Base environment class. More...

#include <env_base.h>

Inheritance diagram for MPL::env_base< Dim >:

Public Member Functions
	env_base ()
	Simple constructor.

virtual bool	is_goal (const Waypoint< Dim > &state) const
	Check if state hit the goal region, use L-1 norm.

virtual decimal_t	get_heur (const Waypoint< Dim > &state) const
	Heuristic function. More...

virtual decimal_t	cal_heur (const Waypoint< Dim > &state, const Waypoint< Dim > &goal) const
	calculate the cost from state to goal

Veci< Dim >	round (const Vecf< Dim > &vec, decimal_t res) const
	Replace the original cast function.

std::string	to_string (const Veci< Dim > &vec) const
	Convert a vec to a string.

void	forward_action (const Waypoint< Dim > &curr, int action_id, Primitive< Dim > &pr) const
	Recover trajectory.

void	set_u (const vec_E< VecDf > &U)
	Set control input.

void	set_v_max (decimal_t v)
	Set max vel in each axis.

void	set_a_max (decimal_t a)
	Set max acc in each axis.

void	set_j_max (decimal_t j)
	Set max acc in each axis.

void	set_yaw_max (decimal_t yaw)
	Set max acc in each axis.

virtual void	set_prior_trajectory (const Trajectory< Dim > &traj)
	Set prior trajectory.

void	set_dt (decimal_t dt)
	Set dt for primitive.

void	set_tol_pos (decimal_t pos)
	Set distance tolerance for goal region.

void	set_tol_vel (decimal_t vel)
	Set velocity tolerance for goal region.

void	set_tol_acc (decimal_t acc)
	Set acceleration tolerance for goal region.

void	set_tol_yaw (decimal_t yaw)
	Set acceleration tolerance for goal region.

void	set_w (decimal_t w)
	set weight for cost in time, usually no need to change

void	set_wyaw (decimal_t wyaw)
	set weight for cost in yaw, usually no need to change

virtual void	set_potential_weight (decimal_t w)
	set weight for cost in time, usually no need to change

virtual void	set_gradient_weight (decimal_t w)
	set weight for cost in time, usually no need to change

virtual void	set_potential_map (const std::vector< int8_t > &map)
	set weight for cost in time, usually no need to change

virtual void	set_gradient_map (const vec_E< Vecf< Dim >> &map)
	set weight for cost in time, usually no need to change

void	set_t_max (int t)
	Set max time.

bool	set_goal (const Waypoint< Dim > &state)
	Set goal state.

void	set_search_region (const std::vector< bool > &search_region)
	Set valid search region (tunnel constraint)

void	set_heur_ignore_dynamics (bool ignore)
	Set heur_ignore_dynamics.

virtual void	info ()
	Print out params.

virtual bool	is_free (const Vecf< Dim > &pt) const
	Check if a point is in free space.

virtual bool	is_free (const Primitive< Dim > &pr) const
	Check if a primitive is in free space.

virtual decimal_t	calculate_intrinsic_cost (const Primitive< Dim > &pr) const

decimal_t	get_dt () const
	Retrieve dt.

virtual void	get_succ (const Waypoint< Dim > &curr, vec_E< Waypoint< Dim >> &succ, std::vector< decimal_t > &succ_cost, std::vector< int > &action_idx) const
	Get successor. More...

std::vector< bool >	get_search_region () const
	Get the valid region.

Public Attributes
bool	heur_ignore_dynamics_ {true}
	if enabled, ignore dynamics when calculate heuristic

decimal_t	w_ {10.0}
	weight of time cost

decimal_t	wyaw_ {1.0}
	weight of yaw

decimal_t	tol_pos_ {0.5}
	tolerance of position for goal region, 0.5 is the default

decimal_t	tol_vel_ {-1.0}
	tolerance of velocity for goal region, 0 means no tolerance

decimal_t	tol_acc_ {-1.0}
	tolerance of acceleration for goal region, 0 means no tolerance

decimal_t	tol_yaw_ {-1.0}
	tolerance of yaw for goal region, 0 means no tolerance

decimal_t	v_max_ {-1.0}
	max velocity

decimal_t	a_max_ {-1.0}
	max acceleration

decimal_t	j_max_ {-1.0}
	max jerk

decimal_t	yaw_max_ {-1.0}
	max yaw

decimal_t	t_max_ {std::numeric_limits<decimal_t>::infinity()}
	max time

decimal_t	dt_ {1.0}
	duration of primitive

vec_E< VecDf >	U_
	Array of constant control input.

Waypoint< Dim >	goal_node_
	Goal node.

vec_E< std::pair< Waypoint< Dim >, decimal_t > >	prior_traj_
	Prior trajectory.

std::vector< bool >	search_region_
	Valid search region (tunnel constraint)

vec_Vecf< Dim >	expanded_nodes_
	expanded nodes for debug

vec_E< Primitive< Dim > >	expanded_edges_
	expanded edges for debug

Detailed Description

template<int Dim>
class MPL::env_base< Dim >

Base environment class.

Member Function Documentation

◆ get_heur()

template<int Dim>

virtual decimal_t MPL::env_base< Dim >::get_heur ( const Waypoint< Dim > & state ) const

inlinevirtual

Heuristic function.

Parameters

Waypoint	current state coord
t	current state time

◆ get_succ()

template<int Dim>

virtual void MPL::env_base< Dim >::get_succ	(	const Waypoint< Dim > &	curr,
		vec_E< Waypoint< Dim >> &	succ,
		std::vector< decimal_t > &	succ_cost,
		std::vector< int > &	action_idx
	)		const

inlinevirtual

Get successor.

Parameters

curr	The node to expand
succ	The array stores valid successors
succ_cost	The array stores cost along valid edges
action_idx	The array stores corresponding idx of control for each successor

Reimplemented in MPL::env_map< Dim >.

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

include/mpl_planner/common/env_base.h

Public Member Functions

Public Attributes

Detailed Description

template<int Dim> class MPL::env_base< Dim >

Member Function Documentation

◆ get_heur()

◆ get_succ()

template<int Dim>
class MPL::env_base< Dim >