long workerId, Ice::Long updateId, const Ice::Current &=Ice::emptyCurrent) const override

void	kill (const Ice::Current &=Ice::emptyCurrent) override
	Sets the flag to stop planning. More...

	ManagerNode (TaskBasePrx task, RemoteObjectNodePrxList remoteObjectNodes, Ice::Long initialWorkerCount, Ice::Long maximalWorkerCount, const cprs::ComputingPowerRequestStrategyBasePtr &planningComputingPowerRequestStrategy, float dcdStep, Ice::Long maximalPlanningTimeInSeconds, Ice::Long batchSize, Ice::Long nodeCountDeltaForGoalConnectionTries, CSpaceBasePtr cspace, VectorXf startCfg, VectorXf goalCfg, AdaptiveDynamicDomainParameters addParams, float targetCost)
	Ctor. More...

void	onConnectComponent () override
	noop. More...

void	onDisconnectComponent () override
	noop. More...

void	onExitComponent () override
	Stopps planning and joins the manager thread. More...

void	onInitComponent () override
	Initializes the tree and sampler. More...

void	sendManagerNodeData () const
	Sents the manager's collected test data to the task. More...

void	setMaxCpus (Ice::Int maxCpus, const Ice::Current &=Ice::emptyCurrent) override

void	setWorkersFinalUpdateId (Ice::Long workerId, Ice::Long finalUpdateId, const Ice::Current &) override
	Used by workers to inform the manager about their number of updates before exiting. More...

void	updateTree (const Update &u, const Ice::Current &=Ice::emptyCurrent) override
	Adds the given update to the queue of pending updates. More...

	~ManagerNode () override
	dtor. More...

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name. More...

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components. More...

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies) More...

IceManagerPtr	getIceManager () const
	Returns the IceManager. More...

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object. More...

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter. More...

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler More...

template<class ProxyTarg , class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)

template<class ProxyType >
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object. More...

template<class ProxyTarg , class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&... args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&... args)
	Assigns a proxy to `proxy`. More...

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy) More...

template<class Prx >
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType >
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload). More...

template<class Prx >
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject. More...

template<class TopicProxyType >
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic. More...

template<class TopicProxyType >
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`. More...

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies More...

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization. More...

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic. More...

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list. More...

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization. More...

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies. More...

void	waitForProxy (std::string const &name, bool addToDependencies)

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Protected Member Functions
void	applyUpdatesNotThreadSafe (std::unique_lock< std::mutex > &updateLock)
	Applies all pending updates. More...

void	cacheAppliedUpdateRequiresUpdateMutex (Update &&u)
	Stores the given applied update to the cache. More...

void	cleanupAllWorkers ()
	Shuts down and removes all workers. More...

void	createNewWorker ()
	Creates a new worker. More...

void	createNewWorkerOn (std::size_t remoteObjectNodeIndex)
	Creates a new worker on the given remote object node. More...

std::size_t	getActiveWorkerCount () const
	getActiveWorkerCount returns the number of currently active workers. More...

const Update &	getLocalUpdateRequiresUpdateMutex (std::size_t workerId, std::size_t updateId) const
	Returns the requested update from the cache. More...

Update	getRemoteUpdate (std::size_t workerId, std::size_t updateId) const
	Returns the requested update fetched from the corresponding worker. More...

std::size_t	getWorkerCount () const
	Returns the number of currently available workers (both active and paused). More...

bool	hasLocalUpdateRequiresUpdateMutex (std::size_t workerId, std::size_t updateId) const
	Returns whether the given update is cached. More...

bool	hasTimeRunOut ()

bool	isPlanningDone ()

	ManagerNode ()=default
	Ctor used by ice factories. More...

void	managerTask ()
	The managet task.checkedCastIt checks whether new workers are required and starts them if this is the case. More...

Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&... params)

template<class PluginT , class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&... params)

template<class PluginT , class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&... params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor. More...

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnConnectComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

virtual void	preOnInitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object. More...

void	setName (std::string name)
	Override name of well-known object. More...

void	terminate ()
	Initiates termination of this IceManagedObject. More...

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Attributes
std::atomic_size_t	activeWorkerCount
	currentlyActiveWorkers the index of the newest planning process in the workers vector (is <= workers.size()). More...

std::vector< std::deque< Update > >	appliedUpdates
	All applied updates. More...

std::atomic_bool	killRequest
	Flag to signal the manager thread to exit. More...

std::condition_variable	managerEvent
	CV used by the manager thread to wait for new updates. More...

std::thread	managerThread
	The tread executing managerTask. More...

std::vector< std::size_t >	maxWorkersPerRemoteObjectNode
	How many workers are maximal allowed on each remote object node. More...

Ice::FloatSeq	rotationMatrix
	The rotation matrix used by the informed samplers. More...

ClockType::time_point	timepointStart
	Timepoint when the manager node started planning. More...

Tree	tree
	The RRT. More...

std::mutex	treeMutex
	protects the tree data More...

std::mutex	updateMutex
	Protects the update section of the tree and the update cache of the manager. More...

std::string	updateTopicPrefix
	The update topic's prefix. More...

std::mutex	workerMutex
	used to lock access to the vector workers More...

std::vector< RemoteHandle< WorkerNodeBasePrx > >	workers
	Worker proxies. More...

std::vector< Ice::Long >	workersFinalUpdateId
	Used when shutting down to ensure all updates were applied before destroying the nodes remote object. More...

std::vector< std::size_t >	workersPerRemoteObjectNode
	How many workers are started on each remote object node. More...

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Friends
class	GenericFactory< ManagerNodeBase, ManagerNode >

class	ManagedIceObject
	required for static factory methode create More...

Additional Inherited Members
Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name. More...

static std::string	GetObjectStateAsString (int state)

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required. More...

Detailed Description

Manages the planning of the addirrt* algorithm.

Starts workers and checks whether the planning should end.

Definition at line 58 of file ManagerNode.h.

Constructor & Destructor Documentation

◆ ManagerNode() [1/2]

ManagerNode	(	TaskBasePrx	task,
		RemoteObjectNodePrxList	remoteObjectNodes,
		Ice::Long	initialWorkerCount,
		Ice::Long	maximalWorkerCount,
		const cprs::ComputingPowerRequestStrategyBasePtr &	planningComputingPowerRequestStrategy,
		float	dcdStep,
		Ice::Long	maximalPlanningTimeInSeconds,
		Ice::Long	batchSize,
		Ice::Long	nodeCountDeltaForGoalConnectionTries,
		CSpaceBasePtr	cspace,
		VectorXf	startCfg,
		VectorXf	goalCfg,
		AdaptiveDynamicDomainParameters	addParams,
		float	targetCost
	)

inline

Ctor.

Parameters

task	The manager node's task. The manager will store its result in it.
remoteObjectNodes	RemoteObjectNodes used for parallelization.
initialWorkerCount	The initial worker count.
maximalWorkerCount	The maximal worker count.
planningComputingPowerRequestStrategy	The used cprs.
dcdStep	The dcd step size.
maximalPlanningTimeInSeconds	The maximal planning time in seconds. Planning will end after this time.
batchSize	The size of a batch.
nodeCountDeltaForGoalConnectionTries	deprecated
cspace	The used planning cspace.
startCfg	The start configuration.
goalCfg	The goal configuration.
addParams	Parameters for adaptive dynamic domain.
targetCost	The target cost. Planning will end after shorter path was found..

Definition at line 83 of file ManagerNode.h.

◆ ~ManagerNode()

~ManagerNode ( )

inlineoverride

dtor.

asserts the manager thread was joined.

Definition at line 123 of file ManagerNode.h.

◆ ManagerNode() [2/2]

ManagerNode ( )

protecteddefault

Ctor used by ice factories.

Member Function Documentation

◆ applyUpdatesNotThreadSafe()

void applyUpdatesNotThreadSafe ( std::unique_lock< std::mutex > & updateLock )

protected

Applies all pending updates.

(requires the user to hold update and tree mutex)

Parameters

updateLock Lock for the update mutex. it will be unlocked when getting a remote update.

Definition at line 527 of file ManagerNode.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ cacheAppliedUpdateRequiresUpdateMutex()

void cacheAppliedUpdateRequiresUpdateMutex ( Update && u )

protected

Stores the given applied update to the cache.

(requires the caller to hold the updateMutex)

Parameters

u	The update.

Definition at line 548 of file ManagerNode.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ cleanupAllWorkers()

void cleanupAllWorkers ( )

protected

Shuts down and removes all workers.

(Their newest data is fetched before destruction.)

Definition at line 468 of file ManagerNode.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ createNewWorker()

void createNewWorker ( )

protected

Creates a new worker.

(the remote object node is selected automatically)

Definition at line 386 of file ManagerNode.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ createNewWorkerOn()

void createNewWorkerOn ( std::size_t remoteObjectNodeIndex )

protected

Creates a new worker on the given remote object node.

Parameters

remoteObjectNodeIndex The remote object node's index.

Definition at line 345 of file ManagerNode.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ getActiveWorkerCount()

std::size_t getActiveWorkerCount ( ) const

inlineprotected

getActiveWorkerCount returns the number of currently active workers.

Returns

Definition at line 318 of file ManagerNode.h.

Here is the caller graph for this function:

◆ getAllPathsWithCost()

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

override

Returns: All found paths.

Definition at line 134 of file ManagerNode.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ getBestPath()

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

override

Returns: The shortest found path. (with its cost)

Definition at line 109 of file ManagerNode.cpp.

Here is the call graph for this function:

◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

Returns: The components default name.

Implements ManagedIceObject.

Definition at line 160 of file ManagerNode.h.

◆ getLocalUpdateRequiresUpdateMutex()

const Update & getLocalUpdateRequiresUpdateMutex	(	std::size_t	workerId,
		std::size_t	updateId
	)		const

protected

Returns the requested update from the cache.

(requires the caller to hold the updateMutex)

Parameters

workerId	The updates worker id.
updateId	The updates sub id.

Returns: The requested update from the cache.

Definition at line 429 of file ManagerNode.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ getMaxCpus()

Ice::Int getMaxCpus ( const Ice::Current & = Ice::emptyCurrent ) const

override

Definition at line 592 of file ManagerNode.cpp.

◆ getNodeCount()

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

override

Returns: The RRT's node count.

Definition at line 564 of file ManagerNode.cpp.

Here is the call graph for this function:

◆ getNthPathWithCost()

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

override

Parameters

index The index.

Returns: The path at the given index.

Definition at line 125 of file ManagerNode.cpp.

Here is the call graph for this function:

◆ getPathCount()

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

override

Returns: The number of found paths.

Definition at line 118 of file ManagerNode.cpp.

Here is the call graph for this function:

◆ getRemoteUpdate()

Update getRemoteUpdate	(	std::size_t	workerId,
		std::size_t	updateId
	)		const

protected

Returns the requested update fetched from the corresponding worker.

(requires the caller to hold the updateMutex)

Parameters

workerId	The updates worker id.
updateId	The updates sub id.

Returns: The requested update fetched from the corresponding worker.

Definition at line 410 of file ManagerNode.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ getTree()

FullIceTree getTree ( const Ice::Current & = Ice::emptyCurrent ) const

override

Returns: The current tree with all updates applied.

Definition at line 170 of file ManagerNode.cpp.

Here is the call graph for this function:

◆ getUpdate()

Update getUpdate	(	Ice::Long	workerId,
		Ice::Long	updateId,
		const Ice::Current &	= `Ice::emptyCurrent`
	)		const

override

Parameters

workerId	The updates worker id.
updateId	The updates sub id.

Returns: The requested update. If the update is not cached it will be fetched from the corresponding worker.

Definition at line 150 of file ManagerNode.cpp.

Here is the call graph for this function:

◆ getWorkerCount()

std::size_t getWorkerCount ( ) const

inlineprotected

Returns the number of currently available workers (both active and paused).

Returns

Definition at line 328 of file ManagerNode.h.

Here is the caller graph for this function:

◆ hasLocalUpdateRequiresUpdateMutex()

bool hasLocalUpdateRequiresUpdateMutex	(	std::size_t	workerId,
		std::size_t	updateId
	)		const

protected

Returns whether the given update is cached.

(requires the caller to hold the updateMutex)

Parameters

workerId	The updates worker id.
updateId	The updates sub id.

Returns: Whether the given update is cached.

Definition at line 420 of file ManagerNode.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ hasTimeRunOut()

bool hasTimeRunOut ( )

protected

Returns: Whether planning has failed.

Definition at line 578 of file ManagerNode.cpp.

Here is the caller graph for this function:

◆ isPlanningDone()

bool isPlanningDone ( )

protected

Returns: Whether planning is done.

Definition at line 571 of file ManagerNode.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ kill()

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

inlineoverride

Sets the flag to stop planning.

Definition at line 170 of file ManagerNode.h.

◆ managerTask()

void managerTask ( )

protected

The managet task.checkedCastIt checks whether new workers are required and starts them if this is the case.

Ith checks whether planing has finished.

Definition at line 180 of file ManagerNode.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ onConnectComponent()

void onConnectComponent ( )

overridevirtual

noop.

(debug output)

Implements ManagedIceObject.

Definition at line 91 of file ManagerNode.cpp.

Here is the call graph for this function:

◆ onDisconnectComponent()

void onDisconnectComponent ( )

inlineoverridevirtual

noop.

(debug output)

Reimplemented from ManagedIceObject.

Definition at line 146 of file ManagerNode.h.

◆ onExitComponent()

void onExitComponent ( )

overridevirtual

Stopps planning and joins the manager thread.

Reimplemented from ManagedIceObject.

Definition at line 99 of file ManagerNode.cpp.

◆ onInitComponent()

void onInitComponent ( )

overridevirtual

Initializes the tree and sampler.

Starts the manager thread.

Implements ManagedIceObject.

Definition at line 40 of file ManagerNode.cpp.

Here is the call graph for this function:

◆ sendManagerNodeData()

void sendManagerNodeData ( ) const

Sents the manager's collected test data to the task.

◆ setMaxCpus()

void setMaxCpus	(	Ice::Int	maxCpus,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 586 of file ManagerNode.cpp.

◆ setWorkersFinalUpdateId()

void setWorkersFinalUpdateId	(	Ice::Long	workerId,
		Ice::Long	finalUpdateId,
		const Ice::Current &
	)

override

Used by workers to inform the manager about their number of updates before exiting.

Used by the manager to fetch all remaining updates before exiting.

Parameters

workerId	The worker.
finalUpdateId	Its final update id.

Definition at line 443 of file ManagerNode.cpp.

◆ updateTree()

void updateTree	(	const Update &	u,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Adds the given update to the queue of pending updates.

Parameters

u	The update.

Definition at line 460 of file ManagerNode.cpp.

Here is the call graph for this function:

Friends And Related Function Documentation

◆ GenericFactory< ManagerNodeBase, ManagerNode >

friend class GenericFactory< ManagerNodeBase, ManagerNode >

friend

Definition at line 239 of file ManagerNode.h.

◆ ManagedIceObject

friend class ManagedIceObject

friend

required for static factory methode create

Definition at line 410 of file ManagerNode.h.

Member Data Documentation

◆ activeWorkerCount

std::atomic_size_t activeWorkerCount

protected

currentlyActiveWorkers the index of the newest planning process in the workers vector (is <= workers.size()).

Definition at line 345 of file ManagerNode.h.

◆ appliedUpdates

std::vector<std::deque<Update> > appliedUpdates

protected

All applied updates.

(per worker)

Definition at line 376 of file ManagerNode.h.

◆ killRequest

std::atomic_bool killRequest

protected

Flag to signal the manager thread to exit.

Definition at line 337 of file ManagerNode.h.

◆ managerEvent

std::condition_variable managerEvent

protected

CV used by the manager thread to wait for new updates.

Definition at line 390 of file ManagerNode.h.

◆ managerThread

std::thread managerThread

protected

The tread executing managerTask.

Definition at line 341 of file ManagerNode.h.

◆ maxWorkersPerRemoteObjectNode

std::vector<std::size_t> maxWorkersPerRemoteObjectNode

protected

How many workers are maximal allowed on each remote object node.

Definition at line 358 of file ManagerNode.h.

◆ rotationMatrix

Ice::FloatSeq rotationMatrix

protected

The rotation matrix used by the informed samplers.

Definition at line 399 of file ManagerNode.h.

◆ timepointStart

ClockType::time_point timepointStart

protected

Timepoint when the manager node started planning.

Used to check whether the maximal planning time was exceeded.

Definition at line 405 of file ManagerNode.h.

◆ tree

Tree tree

protected

The RRT.

Definition at line 394 of file ManagerNode.h.

◆ treeMutex

std::mutex treeMutex

mutableprotected

protects the tree data

Definition at line 386 of file ManagerNode.h.

◆ updateMutex

std::mutex updateMutex

mutableprotected

Protects the update section of the tree and the update cache of the manager.

Definition at line 368 of file ManagerNode.h.

◆ updateTopicPrefix

std::string updateTopicPrefix

protected

The update topic's prefix.

(to ensure unique names.)

Definition at line 372 of file ManagerNode.h.

◆ workerMutex

std::mutex workerMutex

mutableprotected

used to lock access to the vector workers

Definition at line 362 of file ManagerNode.h.

◆ workers

std::vector<RemoteHandle<WorkerNodeBasePrx> > workers

protected

Worker proxies.

worker[i][j] is the j-th worker on the remote object node remoteObjectNodes[i]

Definition at line 350 of file ManagerNode.h.

◆ workersFinalUpdateId

std::vector<Ice::Long> workersFinalUpdateId

protected

Used when shutting down to ensure all updates were applied before destroying the nodes remote object.

Definition at line 381 of file ManagerNode.h.

◆ workersPerRemoteObjectNode

std::vector<std::size_t> workersPerRemoteObjectNode

protected

How many workers are started on each remote object node.

Definition at line 354 of file ManagerNode.h.

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

RobotComponents/components/MotionPlanning/Tasks/AdaptiveDynamicDomainInformedRRTStar/ManagerNode.h
RobotComponents/components/MotionPlanning/Tasks/AdaptiveDynamicDomainInformedRRTStar/ManagerNode.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ManagerNode() [1/2]

◆ ~ManagerNode()

◆ ManagerNode() [2/2]

Member Function Documentation

◆ applyUpdatesNotThreadSafe()

◆ cacheAppliedUpdateRequiresUpdateMutex()

◆ cleanupAllWorkers()

◆ createNewWorker()

◆ createNewWorkerOn()

◆ getActiveWorkerCount()

◆ getAllPathsWithCost()

◆ getBestPath()

◆ getDefaultName()

◆ getLocalUpdateRequiresUpdateMutex()

◆ getMaxCpus()

◆ getNodeCount()

◆ getNthPathWithCost()

◆ getPathCount()

◆ getRemoteUpdate()

◆ getTree()

◆ getUpdate()

◆ getWorkerCount()

◆ hasLocalUpdateRequiresUpdateMutex()

◆ hasTimeRunOut()

◆ isPlanningDone()

◆ kill()

◆ managerTask()

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onExitComponent()

◆ onInitComponent()

◆ sendManagerNodeData()

◆ setMaxCpus()

◆ setWorkersFinalUpdateId()

◆ updateTree()

Friends And Related Function Documentation

◆ GenericFactory< ManagerNodeBase, ManagerNode >

◆ ManagedIceObject

Member Data Documentation

◆ activeWorkerCount

◆ appliedUpdates

◆ killRequest

◆ managerEvent

◆ managerThread

◆ maxWorkersPerRemoteObjectNode

◆ rotationMatrix

◆ timepointStart

◆ tree

◆ treeMutex

◆ updateMutex

◆ updateTopicPrefix

◆ workerMutex

◆ workers

◆ workersFinalUpdateId

◆ workersPerRemoteObjectNode