
Public Member Functions | |
Vertex (const ompl::base::SpaceInformationPtr &spaceInformation, const ompl::base::ProblemDefinitionPtr &problemDefinition, const std::size_t &batchId) | |
Constructs a vertex by sampling a state. | |
Vertex (const std::shared_ptr< Vertex > &other) | |
Constructs a copy of another vertex. | |
virtual | ~Vertex () |
Destructs the vertex. | |
std::size_t | getId () const |
Get the unique id of this vertex. | |
ompl::base::State * | getState () |
Provides write access to the underlying state. | |
ompl::base::State const * | getState () const |
Provides read access to the underlying state. | |
ompl::base::ScopedState | getScopedState () const |
Returns a scoped copy of the underlying state. | |
ompl::base::Cost | getCostToComeFromStart () const |
Returns the cost to come to this vertex from the start. | |
ompl::base::Cost | getCostToComeFromGoal () const |
Returns the cost to come to this vertex from the goal. | |
ompl::base::Cost | getExpandedCostToComeFromGoal () const |
Returns the cost to come to this vertex from the goal when it was expanded. | |
ompl::base::Cost | getCostToGoToGoal () const |
Returns the cost to go heuristic from this vertex. | |
ompl::base::Cost | getEdgeCostFromForwardParent () const |
Returns the edge cost from the forward parent. | |
bool | hasForwardParent () const |
Returns whether this vertex has a parent in the forward search. | |
void | setForwardParent (const std::shared_ptr< Vertex > &vertex, const ompl::base::Cost &edgeCost) |
Sets the parent vertex (in the forward-search tree). | |
void | resetForwardParent () |
Resets the forward parent of the vertex. | |
bool | hasReverseParent () const |
Returns whether this vertex has a parent in the reverse search. | |
void | setReverseParent (const std::shared_ptr< Vertex > &vertex) |
Sets the parent vertex (in the reverse-search tree). | |
void | resetReverseParent () |
Resets the reverse parent of the vertex. | |
std::shared_ptr< Vertex > | getForwardParent () const |
Returns the parent of the vertex (in the forward-search tree). | |
std::shared_ptr< Vertex > | getReverseParent () const |
Returns the parent of the vertex (in the reverse-search tree). | |
void | setForwardEdgeCost (const ompl::base::Cost &cost) |
Sets the cost to come to this vertex. | |
void | setCostToComeFromStart (const ompl::base::Cost &cost) |
Sets the cost to come to this vertex. | |
void | setCostToComeFromGoal (const ompl::base::Cost &cost) |
Sets the cost to come to this vertex from the goal. | |
void | resetCostToComeFromGoal () |
Resets the cost to come to this vertex from the goal to infinity. | |
void | resetExpandedCostToComeFromGoal () |
Resets the expanded cost to come to this vertex from the goal to infinity. | |
void | setExpandedCostToComeFromGoal (const ompl::base::Cost &cost) |
Sets the cost to come to this vertex from the goal when it was expanded. | |
void | setCostToGoToGoal (const ompl::base::Cost &cost) |
Sets the cost to go heuristic of this vertex. | |
void | updateCostOfForwardBranch () const |
Updates the cost to the whole branch rooted at this vertex. | |
std::vector< std::weak_ptr< Vertex > > | invalidateReverseBranch () |
Recursively invalidates the branch of the reverse tree rooted in this vertex. | |
std::vector< std::weak_ptr< Vertex > > | invalidateForwardBranch () |
Recursively invalidates the branch of the forward tree rooted in this vertex. | |
void | addToForwardChildren (const std::shared_ptr< Vertex > &vertex) |
Adds a vertex to this vertex's forward children. | |
void | removeFromForwardChildren (std::size_t vertexId) |
Removes a vertex from this vertex's forward children. | |
std::vector< std::shared_ptr< Vertex > > | getForwardChildren () const |
Returns this vertex's children in the forward search tree. | |
void | addToReverseChildren (const std::shared_ptr< Vertex > &vertex) |
Adds a vertex this vertex's children. | |
void | removeFromReverseChildren (std::size_t vertexId) |
Removes a vertex from this vertex's forward children. | |
std::vector< std::shared_ptr< Vertex > > | getReverseChildren () const |
Returns this vertex's children in the reverse search tree. | |
void | whitelistAsChild (const std::shared_ptr< Vertex > &vertex) const |
Whitelists a child. | |
bool | isWhitelistedAsChild (const std::shared_ptr< Vertex > &vertex) const |
Returns whether a child is whitelisted. | |
void | blacklistAsChild (const std::shared_ptr< Vertex > &vertex) const |
Blacklists a child. | |
bool | isBlacklistedAsChild (const std::shared_ptr< Vertex > &vertex) const |
Returns whether a child is blacklisted. | |
bool | hasCachedNeighbors () const |
Returns whether the vertex knows its nearest neighbors on the current approximation. | |
void | cacheNeighbors (const std::vector< std::shared_ptr< Vertex > > &neighbors) const |
Caches the neighbors for the current approximation. | |
const std::vector< std::shared_ptr< Vertex > > | getNeighbors () const |
Returns the nearest neighbors, throws if not up to date. | |
bool | isConsistent () const |
Returns whether the vertex is consistent, i.e., whether its cost-to-come is equal to the cost-to-come when it was last expanded. | |
void | setReverseQueuePointer (typename VertexQueue::Element *pointer) |
Sets the reverse queue pointer of this vertex. | |
VertexQueue::Element * | getReverseQueuePointer () const |
Returns the reverse queue pointer of this vertex. | |
void | resetReverseQueuePointer () |
Resets the reverse queue pointer. | |
void | addToForwardQueueIncomingLookup (typename EdgeQueue::Element *pointer) |
Adds an element to the forward queue incoming lookup. | |
void | addToForwardQueueOutgoingLookup (typename EdgeQueue::Element *pointer) |
Adds an element to the forward queue outgoing lookup. | |
std::vector< EdgeQueue::Element * > | getForwardQueueIncomingLookup () const |
Returns the forward queue incoming lookup of this vertex. | |
std::vector< EdgeQueue::Element * > | getForwardQueueOutgoingLookup () const |
Returns the forward queue outgoing lookup of this vertex. | |
void | removeFromForwardQueueIncomingLookup (typename EdgeQueue::Element *element) |
Remove an element from the incoming queue lookup. | |
void | removeFromForwardQueueOutgoingLookup (typename EdgeQueue::Element *element) |
Remove an element from the outgoing queue lookup. | |
void | resetForwardQueueIncomingLookup () |
Resets the forward queue incoming lookup. | |
void | resetForwardQueueOutgoingLookup () |
Resets the forward queue outgoing lookup. | |
void | callOnForwardBranch (const std::function< void(const std::shared_ptr< Vertex > &)> &function) |
Calls the given function on this vertex and all of its children. | |
void | callOnReverseBranch (const std::function< void(const std::shared_ptr< Vertex > &)> &function) |
Calls the given function on this vertex and all of its children. |
Detailed Description
Constructor & Destructor Documentation
◆ Vertex() [1/2]
ompl::geometric::aitstar::Vertex::Vertex | ( | const ompl::base::SpaceInformationPtr & | spaceInformation, |
const ompl::base::ProblemDefinitionPtr & | problemDefinition, | ||
const std::size_t & | batchId ) |
Constructs a vertex by sampling a state.
Definition at line 63 of file Vertex.cpp.
◆ Vertex() [2/2]
|
explicit |
Constructs a copy of another vertex.
Definition at line 83 of file Vertex.cpp.
◆ ~Vertex()
|
virtual |
Destructs the vertex.
Definition at line 103 of file Vertex.cpp.
Member Function Documentation
◆ addToForwardChildren()
void ompl::geometric::aitstar::Vertex::addToForwardChildren | ( | const std::shared_ptr< Vertex > & | vertex | ) |
Adds a vertex to this vertex's forward children.
Definition at line 300 of file Vertex.cpp.
◆ addToForwardQueueIncomingLookup()
void ompl::geometric::aitstar::Vertex::addToForwardQueueIncomingLookup | ( | typename EdgeQueue::Element * | pointer | ) |
Adds an element to the forward queue incoming lookup.
Definition at line 495 of file Vertex.cpp.
◆ addToForwardQueueOutgoingLookup()
void ompl::geometric::aitstar::Vertex::addToForwardQueueOutgoingLookup | ( | typename EdgeQueue::Element * | pointer | ) |
Adds an element to the forward queue outgoing lookup.
Definition at line 502 of file Vertex.cpp.
◆ addToReverseChildren()
void ompl::geometric::aitstar::Vertex::addToReverseChildren | ( | const std::shared_ptr< Vertex > & | vertex | ) |
Adds a vertex this vertex's children.
Definition at line 324 of file Vertex.cpp.
◆ blacklistAsChild()
void ompl::geometric::aitstar::Vertex::blacklistAsChild | ( | const std::shared_ptr< Vertex > & | vertex | ) | const |
Blacklists a child.
Definition at line 379 of file Vertex.cpp.
◆ cacheNeighbors()
void ompl::geometric::aitstar::Vertex::cacheNeighbors | ( | const std::vector< std::shared_ptr< Vertex > > & | neighbors | ) | const |
Caches the neighbors for the current approximation.
Definition at line 412 of file Vertex.cpp.
◆ callOnForwardBranch()
void ompl::geometric::aitstar::Vertex::callOnForwardBranch | ( | const std::function< void(const std::shared_ptr< Vertex > &)> & | function | ) |
Calls the given function on this vertex and all of its children.
Definition at line 549 of file Vertex.cpp.
◆ callOnReverseBranch()
void ompl::geometric::aitstar::Vertex::callOnReverseBranch | ( | const std::function< void(const std::shared_ptr< Vertex > &)> & | function | ) |
Calls the given function on this vertex and all of its children.
Definition at line 561 of file Vertex.cpp.
◆ getCostToComeFromGoal()
ompl::base::Cost ompl::geometric::aitstar::Vertex::getCostToComeFromGoal | ( | ) | const |
Returns the cost to come to this vertex from the goal.
Definition at line 134 of file Vertex.cpp.
◆ getCostToComeFromStart()
ompl::base::Cost ompl::geometric::aitstar::Vertex::getCostToComeFromStart | ( | ) | const |
Returns the cost to come to this vertex from the start.
Definition at line 129 of file Vertex.cpp.
◆ getCostToGoToGoal()
ompl::base::Cost ompl::geometric::aitstar::Vertex::getCostToGoToGoal | ( | ) | const |
Returns the cost to go heuristic from this vertex.
Definition at line 144 of file Vertex.cpp.
◆ getEdgeCostFromForwardParent()
ompl::base::Cost ompl::geometric::aitstar::Vertex::getEdgeCostFromForwardParent | ( | ) | const |
Returns the edge cost from the forward parent.
Definition at line 149 of file Vertex.cpp.
◆ getExpandedCostToComeFromGoal()
ompl::base::Cost ompl::geometric::aitstar::Vertex::getExpandedCostToComeFromGoal | ( | ) | const |
Returns the cost to come to this vertex from the goal when it was expanded.
Definition at line 139 of file Vertex.cpp.
◆ getForwardChildren()
std::vector< std::shared_ptr< Vertex > > ompl::geometric::aitstar::Vertex::getForwardChildren | ( | ) | const |
Returns this vertex's children in the forward search tree.
Definition at line 436 of file Vertex.cpp.
◆ getForwardParent()
std::shared_ptr< Vertex > ompl::geometric::aitstar::Vertex::getForwardParent | ( | ) | const |
Returns the parent of the vertex (in the forward-search tree).
Definition at line 162 of file Vertex.cpp.
◆ getForwardQueueIncomingLookup()
std::vector< ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)> >::Element * > ompl::geometric::aitstar::Vertex::getForwardQueueIncomingLookup | ( | ) | const |
Returns the forward queue incoming lookup of this vertex.
Definition at line 511 of file Vertex.cpp.
◆ getForwardQueueOutgoingLookup()
std::vector< ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)> >::Element * > ompl::geometric::aitstar::Vertex::getForwardQueueOutgoingLookup | ( | ) | const |
Returns the forward queue outgoing lookup of this vertex.
Definition at line 518 of file Vertex.cpp.
◆ getId()
std::size_t ompl::geometric::aitstar::Vertex::getId | ( | ) | const |
Get the unique id of this vertex.
Definition at line 109 of file Vertex.cpp.
◆ getNeighbors()
const std::vector< std::shared_ptr< Vertex > > ompl::geometric::aitstar::Vertex::getNeighbors | ( | ) | const |
Returns the nearest neighbors, throws if not up to date.
Definition at line 419 of file Vertex.cpp.
◆ getReverseChildren()
std::vector< std::shared_ptr< Vertex > > ompl::geometric::aitstar::Vertex::getReverseChildren | ( | ) | const |
Returns this vertex's children in the reverse search tree.
Definition at line 447 of file Vertex.cpp.
◆ getReverseParent()
std::shared_ptr< Vertex > ompl::geometric::aitstar::Vertex::getReverseParent | ( | ) | const |
Returns the parent of the vertex (in the reverse-search tree).
Definition at line 172 of file Vertex.cpp.
◆ getReverseQueuePointer()
ompl::BinaryHeap< std::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex > >, std::function< bool(conststd::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex > > &, conststd::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex > > &)> >::Element * ompl::geometric::aitstar::Vertex::getReverseQueuePointer | ( | ) | const |
Returns the reverse queue pointer of this vertex.
Definition at line 481 of file Vertex.cpp.
◆ getScopedState()
ompl::base::ScopedState ompl::geometric::aitstar::Vertex::getScopedState | ( | ) | const |
Returns a scoped copy of the underlying state.
Definition at line 124 of file Vertex.cpp.
◆ getState() [1/2]
ompl::base::State * ompl::geometric::aitstar::Vertex::getState | ( | ) |
Provides write access to the underlying state.
Definition at line 114 of file Vertex.cpp.
◆ getState() [2/2]
ompl::base::State const * ompl::geometric::aitstar::Vertex::getState | ( | ) | const |
Provides read access to the underlying state.
Definition at line 119 of file Vertex.cpp.
◆ hasCachedNeighbors()
bool ompl::geometric::aitstar::Vertex::hasCachedNeighbors | ( | ) | const |
Returns whether the vertex knows its nearest neighbors on the current approximation.
Definition at line 407 of file Vertex.cpp.
◆ hasForwardParent()
bool ompl::geometric::aitstar::Vertex::hasForwardParent | ( | ) | const |
Returns whether this vertex has a parent in the forward search.
Definition at line 154 of file Vertex.cpp.
◆ hasReverseParent()
bool ompl::geometric::aitstar::Vertex::hasReverseParent | ( | ) | const |
Returns whether this vertex has a parent in the reverse search.
Definition at line 167 of file Vertex.cpp.
◆ invalidateForwardBranch()
std::vector< std::weak_ptr< aitstar::Vertex > > ompl::geometric::aitstar::Vertex::invalidateForwardBranch | ( | ) |
Recursively invalidates the branch of the forward tree rooted in this vertex.
Definition at line 242 of file Vertex.cpp.
◆ invalidateReverseBranch()
std::vector< std::weak_ptr< aitstar::Vertex > > ompl::geometric::aitstar::Vertex::invalidateReverseBranch | ( | ) |
Recursively invalidates the branch of the reverse tree rooted in this vertex.
Definition at line 223 of file Vertex.cpp.
◆ isBlacklistedAsChild()
bool ompl::geometric::aitstar::Vertex::isBlacklistedAsChild | ( | const std::shared_ptr< Vertex > & | vertex | ) | const |
Returns whether a child is blacklisted.
Definition at line 384 of file Vertex.cpp.
◆ isConsistent()
bool ompl::geometric::aitstar::Vertex::isConsistent | ( | ) | const |
Returns whether the vertex is consistent, i.e., whether its cost-to-come is equal to the cost-to-come when it was last expanded.
Definition at line 459 of file Vertex.cpp.
◆ isWhitelistedAsChild()
bool ompl::geometric::aitstar::Vertex::isWhitelistedAsChild | ( | const std::shared_ptr< Vertex > & | vertex | ) | const |
Returns whether a child is whitelisted.
Definition at line 353 of file Vertex.cpp.
◆ removeFromForwardChildren()
void ompl::geometric::aitstar::Vertex::removeFromForwardChildren | ( | std::size_t | vertexId | ) |
Removes a vertex from this vertex's forward children.
Definition at line 305 of file Vertex.cpp.
◆ removeFromForwardQueueIncomingLookup()
void ompl::geometric::aitstar::Vertex::removeFromForwardQueueIncomingLookup | ( | typename EdgeQueue::Element * | element | ) |
Remove an element from the incoming queue lookup.
Definition at line 523 of file Vertex.cpp.
◆ removeFromForwardQueueOutgoingLookup()
void ompl::geometric::aitstar::Vertex::removeFromForwardQueueOutgoingLookup | ( | typename EdgeQueue::Element * | element | ) |
Remove an element from the outgoing queue lookup.
Definition at line 531 of file Vertex.cpp.
◆ removeFromReverseChildren()
void ompl::geometric::aitstar::Vertex::removeFromReverseChildren | ( | std::size_t | vertexId | ) |
Removes a vertex from this vertex's forward children.
Definition at line 329 of file Vertex.cpp.
◆ resetCostToComeFromGoal()
void ompl::geometric::aitstar::Vertex::resetCostToComeFromGoal | ( | ) |
Resets the cost to come to this vertex from the goal to infinity.
Definition at line 192 of file Vertex.cpp.
◆ resetExpandedCostToComeFromGoal()
void ompl::geometric::aitstar::Vertex::resetExpandedCostToComeFromGoal | ( | ) |
Resets the expanded cost to come to this vertex from the goal to infinity.
Definition at line 197 of file Vertex.cpp.
◆ resetForwardParent()
void ompl::geometric::aitstar::Vertex::resetForwardParent | ( | ) |
Resets the forward parent of the vertex.
Definition at line 278 of file Vertex.cpp.
◆ resetForwardQueueIncomingLookup()
void ompl::geometric::aitstar::Vertex::resetForwardQueueIncomingLookup | ( | ) |
Resets the forward queue incoming lookup.
Definition at line 539 of file Vertex.cpp.
◆ resetForwardQueueOutgoingLookup()
void ompl::geometric::aitstar::Vertex::resetForwardQueueOutgoingLookup | ( | ) |
Resets the forward queue outgoing lookup.
Definition at line 544 of file Vertex.cpp.
◆ resetReverseParent()
void ompl::geometric::aitstar::Vertex::resetReverseParent | ( | ) |
Resets the reverse parent of the vertex.
Definition at line 295 of file Vertex.cpp.
◆ resetReverseQueuePointer()
void ompl::geometric::aitstar::Vertex::resetReverseQueuePointer | ( | ) |
Resets the reverse queue pointer.
Definition at line 490 of file Vertex.cpp.
◆ setCostToComeFromGoal()
void ompl::geometric::aitstar::Vertex::setCostToComeFromGoal | ( | const ompl::base::Cost & | cost | ) |
Sets the cost to come to this vertex from the goal.
Definition at line 187 of file Vertex.cpp.
◆ setCostToComeFromStart()
void ompl::geometric::aitstar::Vertex::setCostToComeFromStart | ( | const ompl::base::Cost & | cost | ) |
Sets the cost to come to this vertex.
Definition at line 182 of file Vertex.cpp.
◆ setCostToGoToGoal()
void ompl::geometric::aitstar::Vertex::setCostToGoToGoal | ( | const ompl::base::Cost & | cost | ) |
Sets the cost to go heuristic of this vertex.
Definition at line 207 of file Vertex.cpp.
◆ setExpandedCostToComeFromGoal()
void ompl::geometric::aitstar::Vertex::setExpandedCostToComeFromGoal | ( | const ompl::base::Cost & | cost | ) |
Sets the cost to come to this vertex from the goal when it was expanded.
Definition at line 202 of file Vertex.cpp.
◆ setForwardEdgeCost()
void ompl::geometric::aitstar::Vertex::setForwardEdgeCost | ( | const ompl::base::Cost & | cost | ) |
Sets the cost to come to this vertex.
Definition at line 177 of file Vertex.cpp.
◆ setForwardParent()
void ompl::geometric::aitstar::Vertex::setForwardParent | ( | const std::shared_ptr< Vertex > & | vertex, |
const ompl::base::Cost & | edgeCost ) |
Sets the parent vertex (in the forward-search tree).
Definition at line 260 of file Vertex.cpp.
◆ setReverseParent()
void ompl::geometric::aitstar::Vertex::setReverseParent | ( | const std::shared_ptr< Vertex > & | vertex | ) |
Sets the parent vertex (in the reverse-search tree).
Definition at line 283 of file Vertex.cpp.
◆ setReverseQueuePointer()
void ompl::geometric::aitstar::Vertex::setReverseQueuePointer | ( | typename VertexQueue::Element * | pointer | ) |
Sets the reverse queue pointer of this vertex.
Definition at line 465 of file Vertex.cpp.
◆ updateCostOfForwardBranch()
void ompl::geometric::aitstar::Vertex::updateCostOfForwardBranch | ( | ) | const |
Updates the cost to the whole branch rooted at this vertex.
Definition at line 212 of file Vertex.cpp.
◆ whitelistAsChild()
void ompl::geometric::aitstar::Vertex::whitelistAsChild | ( | const std::shared_ptr< Vertex > & | vertex | ) | const |
Whitelists a child.
Definition at line 348 of file Vertex.cpp.
The documentation for this class was generated from the following files:
- ompl/geometric/planners/informedtrees/aitstar/Vertex.h
- ompl/geometric/planners/informedtrees/aitstar/src/Vertex.cpp