ompl::geometric::XXL::Layer Class Reference

Public Member Functions

 Layer (int _id, int numRegions, int lvl, Layer *_parent)
 
size_t numRegions () const
 
int getLevel () const
 
LayergetParent () const
 
int getID () const
 
RegiongetRegion (int r)
 
const RegiongetRegion (int r) const
 
const std::vector< double > & getWeights () const
 
std::vector< double > & getWeights ()
 
const std::vector< bool > & getExterior () const
 
std::vector< bool > & getExterior ()
 
const std::vector< int > & getConnections () const
 
const std::vector< int > & getSelections () const
 
const std::vector< std::vector< int > > & getGoalStates () const
 
const std::vector< int > & getGoalStates (int reg) const
 
size_t numGoalStates () const
 
size_t numGoalStates (int reg) const
 
void addGoalState (int reg, int id)
 
AdjacencyListgetRegionGraph ()
 
const AdjacencyListgetRegionGraph () const
 
LayergetSublayer (int l)
 
const LayergetSublayer (int l) const
 
void allocateSublayers ()
 
bool hasSublayers ()
 
void selectRegion (int r, int count=1)
 
void connectRegion (int r)
 
int totalSelections () const
 
int totalConnections () const
 
int connectibleRegions () const
 
int connectibleRegion (int idx) const
 
int leadAppearances (int idx) const
 
int numLeads () const
 
void markLead (const std::vector< int > &lead)
 

Protected Attributes

std::vector< Regionregions
 
std::vector< double > weights
 
std::vector< bool > exterior
 
std::vector< int > connections
 
std::vector< int > selections
 
std::vector< int > leads
 
std::vector< std::vector< int > > goalStates
 
PerfectSet connectionPoints
 
AdjacencyListregionGraph
 
std::vector< Layer * > sublayers
 
int level
 
int numSelections {0}
 
int numConnections {0}
 
int id
 
int totalGoalStates {0}
 
int numTotalLeads {0}
 
Layerparent
 

Detailed Description

Definition at line 152 of file XXL.h.


The documentation for this class was generated from the following file:
  • ompl/geometric/planners/xxl/XXL.h