ompl::geometric::BITstar::CostHelper Class Reference

A helper class to handle the various heuristic functions in one place. More...

#include <ompl/geometric/planners/bitstar/datastructures/CostHelper.h>

Public Member Functions

CostHelper ()=default
Construct the heuristic helper, must be setup before use.

void setup (const ompl::base::OptimizationObjectivePtr &opt, ImplicitGraph *graph)
Setup the CostHelper, must be called before use.

void clear ()
Clear the CostHelper, returns to state at construction.

ompl::base::OptimizationObjectivePtr getOptObj () const
Get the underling OptimizationObjective.

ompl::base::Cost lowerBoundHeuristicVertex (const VertexConstPtr &vertex) const
Calculates a heuristic estimate of the cost of a solution constrained to pass through a vertex, independent of the current cost-to-come. I.e., combines the heuristic estimates of the cost-to-come and cost-to-go.

ompl::base::Cost currentHeuristicVertex (const VertexConstPtr &vertex) const
Calculates a heuristic estimate of the cost of a solution constrained to pass through a vertex, dependent on the current cost-to-come. I.e., combines the current cost-to-come with a heuristic estimate of the cost-to-go.

ompl::base::Cost lowerBoundHeuristicEdge (const VertexConstPtrPair &edgePair) const
Calculates a heuristic estimate of the cost of a solution constrained to go through an edge, independent of the cost-to-come of the parent state. I.e., combines the heuristic estimates of the cost-to-come, edge cost, and cost-to-go.

ompl::base::Cost currentHeuristicEdge (const VertexConstPtrPair &edgePair) const
Calculates a heuristic estimate of the cost of a solution constrained to go through an edge, dependent on the cost-to-come of the parent state. I.e., combines the current cost-to-come with heuristic estimates of the edge cost, and cost-to-go.

ompl::base::Cost lowerBoundHeuristicToTarget (const VertexConstPtrPair &edgePair) const
Calculates a heuristic estimate of the cost of a path to the target of an edge, independent of the current cost-to-come of the parent state. I.e., combines heuristics estimates of the cost-to-come and the edge cost.

ompl::base::Cost currentHeuristicToTarget (const VertexConstPtrPair &edgePair) const
Calculates a heuristic estimate of the cost of a path to the target of an edge, dependent on the cost-to-come of the parent state. I.e., combines the current cost-to-come with heuristic estimates of the edge cost.

ompl::base::Cost costToComeHeuristic (const VertexConstPtr &vertex) const
Calculate a heuristic estimate of the cost-to-come for a Vertex.

ompl::base::Cost edgeCostHeuristic (const VertexConstPtrPair &edgePair) const
Calculate a heuristic estimate of the cost of an edge between two Vertices.

ompl::base::Cost costToGoHeuristic (const VertexConstPtr &vertex) const
Calculate a heuristic estimate of the cost-to-go for a Vertex.

ompl::base::Cost trueEdgeCost (const VertexConstPtrPair &edgePair) const
The true cost of an edge, including constraints.

ompl::base::Cost combineCosts (const ompl::base::Cost &a, const ompl::base::Cost &b, const ompl::base::Cost &c) const
Combine 3 costs.

ompl::base::Cost combineCosts (const ompl::base::Cost &a, const ompl::base::Cost &b, const ompl::base::Cost &c, const ompl::base::Cost &d) const
Combine 4 costs.

bool isCostWorseThan (const ompl::base::Cost &a, const ompl::base::Cost &b) const
Compare whether cost a is worse than cost b by checking whether b is better than a.

bool isCostNotEquivalentTo (const ompl::base::Cost &a, const ompl::base::Cost &b) const
Compare whether cost a and cost b are not equivalent by checking if either a or b is better than the other.

bool isCostBetterThanOrEquivalentTo (const ompl::base::Cost &a, const ompl::base::Cost &b) const
Compare whether cost a is better or equivalent to cost b by checking that b is not better than a.

bool isCostWorseThanOrEquivalentTo (const ompl::base::Cost &a, const ompl::base::Cost &b) const
Compare whether cost a is worse or equivalent to cost b by checking that a is not better than b.

double fractionalChange (const ompl::base::Cost &newCost, const ompl::base::Cost &oldCost) const
Calculate the fractional change of cost "newCost" from "oldCost" relative to "oldCost", i.e., (newCost - oldCost)/oldCost.

double fractionalChange (const ompl::base::Cost &newCost, const ompl::base::Cost &oldCost, const ompl::base::Cost &refCost) const
Calculate the fractional change of cost "newCost" from "oldCost" relative to "refCost", i.e., (newCost - oldCost)/refCost.

bool isSatisfied (const ompl::base::Cost &a) const

bool isFinite (const ompl::base::Cost &a) const

bool isCostEquivalentTo (const ompl::base::Cost &a, const ompl::base::Cost &b) const

bool isCostBetterThan (const ompl::base::Cost &a, const ompl::base::Cost &b) const

ompl::base::Cost betterCost (const ompl::base::Cost &a, const ompl::base::Cost &b) const

ompl::base::Cost combineCosts (const ompl::base::Cost &a, const ompl::base::Cost &b) const

ompl::base::Cost infiniteCost () const

ompl::base::Cost identityCost () const

ompl::base::Cost motionCostHeuristic (const ompl::base::State *a, const ompl::base::State *b) const

ompl::base::Cost motionCost (const ompl::base::State *a, const ompl::base::State *b) const

Detailed Description

A helper class to handle the various heuristic functions in one place.

Short Description
A header-only class that consolidates all the various heuristic calculations for vertices/edges in a graph into one place. Most of these functions are simply combinatorial pass-throughs to the OptimizationObjective.

Definition at line 69 of file CostHelper.h.

The documentation for this class was generated from the following file:
• ompl/geometric/planners/bitstar/datastructures/CostHelper.h