ompl::geometric::aitstar::Vertex Class Reference
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
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