ompl::geometric::aitstar::ImplicitGraph Class Reference

Public Member Functions

 ImplicitGraph (const ompl::base::Cost &solutionCost)
 Constructs an implicit graph.
 
virtual ~ImplicitGraph ()=default
 Destructs an implicit graph.
 
void setup (const ompl::base::SpaceInformationPtr &spaceInformation, const ompl::base::ProblemDefinitionPtr &problemDefinition, ompl::base::PlannerInputStates *inputStates)
 The setup method for the graph. Needed to have it on the stack.
 
void clear ()
 Resets the graph to its construction state, without resetting options.
 
void setRewireFactor (double rewireFactor)
 Set the rewire factor of the RGG.
 
double getRewireFactor () const
 Get the reqire factor of the RGG.
 
void setUseKNearest (bool useKNearest)
 Whether to use a k-nearest connection model. If false, it uses an r-disc model.
 
bool getUseKNearest () const
 Whether the graph uses a k-nearest connection model. If false, it uses an r-disc model.
 
void setTrackApproximateSolution (bool track)
 Sets whether to track approximate solutions or not.
 
std::vector< std::shared_ptr< Vertex > > addSamples (std::size_t numNewSamples)
 Adds a batch of samples and returns the samples it has added.
 
std::size_t getNumVertices () const
 Gets the number of samples in the graph.
 
double getConnectionRadius () const
 Gets the RGG connection radius.
 
void registerStartState (const ompl::base::State *const startState)
 Registers a state as a start state.
 
void registerGoalState (const ompl::base::State *const goalState)
 Registers a state as a goal state.
 
bool hasAStartState () const
 Returns whether the graph has a goal state.
 
bool hasAGoalState () const
 Returns whether the graph has a goal state.
 
void updateStartAndGoalStates (const ompl::base::PlannerTerminationCondition &terminationCondition, ompl::base::PlannerInputStates *inputStates)
 Adds new start and goals to the graph if avavilable and creates a new informed sampler if necessary.
 
std::vector< std::shared_ptr< Vertex > > getNeighbors (const std::shared_ptr< Vertex > &vertex) const
 Get neighbors of a vertex.
 
bool isStart (const std::shared_ptr< Vertex > &vertex) const
 Checks whether the vertex is a start vertex.
 
bool isGoal (const std::shared_ptr< Vertex > &vertex) const
 Checks whether the vertex is a goal vertex.
 
const std::vector< std::shared_ptr< Vertex > > & getStartVertices () const
 Get the start vertices.
 
const std::vector< std::shared_ptr< Vertex > > & getGoalVertices () const
 Get the goal vertices.
 
std::vector< std::shared_ptr< Vertex > > getVertices () const
 Get all vertices.
 
void prune ()
 Prune all samples that can not contribute to a solution better than the current one.
 
std::size_t getNumberOfSampledStates () const
 Returns the total number of sampled states.
 
std::size_t getNumberOfValidSamples () const
 Returns the total number of valid samples found.
 
std::size_t getNumberOfStateCollisionChecks () const
 Get the number of state collision checks.
 
std::size_t getNumberOfNearestNeighborCalls () const
 Get the number of nearest neighbor calls.
 

Detailed Description

Definition at line 154 of file ImplicitGraph.h.


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