ompl::geometric::BITstar::Vertex Class Reference

The vertex of the underlying graphs in BIT*. More...

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

## Public Member Functions | |

Vertex (ompl::base::SpaceInformationPtr si, ompl::base::OptimizationObjectivePtr opt, bool root=false) | |

Constructor. | |

~Vertex () | |

Destructor. | |

BITstar::VertexId | getId () const |

The (unique) vertex ID. | |

ompl::base::State const * | stateConst () const |

The state of a vertex as a constant pointer. | |

ompl::base::State * | state () |

The state of a vertex as a mutable pointer. | |

bool | isRoot () const |

Whether the vertex is root. | |

bool | hasParent () const |

Get whether this vertex has a parent. | |

bool | isInTree () const |

Get whether a vertex is "in the graph" or not. This returns true if the vertex is the graph root or is connected to a parent. | |

unsigned int | getDepth () const |

Get the "depth" of the vertex from the root. A root vertex is at depth 0, a direct descendent of the root 1, etc. | |

VertexConstPtr | getParentConst () const |

Get the parent of a vertex as a constant pointer. | |

VertexPtr | getParent () |

Get the parent of a vertex as a mutable pointer. | |

void | addParent (const VertexPtr &newParent, const ompl::base::Cost &edgeInCost, bool updateChildCosts=true) |

Set the parent of a vertex, cannot be used to replace a previous parent. Will update this vertex's cost, and can update descendent costs. | |

void | removeParent (bool updateChildCosts=true) |

Remove the parent edge. Will update this vertex's cost, and can update the descendent costs. | |

bool | hasChildren () const |

Get whether this vertex has any children. | |

void | getChildrenConst (VertexConstPtrVector *children) const |

Get the children of a vertex as constant pointers. | |

void | getChildren (VertexPtrVector *children) |

Get the children of a vertex as mutable pointers. | |

void | addChild (const VertexPtr &newChild, bool updateChildCosts=true) |

Add a child vertex. Does not change this vertex's cost, and can update the child and its descendent costs. | |

void | removeChild (const VertexPtr &oldChild, bool updateChildCosts=true) |

Remove a child vertex. Does not change this vertex's cost, and can update the child and its descendent costs. Will throw an exception if the given vertex pointer is not in the vector of children. | |

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

Get the cost-to-come of a vertex. Return infinity if the edge is disconnected. | |

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

Get the incremental cost-to-come of a vertex. | |

bool | isNew () const |

Returns true if the vertex is marked as new. Vertices are new until marked old. | |

void | markNew () |

Mark the vertex as new. | |

void | markOld () |

Mark the vertex as old. | |

bool | hasBeenExpandedToSamples () const |

Returns true if the vertex has been expanded towards samples. | |

void | markExpandedToSamples () |

Mark the vertex as expanded towards samples. | |

void | markUnexpandedToSamples () |

Mark the vertex as not expanded towards samples. | |

bool | hasBeenExpandedToVertices () const |

Returns true if the vertex has been expanded towards vertices. | |

void | markExpandedToVertices () |

Mark the vertex as expanded towards vertices. | |

void | markUnexpandedToVertices () |

Mark the vertex as not expanded towards vertices. | |

bool | isPruned () const |

Whether the vertex has been pruned. | |

void | markPruned () |

Mark the vertex as pruned. | |

void | markUnpruned () |

Mark the vertex as unpruned. | |

## Protected Member Functions | |

void | updateCostAndDepth (bool cascadeUpdates=true) |

Calculates the updated cost and depth of the current state, as well as calling all children's updateCostAndDepth() functions and thus updating everything down-stream (if desired). | |

## Detailed Description

The vertex of the underlying graphs in BIT*.

- Short description
- A class to store a state as a vertex in a (tree) graph. Allocates and frees it's own memory on construction/destruction. Parent vertices are owned by their children as shared pointers, assuring that a parent vertex will not be deleted while the child exists. Child vertices are owned by their parents as weak pointers, assuring that the shared-pointer ownership loop is broken.

- Note
- Add/Remove functions should almost always update their children's cost. The only known exception is when a series of operations are being performed and it would be beneficial to delay the update until the last operation. In this case, make sure that the last call updates the children and is on the highest ancestor that has been changed. Updates only flow downstream.

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

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