ompl::geometric::BITstar::ImplicitGraph Class Reference

A conceptual representation of samples as an edge-implicit random geometric graph. More...

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

## Public Member Functions | |

ImplicitGraph (NameFunc nameFunc) | |

Construct an implicit graph. | |

void | setup (const ompl::base::SpaceInformationPtr &si, const ompl::base::ProblemDefinitionPtr &pdef, const CostHelperPtr &costHelper, const SearchQueuePtr &searchQueue, const ompl::base::Planner *plannerPtr, ompl::base::PlannerInputStates &pis) |

Setup the ImplicitGraph, must be called before use. Does not take a copy of the PlannerInputStates, but checks it for starts/goals. | |

void | clear () |

Clear the graph to the state of construction. | |

bool | hasAGoal () const |

Gets whether the graph contains a goal or not. | |

VertexPtrVector::const_iterator | startVerticesBeginConst () const |

Returns a const-iterator to the front of the start-vertex vector. | |

VertexPtrVector::const_iterator | startVerticesEndConst () const |

Returns a const-iterator to the end of the start-vertex vector. | |

VertexPtrVector::const_iterator | goalVerticesBeginConst () const |

Returns a const-iterator to the front of the goal-vertex vector. | |

VertexPtrVector::const_iterator | goalVerticesEndConst () const |

Returns a const-iterator to the end of the goal-vertex vector. | |

ompl::base::Cost | minCost () const |

Get the minimum cost solution possible for this problem. | |

bool | hasInformedMeasure () const |

Query whether the underlying state sampler can provide an informed measure. | |

double | getInformedMeasure (const ompl::base::Cost &cost) const |

Query the underlying state sampler for the informed measure of the problem. | |

double | distanceFunction (const VertexConstPtr &a, const VertexConstPtr &b) const |

The distance function. Calculates the distance directionally from the given state to all the other states (can be used on states either in our out of the graph). | |

void | nearestSamples (const VertexPtr &vertex, VertexPtrVector *neighbourSamples) |

Get the nearest unconnected samples using the appropriate "near" definition (i.e., k or r). | |

void | nearestVertices (const VertexPtr &vertex, VertexPtrVector *neighbourVertices) |

Get the nearest samples from the vertexNN_ using the appropriate "near" definition (i.e., k or r). | |

void | getGraphAsPlannerData (ompl::base::PlannerData &data) const |

Adds the graph to the given PlannerData struct. | |

VertexConstPtr | closestVertexToGoal () const |

IF BEING TRACKED, returns the closest vertex in the tree to the goal. | |

double | smallestDistanceToGoal () const |

IF BEING TRACKED, returns the how close vertices in the tree are to the goal. | |

unsigned int | getConnectivityK () const |

Get the k of this k-nearest RGG. | |

double | getConnectivityR () const |

Get the radius of this r-disc RGG. | |

void | hasSolution (const ompl::base::Cost &solnCost) |

Mark that a solution has been found and that the graph should be limited to the given heuristic value. | |

void | updateStartAndGoalStates (ompl::base::PlannerInputStates &pis, const base::PlannerTerminationCondition &ptc) |

Adds any new goals or starts that have appeared in the problem definition to the vector of vertices and the queue. Creates a new informed sampler if necessary. | |

void | addNewSamples (const unsigned int &numSamples) |

Increase the resolution of the graph-based approximation of the continuous search domain by adding a batch of new samples. | |

std::pair< unsigned int, unsigned int > | prune (double prunedMeasure) |

Prune the samples to the subproblem of the given measure. Pruning is performed by using the prune conditions of the SearchQueue. Returns the number of vertices disconnected and the number of samples removed. | |

void | addSample (const VertexPtr &newSample) |

Add an unconnected sample. | |

void | removeSample (const VertexPtr &oldSample) |

Remove an unconnected sample. | |

void | addVertex (const VertexPtr &newVertex, bool removeFromFree) |

Add a vertex to the tree, optionally moving it from the set of unconnected samples. | |

unsigned int | removeVertex (const VertexPtr &oldVertex, bool moveToFree) |

Remove a vertex from the tree, can optionally be allowed to move it to the set of unconnected samples if may still be useful. | |

void | setRewireFactor (double rewireFactor) |

Set the rewiring scale factor, s, such that r_rrg = s r_rrg*. | |

double | getRewireFactor () const |

Get the rewiring scale factor. | |

void | setUseKNearest (bool useKNearest) |

Enable a k-nearest search for instead of an r-disc search. | |

bool | getUseKNearest () const |

Get whether a k-nearest search is being used. | |

void | setJustInTimeSampling (bool useJit) |

bool | getJustInTimeSampling () const |

Get whether we're using just-in-time sampling. | |

void | setDropSamplesOnPrune (bool dropSamples) |

Set whether unconnected samples are dropped on pruning. | |

bool | getDropSamplesOnPrune () const |

Get whether unconnected samples are dropped on pruning. | |

void | setTrackApproximateSolutions (bool findApproximate) |

Set whether to track approximate solutions during the search. | |

bool | getTrackApproximateSolutions () const |

Get whether approximate solutions are tracked during the search. | |

template<template< typename T > class NN> | |

void | setNearestNeighbors () |

Set a different nearest neighbours datastructure. | |

unsigned int | numFreeSamples () const |

The number of free samples (size of freeStateNN_). | |

unsigned int | numConnectedVertices () const |

The number of vertices in the tree (Size of vertexNN_). | |

unsigned int | numStatesGenerated () const |

The total number of states generated (numSamples_). | |

unsigned int | numVerticesConnected () const |

The total number of vertices added to the graph (numVertices_). | |

unsigned int | numFreeStatesPruned () const |

The number of states pruned (numFreeStatesPruned_). | |

unsigned int | numVerticesDisconnected () const |

The number of tree vertices disconnected (numVerticesDisconnected_). | |

unsigned int | numNearestLookups () const |

The number of nearest neighbour calls (numNearestNeighbours_). | |

unsigned int | numStateCollisionChecks () const |

The number of state collision checks (numStateCollisionChecks_). | |

## Detailed Description

A conceptual representation of samples as an edge-implicit random geometric graph.

- Short Description
- An edge-implicit representation of a random geometric graph.

Definition at line 64 of file ImplicitGraph.h.

## Member Function Documentation

## ◆ setJustInTimeSampling()

void ompl::geometric::BITstar::ImplicitGraph::setJustInTimeSampling | ( | bool | useJit | ) |

Enable sampling "just-in-time", i.e., only when necessary for a nearest-neighbour search.

Definition at line 1415 of file ImplicitGraph.cpp.

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

- ompl/geometric/planners/bitstar/datastructures/ImplicitGraph.h
- ompl/geometric/planners/bitstar/datastructures/src/ImplicitGraph.cpp