#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. More...

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. More...

	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. 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

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

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. 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 44 of file Task.h.

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.

Definition at line 33 of file Task.cpp.

◆ Task() [2/2]

Task ( )

protecteddefault

Ctor used by object factories.

Member Function Documentation

◆ abortTask()

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

inlineoverride

Aborts planning.

Definition at line 70 of file Task.h.

◆ getPath()

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

override

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

Definition at line 64 of file Task.cpp.

◆ isPathCollisionFree()

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

Definition at line 346 of file Task.cpp.

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◆ 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.

Definition at line 71 of file Task.cpp.

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Friends And Related Function Documentation

◆ ::armarx::GenericFactory

friend class ::armarx::GenericFactory

friend

Definition at line 102 of file Task.h.

Member Data Documentation

◆ mtx

std::mutex mtx

mutableprotected

Definition at line 96 of file Task.h.

◆ solution

Path solution = {{}, "Path"}

protected

Definition at line 97 of file Task.h.

◆ taskIsAborted

std::atomic_bool taskIsAborted {false}