Public Member Functions
	Vertex (const ompl::base::SpaceInformationPtr &spaceInformation, const ompl::base::ProblemDefinitionPtr &problemDefinition, const std::size_t &batchId)
	Constructs a vertex by sampling a state.

virtual	~Vertex ()
	Destructs the vertex.

std::size_t	getId () const
	Get the unique id of this vertex.

ompl::base::State *	getState ()
	Provides write access to the underlying state.

ompl::base::State const *	getState () const
	Provides read access to the underlying state.

ompl::base::ScopedState	getScopedState () const
	Returns a scoped copy of the underlying state.

ompl::base::Cost	getCostToComeFromStart () const
	Returns the cost to come to this vertex from the start.

ompl::base::Cost	getCostToComeFromGoal () const
	Returns the cost to come to this vertex from the goal.

ompl::base::Cost	getExpandedCostToComeFromGoal () const
	Returns the cost to come to this vertex from the goal when it was expanded.

ompl::base::Cost	getCostToGoToGoal () const
	Returns the cost to go heuristic from this vertex.

ompl::base::Cost	getEdgeCostFromForwardParent () const
	Returns the edge cost from the forward parent.

bool	hasForwardParent () const
	Returns whether this vertex has a parent in the forward search.

void	setForwardParent (const std::shared_ptr< Vertex > &vertex, const ompl::base::Cost &edgeCost)
	Sets the parent vertex (in the forward-search tree).

void	resetForwardParent ()
	Resets the forward parent of the vertex.

bool	hasReverseParent () const
	Returns whether this vertex has a parent in the reverse search.

void	setReverseParent (const std::shared_ptr< Vertex > &vertex)
	Sets the parent vertex (in the reverse-search tree).

void	resetReverseParent ()
	Resets the reverse parent of the vertex.

std::shared_ptr< Vertex >	getForwardParent () const
	Returns the parent of the vertex (in the forward-search tree).

std::shared_ptr< Vertex >	getReverseParent () const
	Returns the parent of the vertex (in the reverse-search tree).

void	setForwardEdgeCost (const ompl::base::Cost &cost)
	Sets the cost to come to this vertex.

void	setCostToComeFromStart (const ompl::base::Cost &cost)
	Sets the cost to come to this vertex.

void	setCostToComeFromGoal (const ompl::base::Cost &cost)
	Sets the cost to come to this vertex from the goal.

void	setExpandedCostToComeFromGoal (const ompl::base::Cost &cost)
	Sets the cost to come to this vertex from the goal when it was expanded.

void	setCostToGoToGoal (const ompl::base::Cost &cost)
	Sets the cost to go heuristic of this vertex.

void	updateCostOfForwardBranch () const
	Updates the cost to the whole branch rooted at this vertex.

std::vector< std::weak_ptr< aitstar::Vertex > >	invalidateReverseBranch ()
	Recursively invalidates the branch of the reverse tree rooted in this vertex.

std::vector< std::weak_ptr< aitstar::Vertex > >	invalidateForwardBranch ()
	Recursively invalidates the branch of the forward tree rooted in this vertex.

void	addToForwardChildren (const std::shared_ptr< Vertex > &vertex)
	Adds a vertex to this vertex's forward children.

void	removeFromForwardChildren (std::size_t vertexId)
	Removes a vertex from this vertex's forward children.

std::vector< std::shared_ptr< Vertex > >	getForwardChildren () const
	Returns this vertex's children in the forward search tree.

void	addToReverseChildren (const std::shared_ptr< Vertex > &vertex)
	Adds a vertex this vertex's children.

void	removeFromReverseChildren (std::size_t vertexId)
	Removes a vertex from this vertex's forward children.

std::vector< std::shared_ptr< Vertex > >	getReverseChildren () const
	Returns this vertex's children in the reverse search tree.

void	whitelistAsChild (const std::shared_ptr< Vertex > &vertex) const
	Whitelists a child.

bool	isWhitelistedAsChild (const std::shared_ptr< Vertex > &vertex) const
	Returns whether a child is whitelisted.

void	blacklistAsChild (const std::shared_ptr< Vertex > &vertex) const
	Blacklists a child.

bool	isBlacklistedAsChild (const std::shared_ptr< Vertex > &vertex) const
	Returns whether a child is blacklisted.

bool	hasCachedNeighbors () const
	Returns whether the vertex knows its nearest neighbors on the current approximation.

void	cacheNeighbors (const std::vector< std::shared_ptr< Vertex >> &neighbors) const
	Caches the neighbors for the current approximation.

const std::vector< std::shared_ptr< Vertex > >	getNeighbors () const
	Returns the nearest neighbors, throws if not up to date.

void	registerPoppedOutgoingEdgeDuringForwardSearch ()
	Registers that a child has been added to this vertex during the current forward search.

void	registerExpansionDuringReverseSearch ()
	Registers the expansion of this vertex during the current reverse search.

void	unregisterExpansionDuringReverseSearch ()
	Unregisters the expansion of this vertex during the current reverse search, needed when a reverse branch is invalidated due to a collision detection on an edge.

void	registerInsertionIntoQueueDuringReverseSearch ()
	Registers the insertion of this vertex into the open queue during the current reverse search.

bool	hasHadOutgoingEdgePoppedDuringCurrentForwardSearch () const
	Returns whether the vertex has had an outgoing edge popped during the current forward search.

bool	hasBeenExpandedDuringCurrentReverseSearch () const
	Returns whether the vertex has been expanded during the current reverse search.

bool	hasBeenInsertedIntoQueueDuringCurrentReverseSearch () const
	Returns whether the vertex has been inserted into the queue during the current reverse search.

void	setReverseQueuePointer (typename ompl::BinaryHeap< std::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex >>, std::function< bool(const std::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex >> &, const std::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex >> &)>>::Element *pointer)
	Sets the reverse queue pointer of this vertex.

ompl::BinaryHeap< std::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex > >, std::function< bool(const std::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex >> &, const std::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex >> &)> >::Element *	getReverseQueuePointer () const
	Returns the reverse queue pointer of this vertex.

void	resetReverseQueuePointer ()
	Resets the reverse queue pointer.

void	addToForwardQueueIncomingLookup (typename ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)>>::Element *pointer)
	Adds an element to the forward queue incoming lookup.

void	addToForwardQueueOutgoingLookup (typename ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)>>::Element *pointer)
	Adds an element to the forward queue outgoing lookup.

std::vector< ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)> >::Element * >	getForwardQueueIncomingLookup () const
	Returns the forward queue incoming lookup of this vertex.

std::vector< ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)> >::Element * >	getForwardQueueOutgoingLookup () const
	Returns the forward queue outgoing lookup of this vertex.

void	removeFromForwardQueueIncomingLookup (ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)>>::Element *element)
	Remove an element from the incoming queue lookup.

void	removeFromForwardQueueOutgoingLookup (ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)>>::Element *element)
	Remove an element from the outgoing queue lookup.

void	resetForwardQueueIncomingLookup ()
	Resets the forward queue incoming lookup.

void	resetForwardQueueOutgoingLookup ()
	Resets the forward queue outgoing lookup.

Detailed Description

Definition at line 58 of file Vertex.h.

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

ompl/geometric/planners/informedtrees/aitstar/Vertex.h
ompl/geometric/planners/informedtrees/aitstar/src/Vertex.cpp

Public Member Functions

Detailed Description