ompl::GridB< _T, LessThanExternal, LessThanInternal > Class Template Reference

This class defines a grid that keeps track of its boundary: it distinguishes between interior and exterior cells. More...

#include <ompl/datastructures/GridB.h>

Inheritance diagram for ompl::GridB< _T, LessThanExternal, LessThanInternal >:

Classes

struct  LessThanExternalCell
 Define order for external cells. More...
 
struct  LessThanInternalCell
 Define order for internal cells. More...
 

Public Types

using Cell = typename GridN< _T >::Cell
 Definition of a cell in this grid.
 
using CellArray = typename GridN< _T >::CellArray
 The datatype for arrays of cells.
 
using Coord = typename GridN< _T >::Coord
 Datatype for cell coordinates.
 
using EventCellUpdate = void(*)(Cell *, void *)
 Event to be called when a cell's priority is to be updated.
 
- Public Types inherited from ompl::GridN< _T >
using BaseCell = typename Grid< _T >::Cell
 Datatype for cell in base class.
 
using BaseCellArray = typename Grid< _T >::CellArray
 Datatype for array of cells in base class.
 
using Coord = typename Grid< _T >::Coord
 Datatype for cell coordinates.
 
using CellArray = std::vector< Cell * >
 The datatype for arrays of cells.
 
- Public Types inherited from ompl::Grid< _T >
using Coord = std::vector< int >
 Definition of a coordinate within this grid.
 
using CellArray = std::vector< Cell * >
 The datatype for arrays of cells.
 
using iterator = typename CoordHash::const_iterator
 We only allow const iterators.
 

Public Member Functions

 GridB (unsigned int dimension)
 Constructor.
 
void onCellUpdate (EventCellUpdate event, void *arg)
 
CelltopInternal () const
 Return the cell that is at the top of the heap maintaining internal cells.
 
CelltopExternal () const
 Return the cell that is at the top of the heap maintaining external cells.
 
unsigned int countInternal () const
 Return the number of internal cells.
 
unsigned int countExternal () const
 Return the number of external cells.
 
double fracExternal () const
 Return the fraction of external cells.
 
double fracInternal () const
 Return the fraction of internal cells.
 
void update (Cell *cell)
 Update the position in the heaps for a particular cell.
 
void updateAll ()
 Update all cells and reconstruct the heaps.
 
virtual CellcreateCell (const Coord &coord, CellArray *nbh=nullptr)
 Create a cell but do not add it to the grid; update neighboring cells however.
 
virtual void add (Cell *cell)
 Add the cell to the grid.
 
virtual bool remove (Cell *cell)
 Remove a cell from the grid.
 
void clear () override
 Clear all cells in the grid.
 
void status (std::ostream &out=std::cout) const override
 Print information about the data in this grid structure.
 
- Public Member Functions inherited from ompl::GridN< _T >
 GridN (unsigned int dimension)
 The constructor takes the dimension of the grid as argument.
 
void setDimension (unsigned int dimension)
 
void setBounds (const Coord &low, const Coord &up)
 
void setInteriorCellNeighborLimit (unsigned int count)
 
CellgetCell (const Coord &coord) const
 Get the cell at a specified coordinate.
 
void neighbors (const Cell *cell, CellArray &list) const
 Get the list of neighbors for a given cell.
 
void neighbors (const Coord &coord, CellArray &list) const
 Get the list of neighbors for a given coordinate.
 
void neighbors (Coord &coord, CellArray &list) const
 Get the list of neighbors for a given coordinate.
 
BaseCellcreateCell (const Coord &coord, BaseCellArray *nbh=nullptr) override
 
bool remove (BaseCell *cell) override
 
void getCells (CellArray &cells) const
 Get the set of instantiated cells in the grid.
 
- Public Member Functions inherited from ompl::Grid< _T >
 Grid (unsigned int dimension)
 The constructor takes the dimension of the grid as argument.
 
virtual ~Grid ()
 Destructor.
 
unsigned int getDimension () const
 Return the dimension of the grid.
 
void setDimension (unsigned int dimension)
 
bool has (const Coord &coord) const
 Check if a cell exists at the specified coordinate.
 
CellgetCell (const Coord &coord) const
 Get the cell at a specified coordinate.
 
void neighbors (const Cell *cell, CellArray &list) const
 Get the list of neighbors for a given cell.
 
void neighbors (const Coord &coord, CellArray &list) const
 Get the list of neighbors for a given coordinate.
 
void neighbors (Coord &coord, CellArray &list) const
 Get the list of neighbors for a given coordinate.
 
std::vector< std::vector< Cell * > > components () const
 Get the connected components formed by the cells in this grid (based on neighboring relation)
 
virtual bool remove (Cell *cell)
 
virtual void add (Cell *cell)
 Add an instantiated cell to the grid.
 
virtual void destroyCell (Cell *cell) const
 Clear the memory occupied by a cell; do not call this function unless remove() was called first.
 
void getContent (std::vector< _T > &content) const
 Get the data stored in the cells we are aware of.
 
void getCoordinates (std::vector< Coord *> &coords) const
 Get the set of coordinates where there are cells.
 
void getCells (CellArray &cells) const
 Get the set of instantiated cells in the grid.
 
void printCoord (Coord &coord, std::ostream &out=std::cout) const
 Print the value of a coordinate to a stream.
 
bool empty () const
 Check if the grid is empty.
 
unsigned int size () const
 Check the size of the grid.
 
iterator begin () const
 Return the begin() iterator for the grid.
 
iterator end () const
 Return the end() iterator for the grid.
 

Protected Types

using internalBHeap = BinaryHeap< CellX *, LessThanInternalCell >
 Datatype for a heap of cells containing interior cells.
 
using externalBHeap = BinaryHeap< CellX *, LessThanExternalCell >
 Datatype for a heap of cells containing exterior cells.
 
- Protected Types inherited from ompl::Grid< _T >
using CoordHash = std::unordered_map< Coord *, Cell *, HashFunCoordPtr, EqualCoordPtr >
 Define the datatype for the used hash structure.
 

Protected Member Functions

void setupHeaps ()
 Set the update procedure for the heaps of internal and external cells.
 
void clearHeaps ()
 Clear the data from both heaps.
 
- Protected Member Functions inherited from ompl::GridN< _T >
unsigned int numberOfBoundaryDimensions (const Coord &coord) const
 Compute how many sides of a coordinate touch the boundaries of the grid.
 
- Protected Member Functions inherited from ompl::Grid< _T >
void freeMemory ()
 Free the allocated memory.
 

Static Protected Member Functions

static void noCellUpdate (Cell *, void *)
 Default no-op update routine for a cell.
 
static void setHeapElementI (typename internalBHeap::Element *element, void *)
 Routine used internally for keeping track of binary heap elements for internal cells.
 
static void setHeapElementE (typename externalBHeap::Element *element, void *)
 Routine used internally for keeping track of binary heap elements for external cells.
 

Protected Attributes

EventCellUpdate eventCellUpdate_
 Pointer to function to be called when a cell needs to be updated.
 
void * eventCellUpdateData_
 Data to be passed to function pointer above.
 
internalBHeap internal_
 The heap of interior cells.
 
externalBHeap external_
 The heap of external cells.
 
- Protected Attributes inherited from ompl::GridN< _T >
bool hasBounds_
 Flag indicating whether bounds are in effect for this grid.
 
Coord lowBound_
 If bounds are set, this defines the lower corner cell.
 
Coord upBound_
 If bounds are set, this defines the upper corner cell.
 
unsigned int interiorCellNeighborsLimit_
 
bool overrideCellNeighborsLimit_
 
- Protected Attributes inherited from ompl::Grid< _T >
unsigned int dimension_
 The dimension of the grid.
 
unsigned int maxNeighbors_
 The maximum number of neighbors a cell can have (2 * dimension)
 
CoordHash hash_
 The hash holding the cells.
 

Detailed Description

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>
class ompl::GridB< _T, LessThanExternal, LessThanInternal >

This class defines a grid that keeps track of its boundary: it distinguishes between interior and exterior cells.

Definition at line 48 of file GridB.h.

Member Function Documentation

◆ onCellUpdate()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>
void ompl::GridB< _T, LessThanExternal, LessThanInternal >::onCellUpdate ( EventCellUpdate  event,
void *  arg 
)
inline

Set the function callback and to be called when a cell's priority is updated

Definition at line 94 of file GridB.h.


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