An addirrt* task. More...

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

Inheritance diagram for Task:

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

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

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

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

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

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

PathWithCost	getNthPathWithCost (Ice::Long index, 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

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

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

void	setPaths (const PathWithCostSeq &newPathList, const Ice::Current &=Ice::emptyCurrent) override
	Used by the manager to store its found paths. More...

	Task (CSpaceBasePtr cspace, const cprs::ComputingPowerRequestStrategyBasePtr &planningComputingPowerRequestStrategy, VectorXf startCfg, VectorXf goalCfg, const std::string &taskName="ADDIRRTStarTask", Ice::Long maximalPlanningTimeInSeconds=300, AdaptiveDynamicDomainParameters addParams=generateADDParamsFromDCDStepsize(0.01f), float targetCost=0, float dcdStep=0.01f, Ice::Long batchSize=10, Ice::Long nodeCountDeltaForGoalConnectionTries=50, Ice::Long initialWorkerCount=1, Ice::Long maximalWorkerCount=std::numeric_limits< Ice::Long >::max())
	Ctor. More...

Public Member Functions inherited from CPRSAwareMotionPlanningTask
	CPRSAwareMotionPlanningTask (const VectorXf &startCfg, const VectorXf &goalCfg, const CSpaceBasePtr &cspace, Ice::Float dcdStep, Ice::Long maximalPlanningTimeInSeconds, const cprs::ComputingPowerRequestStrategyBasePtr &planningComputingPowerRequestStrategy, const std::string &taskName)
	ctor More...

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

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

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

PathWithCost	getPathWithCost (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
void	checkParameters ()
	Checks for illegal parameters. More...

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

Protected Member Functions inherited from CPRSAwareMotionPlanningTask
	CPRSAwareMotionPlanningTask ()=default
	ctor used for object factories More...

Protected Member Functions inherited from MotionPlanningTaskWithDefaultMembers
	MotionPlanningTaskWithDefaultMembers ()=default

Protected Attributes
Ice::Long	cachedNodeCount
	The cahced node count. More...

RemoteHandle< ManagerNodeBasePrx >	manager
	The manager node. More...

std::condition_variable_any	managerDone
	CV used by the dispatcher thread to wait until planning is done. More...

std::recursive_mutex	mutex
	Mutex to protect internal structures. More...

PathWithCostSeq	paths
	All found paths. More...

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

An addirrt* task.

The olanning algorithm used is a combination of:

bulk distributed rrt.
informed rrt*
adaptive dynamic domain

bulks and batches are used as synonyms.

Definition at line 58 of file Task.h.

Constructor & Destructor Documentation

◆ Task() [1/2]

Task	(	CSpaceBasePtr	cspace,
		const cprs::ComputingPowerRequestStrategyBasePtr &	planningComputingPowerRequestStrategy,
		VectorXf	startCfg,
		VectorXf	goalCfg,
		const std::string &	taskName = `"ADDIRRTStarTask"`,
		Ice::Long	maximalPlanningTimeInSeconds = `300`,
		AdaptiveDynamicDomainParameters	addParams = `generateADDParamsFromDCDStepsize(0.01f)`,
		float	targetCost = `0`,
		float	dcdStep = `0.01f`,
		Ice::Long	batchSize = `10`,
		Ice::Long	nodeCountDeltaForGoalConnectionTries = `50`,
		Ice::Long	initialWorkerCount = `1`,
		Ice::Long	maximalWorkerCount = `std::numeric_limits<Ice::Long>::max()`
	)

Ctor.

Parameters

cspace	The planning cspace.
planningComputingPowerRequestStrategy	The used cprs.
startCfg	The start configuration.
goalCfg	The goal configuration.
addParams	The parameters for adaptive dynamic domain.
targetCost	The target cost. (planning stops when a path with a length <= was found)
dcdStep	The dcd step size.
maximalPlanningTimeInSeconds	The maximal planning time in seconds. (planning will stop after this time)
batchSize	The size of a batch.
nodeCountDeltaForGoalConnectionTries	Number of nodes created (by a worker) before a connect to the goal node is tried (by this worker).
initialWorkerCount	The in itaial number of worker processes.
maximalWorkerCount	The maximal number of worker processes.

Definition at line 314 of file Task.cpp.

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◆ Task() [2/2]

Task ( )

inlineprotected

Ctor used by object factories.

Definition at line 177 of file Task.h.

Member Function Documentation

◆ abortTask()

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

override

Aborts the task.

Definition at line 107 of file Task.cpp.

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◆ checkParameters()

void checkParameters ( )

protected

Checks for illegal parameters.

Definition at line 253 of file Task.cpp.

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◆ getAllPathsWithCost()

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

override

Returns: All found paths.

Definition at line 93 of file Task.cpp.

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◆ getBestPath()

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

override

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

Definition at line 38 of file Task.cpp.

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◆ getMaxCpus()

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

override

Definition at line 369 of file Task.cpp.

◆ getNodeCount()

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

override

Returns: The current node count.

Definition at line 349 of file Task.cpp.

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◆ getNthPath()

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

inlineoverride

Definition at line 103 of file Task.h.

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◆ getNthPathWithCost()

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

override

Parameters

index The index.

Returns: The path at the given index.

Definition at line 71 of file Task.cpp.

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◆ getPath()

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

inlineoverride

Definition at line 109 of file Task.h.

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◆ getPathCount()

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

override

Returns: The number of found paths.

Definition at line 58 of file Task.cpp.

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◆ getPathWithCost()

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

inlineoverridevirtual

Implements MotionPlanningWithCostTaskCI.

Definition at line 97 of file Task.h.

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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 136 of file Task.cpp.

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◆ setMaxCpus()

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

override

Definition at line 363 of file Task.cpp.

◆ setPaths()

void setPaths	(	const PathWithCostSeq &	newPathList,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Used by the manager to store its found paths.

Parameters

newPathList The paths.

Definition at line 237 of file Task.cpp.

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Friends And Related Function Documentation

◆ ::armarx::GenericFactory

friend class ::armarx::GenericFactory

friend

Definition at line 167 of file Task.h.

Member Data Documentation

◆ cachedNodeCount

Ice::Long cachedNodeCount

protected

The cahced node count.

The cache is filled when the manager node shuts down.

Definition at line 207 of file Task.h.

◆ manager

RemoteHandle<ManagerNodeBasePrx> manager

protected

The manager node.

Definition at line 198 of file Task.h.

◆ managerDone

std::condition_variable_any managerDone

protected

CV used by the dispatcher thread to wait until planning is done.

Definition at line 193 of file Task.h.

◆ mutex

std::recursive_mutex mutex

mutableprotected

Mutex to protect internal structures.

Definition at line 184 of file Task.h.

◆ paths

PathWithCostSeq paths

protected

All found paths.

Definition at line 202 of file Task.h.

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

RobotComponents/components/MotionPlanning/Tasks/AdaptiveDynamicDomainInformedRRTStar/Task.h
RobotComponents/components/MotionPlanning/Tasks/AdaptiveDynamicDomainInformedRRTStar/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()

◆ getAllPathsWithCost()

◆ getBestPath()

◆ getMaxCpus()

◆ getNodeCount()

◆ getNthPath()

◆ getNthPathWithCost()

◆ getPath()

◆ getPathCount()

◆ getPathWithCost()

◆ run()

◆ setMaxCpus()

◆ setPaths()

Friends And Related Function Documentation

◆ ::armarx::GenericFactory

Member Data Documentation

◆ cachedNodeCount

◆ manager

◆ managerDone

◆ mutex

◆ paths