Public Member Functions | |
ImplicitGraph (const ompl::base::Cost &solutionCost) | |
Constructs an implicit graph. | |
virtual | ~ImplicitGraph ()=default |
Destructs an implicit graph. | |
void | setup (const ompl::base::SpaceInformationPtr &spaceInformation, const ompl::base::ProblemDefinitionPtr &problemDefinition, ompl::base::PlannerInputStates *inputStates) |
The setup method for the graph. Needed to have it on the stack. | |
void | clear () |
Resets the graph to its construction state, without resetting options. | |
void | setRewireFactor (double rewireFactor) |
Set the rewire factor of the RGG. | |
double | getRewireFactor () const |
Get the reqire factor of the RGG. | |
void | setUseKNearest (bool useKNearest) |
Whether to use a k-nearest connection model. If false, it uses an r-disc model. | |
bool | getUseKNearest () const |
Whether the graph uses a k-nearest connection model. If false, it uses an r-disc model. | |
void | setTrackApproximateSolution (bool track) |
Sets whether to track approximate solutions or not. | |
std::vector< std::shared_ptr< Vertex > > | addSamples (std::size_t numNewSamples) |
Adds a batch of samples and returns the samples it has added. | |
std::size_t | getNumVertices () const |
Gets the number of samples in the graph. | |
double | getConnectionRadius () const |
Gets the RGG connection radius. | |
void | registerStartState (const ompl::base::State *const startState) |
Registers a state as a start state. | |
void | registerGoalState (const ompl::base::State *const goalState) |
Registers a state as a goal state. | |
bool | hasAStartState () const |
Returns whether the graph has a goal state. | |
bool | hasAGoalState () const |
Returns whether the graph has a goal state. | |
void | updateStartAndGoalStates (const ompl::base::PlannerTerminationCondition &terminationCondition, ompl::base::PlannerInputStates *inputStates) |
Adds new start and goals to the graph if avavilable and creates a new informed sampler if necessary. | |
std::vector< std::shared_ptr< Vertex > > | getNeighbors (const std::shared_ptr< Vertex > &vertex) const |
Get neighbors of a vertex. | |
bool | isStart (const std::shared_ptr< Vertex > &vertex) const |
Checks whether the vertex is a start vertex. | |
bool | isGoal (const std::shared_ptr< Vertex > &vertex) const |
Checks whether the vertex is a goal vertex. | |
const std::vector< std::shared_ptr< Vertex > > & | getStartVertices () const |
Get the start vertices. | |
const std::vector< std::shared_ptr< Vertex > > & | getGoalVertices () const |
Get the goal vertices. | |
std::vector< std::shared_ptr< Vertex > > | getVertices () const |
Get all vertices. | |
void | prune () |
Prune all samples that can not contribute to a solution better than the current one. | |
std::size_t | getNumberOfSampledStates () const |
Returns the total number of sampled states. | |
std::size_t | getNumberOfValidSamples () const |
Returns the total number of valid samples found. | |
std::size_t | getNumberOfStateCollisionChecks () const |
Get the number of state collision checks. | |
std::size_t | getNumberOfNearestNeighborCalls () const |
Get the number of nearest neighbor calls. | |
Detailed Description
Definition at line 58 of file ImplicitGraph.h.
Constructor & Destructor Documentation
◆ ImplicitGraph()
ompl::geometric::aitstar::ImplicitGraph::ImplicitGraph | ( | const ompl::base::Cost & | solutionCost | ) |
Constructs an implicit graph.
Definition at line 50 of file ImplicitGraph.cpp.
Member Function Documentation
◆ addSamples()
std::vector< std::shared_ptr< Vertex > > ompl::geometric::aitstar::ImplicitGraph::addSamples | ( | std::size_t | numNewSamples | ) |
Adds a batch of samples and returns the samples it has added.
Definition at line 317 of file ImplicitGraph.cpp.
◆ clear()
void ompl::geometric::aitstar::ImplicitGraph::clear | ( | ) |
Resets the graph to its construction state, without resetting options.
Definition at line 71 of file ImplicitGraph.cpp.
◆ getConnectionRadius()
double ompl::geometric::aitstar::ImplicitGraph::getConnectionRadius | ( | ) | const |
Gets the RGG connection radius.
Definition at line 367 of file ImplicitGraph.cpp.
◆ getGoalVertices()
const std::vector< std::shared_ptr< Vertex > > & ompl::geometric::aitstar::ImplicitGraph::getGoalVertices | ( | ) | const |
Get the goal vertices.
Definition at line 426 of file ImplicitGraph.cpp.
◆ getNeighbors()
std::vector< std::shared_ptr< Vertex > > ompl::geometric::aitstar::ImplicitGraph::getNeighbors | ( | const std::shared_ptr< Vertex > & | vertex | ) | const |
Get neighbors of a vertex.
Definition at line 373 of file ImplicitGraph.cpp.
◆ getNumberOfNearestNeighborCalls()
std::size_t ompl::geometric::aitstar::ImplicitGraph::getNumberOfNearestNeighborCalls | ( | ) | const |
Get the number of nearest neighbor calls.
Definition at line 514 of file ImplicitGraph.cpp.
◆ getNumberOfSampledStates()
std::size_t ompl::geometric::aitstar::ImplicitGraph::getNumberOfSampledStates | ( | ) | const |
Returns the total number of sampled states.
Definition at line 497 of file ImplicitGraph.cpp.
◆ getNumberOfStateCollisionChecks()
std::size_t ompl::geometric::aitstar::ImplicitGraph::getNumberOfStateCollisionChecks | ( | ) | const |
Get the number of state collision checks.
Definition at line 507 of file ImplicitGraph.cpp.
◆ getNumberOfValidSamples()
std::size_t ompl::geometric::aitstar::ImplicitGraph::getNumberOfValidSamples | ( | ) | const |
Returns the total number of valid samples found.
Definition at line 502 of file ImplicitGraph.cpp.
◆ getNumVertices()
std::size_t ompl::geometric::aitstar::ImplicitGraph::getNumVertices | ( | ) | const |
Gets the number of samples in the graph.
Definition at line 362 of file ImplicitGraph.cpp.
◆ getRewireFactor()
double ompl::geometric::aitstar::ImplicitGraph::getRewireFactor | ( | ) | const |
Get the reqire factor of the RGG.
Definition at line 90 of file ImplicitGraph.cpp.
◆ getStartVertices()
const std::vector< std::shared_ptr< Vertex > > & ompl::geometric::aitstar::ImplicitGraph::getStartVertices | ( | ) | const |
Get the start vertices.
Definition at line 421 of file ImplicitGraph.cpp.
◆ getUseKNearest()
bool ompl::geometric::aitstar::ImplicitGraph::getUseKNearest | ( | ) | const |
Whether the graph uses a k-nearest connection model. If false, it uses an r-disc model.
Definition at line 100 of file ImplicitGraph.cpp.
◆ getVertices()
std::vector< std::shared_ptr< Vertex > > ompl::geometric::aitstar::ImplicitGraph::getVertices | ( | ) | const |
Get all vertices.
Definition at line 431 of file ImplicitGraph.cpp.
◆ hasAGoalState()
bool ompl::geometric::aitstar::ImplicitGraph::hasAGoalState | ( | ) | const |
Returns whether the graph has a goal state.
Definition at line 143 of file ImplicitGraph.cpp.
◆ hasAStartState()
bool ompl::geometric::aitstar::ImplicitGraph::hasAStartState | ( | ) | const |
Returns whether the graph has a goal state.
Definition at line 138 of file ImplicitGraph.cpp.
◆ isGoal()
bool ompl::geometric::aitstar::ImplicitGraph::isGoal | ( | const std::shared_ptr< Vertex > & | vertex | ) | const |
Checks whether the vertex is a goal vertex.
Definition at line 409 of file ImplicitGraph.cpp.
◆ isStart()
bool ompl::geometric::aitstar::ImplicitGraph::isStart | ( | const std::shared_ptr< Vertex > & | vertex | ) | const |
Checks whether the vertex is a start vertex.
Definition at line 397 of file ImplicitGraph.cpp.
◆ prune()
void ompl::geometric::aitstar::ImplicitGraph::prune | ( | ) |
Prune all samples that can not contribute to a solution better than the current one.
Definition at line 438 of file ImplicitGraph.cpp.
◆ registerGoalState()
void ompl::geometric::aitstar::ImplicitGraph::registerGoalState | ( | const ompl::base::State *const | goalState | ) |
Registers a state as a goal state.
Definition at line 123 of file ImplicitGraph.cpp.
◆ registerStartState()
void ompl::geometric::aitstar::ImplicitGraph::registerStartState | ( | const ompl::base::State *const | startState | ) |
Registers a state as a start state.
Definition at line 105 of file ImplicitGraph.cpp.
◆ setRewireFactor()
void ompl::geometric::aitstar::ImplicitGraph::setRewireFactor | ( | double | rewireFactor | ) |
Set the rewire factor of the RGG.
Definition at line 85 of file ImplicitGraph.cpp.
◆ setup()
void ompl::geometric::aitstar::ImplicitGraph::setup | ( | const ompl::base::SpaceInformationPtr & | spaceInformation, |
const ompl::base::ProblemDefinitionPtr & | problemDefinition, | ||
ompl::base::PlannerInputStates * | inputStates ) |
The setup method for the graph. Needed to have it on the stack.
Definition at line 55 of file ImplicitGraph.cpp.
◆ setUseKNearest()
void ompl::geometric::aitstar::ImplicitGraph::setUseKNearest | ( | bool | useKNearest | ) |
Whether to use a k-nearest connection model. If false, it uses an r-disc model.
Definition at line 95 of file ImplicitGraph.cpp.
◆ updateStartAndGoalStates()
void ompl::geometric::aitstar::ImplicitGraph::updateStartAndGoalStates | ( | const ompl::base::PlannerTerminationCondition & | terminationCondition, |
ompl::base::PlannerInputStates * | inputStates ) |
Adds new start and goals to the graph if avavilable and creates a new informed sampler if necessary.
Definition at line 149 of file ImplicitGraph.cpp.
The documentation for this class was generated from the following files:
- ompl/geometric/planners/informedtrees/aitstar/ImplicitGraph.h
- ompl/geometric/planners/informedtrees/aitstar/src/ImplicitGraph.cpp