Save and load entire paths from file. More...
#include <ompl/tools/lightning/LightningDB.h>
Public Member Functions | |
| LightningDB (const base::StateSpacePtr &space) | |
| Constructor needs the state space used for planning. More... | |
| virtual | ~LightningDB () |
| Deconstructor. | |
| bool | load (const std::string &fileName) |
| Load database from file. More... | |
| void | addPath (geometric::PathGeometric &solutionPath, double &insertionTime) |
| Add a new solution path to our database. Des not actually save to file so experience will be lost if save() is not called. More... | |
| void | addPathHelper (geometric::PathGeometric &solutionPath) |
| bool | saveIfChanged (const std::string &fileName) |
| Save loaded database to file, except skips saving if no paths have been added. More... | |
| bool | save (const std::string &fileName) |
| Save loaded database to file. More... | |
| void | getAllPlannerDatas (std::vector< ompl::base::PlannerDataPtr > &plannerDatas) const |
| Get a vector of all the paths in the nearest neighbor tree. | |
| std::vector< ompl::base::PlannerDataPtr > | findNearestStartGoal (int nearestK, const base::State *start, const base::State *goal) |
| Find the k nearest paths to our queries one. | |
| std::size_t | getExperiencesCount () const |
| Get the total number of paths stored in the database. | |
| std::size_t | getStatesCount () const |
| Get the total number of states stored in the database, across all paths. | |
| int | getNumUnsavedPaths () const |
| Get number of unsaved paths. | |
| bool | isEmpty () |
| Check if anything has been loaded into DB. More... | |
Protected Attributes | |
| base::SpaceInformationPtr | si_ |
| The created space information. | |
| ompl::base::PlannerDataStorage | plannerDataStorage_ |
| Helper class for storing each plannerData instance. | |
| std::shared_ptr< NearestNeighbors< ompl::base::PlannerDataPtr > > | nn_ |
| ompl::base::PlannerDataPtr | nnSearchKey_ |
| int | numUnsavedPaths_ {0} |
Detailed Description
Save and load entire paths from file.
Definition at line 136 of file LightningDB.h.
Constructor & Destructor Documentation
◆ LightningDB()
| ompl::tools::LightningDB::LightningDB | ( | const base::StateSpacePtr & | space | ) |
Constructor needs the state space used for planning.
- Parameters
-
space - state space
Definition at line 47 of file LightningDB.cpp.
Member Function Documentation
◆ addPath()
| void ompl::tools::LightningDB::addPath | ( | geometric::PathGeometric & | solutionPath, |
| double & | insertionTime | ||
| ) |
Add a new solution path to our database. Des not actually save to file so experience will be lost if save() is not called.
- Parameters
-
new path returned insertion time to add to db
- Returns
- true on success
Definition at line 124 of file LightningDB.cpp.
◆ isEmpty()
|
inline |
Check if anything has been loaded into DB.
- Returns
- true if has no nodes
Definition at line 207 of file LightningDB.h.
◆ load()
| bool ompl::tools::LightningDB::load | ( | const std::string & | fileName | ) |
Load database from file.
- Parameters
-
fileName - name of database file
- Returns
- true if file loaded successfully
Definition at line 70 of file LightningDB.cpp.
◆ save()
| bool ompl::tools::LightningDB::save | ( | const std::string & | fileName | ) |
Save loaded database to file.
- Parameters
-
fileName - name of database file
- Returns
- true if file saved successfully
Definition at line 165 of file LightningDB.cpp.
◆ saveIfChanged()
| bool ompl::tools::LightningDB::saveIfChanged | ( | const std::string & | fileName | ) |
Save loaded database to file, except skips saving if no paths have been added.
- Parameters
-
fileName - name of database file
- Returns
- true if file saved successfully
Definition at line 156 of file LightningDB.cpp.
The documentation for this class was generated from the following files:
- ompl/tools/lightning/LightningDB.h
- ompl/tools/lightning/src/LightningDB.cpp