Representation of a simple grid. More...

#include <ompl/datastructures/Grid.h>

Inheritance diagram for ompl::Grid< _T >:

[legend]

Classes
struct	Cell
	Definition of a cell in this grid. More...
struct	HashFunCoordPtr
struct	EqualCoordPtr
	Equality operator for coordinate pointers. More...
struct	SortComponents
	Helper to sort components by size. More...

Public Types
using	Coord = Eigen::VectorXi
	Definition of a coordinate within this grid.
using	CellArray = std::vector<Cell *>
	The datatype for arrays of cells.
using	iterator = typename CoordHash::const_iterator
	We only allow const iterators.

Public Member Functions
	Grid (unsigned int dimension)
	The constructor takes the dimension of the grid as argument.
virtual	~Grid ()
	Destructor.
virtual void	clear ()
	Clear all cells in the grid.
unsigned int	getDimension () const
	Return the dimension of the grid.
void	setDimension (unsigned int dimension)
bool	has (const Coord &coord) const
	Check if a cell exists at the specified coordinate.
Cell *	getCell (const Coord &coord) const
	Get the cell at a specified coordinate.
void	neighbors (const Cell *cell, CellArray &list) const
	Get the list of neighbors for a given cell.
void	neighbors (const Coord &coord, CellArray &list) const
	Get the list of neighbors for a given coordinate.
void	neighbors (Coord &coord, CellArray &list) const
	Get the list of neighbors for a given coordinate.
std::vector< std::vector< Cell * > >	components () const
	Get the connected components formed by the cells in this grid (based on neighboring relation).
virtual Cell *	createCell (const Coord &coord, CellArray *nbh=nullptr)
virtual bool	remove (Cell *cell)
virtual void	add (Cell *cell)
	Add an instantiated cell to the grid.
virtual void	destroyCell (Cell *cell) const
	Clear the memory occupied by a cell; do not call this function unless remove() was called first.
void	getContent (std::vector< _T > &content) const
	Get the data stored in the cells we are aware of.
void	getCoordinates (std::vector< Coord * > &coords) const
	Get the set of coordinates where there are cells.
void	getCells (CellArray &cells) const
	Get the set of instantiated cells in the grid.
void	printCoord (Coord &coord, std::ostream &out=std::cout) const
	Print the value of a coordinate to a stream.
bool	empty () const
	Check if the grid is empty.
unsigned int	size () const
	Check the size of the grid.
virtual void	status (std::ostream &out=std::cout) const
	Print information about the data in this grid structure.
iterator	begin () const
	Return the begin() iterator for the grid.
iterator	end () const
	Return the end() iterator for the grid.

Protected Types
using	CoordHash = std::unordered_map<Coord , Cell , HashFunCoordPtr, EqualCoordPtr>
	Define the datatype for the used hash structure.

Protected Member Functions
void	freeMemory ()
	Free the allocated memory.

Protected Attributes
unsigned int	dimension_
	The dimension of the grid.
unsigned int	maxNeighbors_
	The maximum number of neighbors a cell can have (2 * dimension).
CoordHash	hash_
	The hash holding the cells.

Detailed Description

template<typename _T>
class ompl::Grid< _T >

Representation of a simple grid.

Definition at line 51 of file Grid.h.

Member Typedef Documentation

◆ CellArray

template<typename _T>

using ompl::Grid< _T >::CellArray = std::vector<Cell *>

The datatype for arrays of cells.

Definition at line 74 of file Grid.h.

◆ Coord

template<typename _T>

using ompl::Grid< _T >::Coord = Eigen::VectorXi

Definition of a coordinate within this grid.

Definition at line 55 of file Grid.h.

◆ CoordHash

template<typename _T>

using ompl::Grid< _T >::CoordHash = std::unordered_map<Coord *, Cell *, HashFunCoordPtr, EqualCoordPtr>

protected

Define the datatype for the used hash structure.

Definition at line 352 of file Grid.h.

◆ iterator

template<typename _T>

using ompl::Grid< _T >::iterator = typename CoordHash::const_iterator

We only allow const iterators.

Definition at line 366 of file Grid.h.

Constructor & Destructor Documentation

◆ Grid()

template<typename _T>

ompl::Grid< _T >::Grid ( unsigned int dimension )

inlineexplicit

The constructor takes the dimension of the grid as argument.

Definition at line 77 of file Grid.h.

◆ ~Grid()

template<typename _T>

virtual ompl::Grid< _T >::~Grid ( )

inlinevirtual

Destructor.

Definition at line 83 of file Grid.h.

Member Function Documentation

◆ add()

template<typename _T>

virtual void ompl::Grid< _T >::add ( Cell * cell )

inlinevirtual

Add an instantiated cell to the grid.

Definition at line 246 of file Grid.h.

◆ begin()

template<typename _T>

iterator ompl::Grid< _T >::begin ( ) const

inline

Return the begin() iterator for the grid.

Definition at line 369 of file Grid.h.

◆ clear()

template<typename _T>

virtual void ompl::Grid< _T >::clear ( )

inlinevirtual

Clear all cells in the grid.

Reimplemented in ompl::GridB< _T, LessThanExternal, LessThanInternal >, and ompl::GridB< CellData *, OrderCellsByImportance >.

Definition at line 89 of file Grid.h.

◆ components()

template<typename _T>

std::vector< std::vector< Cell * > > ompl::Grid< _T >::components ( ) const

inline

Get the connected components formed by the cells in this grid (based on neighboring relation).

Definition at line 164 of file Grid.h.

◆ createCell()

template<typename _T>

virtual Cell * ompl::Grid< _T >::createCell	(	const Coord &	coord,
		CellArray *	nbh = nullptr )

inlinevirtual

Instantiate a new cell at given coordinates; optionally Return the list of future neighbors. Note: this call only creates the cell, but does not add it to the grid. It however updates the neighbor count for neighboring cells

Reimplemented in ompl::GridB< _T, LessThanExternal, LessThanInternal >, ompl::GridB< CellData *, OrderCellsByImportance >, and ompl::GridN< _T >.

Definition at line 220 of file Grid.h.

◆ destroyCell()

template<typename _T>

virtual void ompl::Grid< _T >::destroyCell ( Cell * cell ) const

inlinevirtual

Clear the memory occupied by a cell; do not call this function unless remove() was called first.

Definition at line 252 of file Grid.h.

◆ empty()

template<typename _T>

bool ompl::Grid< _T >::empty ( ) const

inline

Check if the grid is empty.

Definition at line 288 of file Grid.h.

◆ end()

template<typename _T>

iterator ompl::Grid< _T >::end ( ) const

inline

Return the end() iterator for the grid.

Definition at line 375 of file Grid.h.

◆ freeMemory()

template<typename _T>

void ompl::Grid< _T >::freeMemory ( )

inlineprotected

Free the allocated memory.

Definition at line 312 of file Grid.h.

◆ getCell()

template<typename _T>

Cell * ompl::Grid< _T >::getCell ( const Coord & coord ) const

inline

Get the cell at a specified coordinate.

Definition at line 117 of file Grid.h.

◆ getCells()

template<typename _T>

void ompl::Grid< _T >::getCells ( CellArray & cells ) const

inline

Get the set of instantiated cells in the grid.

Definition at line 272 of file Grid.h.

◆ getContent()

template<typename _T>

void ompl::Grid< _T >::getContent ( std::vector< _T > & content ) const

inline

Get the data stored in the cells we are aware of.

Definition at line 258 of file Grid.h.

◆ getCoordinates()

template<typename _T>

void ompl::Grid< _T >::getCoordinates ( std::vector< Coord * > & coords ) const

inline

Get the set of coordinates where there are cells.

Definition at line 265 of file Grid.h.

◆ getDimension()

template<typename _T>

unsigned int ompl::Grid< _T >::getDimension ( ) const

inline

Return the dimension of the grid.

Definition at line 95 of file Grid.h.

◆ has()

template<typename _T>

bool ompl::Grid< _T >::has ( const Coord & coord ) const

inline

Check if a cell exists at the specified coordinate.

Definition at line 111 of file Grid.h.

◆ neighbors() [1/3]

template<typename _T>

void ompl::Grid< _T >::neighbors	(	const Cell *	cell,
		CellArray &	list ) const

inline

Get the list of neighbors for a given cell.

Definition at line 125 of file Grid.h.

◆ neighbors() [2/3]

template<typename _T>

void ompl::Grid< _T >::neighbors	(	const Coord &	coord,
		CellArray &	list ) const

inline

Get the list of neighbors for a given coordinate.

Definition at line 132 of file Grid.h.

◆ neighbors() [3/3]

template<typename _T>

void ompl::Grid< _T >::neighbors	(	Coord &	coord,
		CellArray &	list ) const

inline

Get the list of neighbors for a given coordinate.

Definition at line 139 of file Grid.h.

◆ printCoord()

template<typename _T>

void ompl::Grid< _T >::printCoord	(	Coord &	coord,
		std::ostream &	out = std::cout ) const

inline

Print the value of a coordinate to a stream.

Definition at line 279 of file Grid.h.

◆ remove()

template<typename _T>

virtual bool ompl::Grid< _T >::remove ( Cell * cell )

inlinevirtual

Remove a cell from the grid. If the cell has not been Added to the grid, only update the neighbor list

Definition at line 231 of file Grid.h.

◆ setDimension()

template<typename _T>

void ompl::Grid< _T >::setDimension ( unsigned int dimension )

inline

Update the dimension of the grid; this should not be done unless the grid is empty

Definition at line 102 of file Grid.h.

◆ size()

template<typename _T>

unsigned int ompl::Grid< _T >::size ( ) const

inline

Check the size of the grid.

Definition at line 294 of file Grid.h.

◆ status()

template<typename _T>

virtual void ompl::Grid< _T >::status ( std::ostream & out = std::cout ) const

inlinevirtual

Print information about the data in this grid structure.

Reimplemented in ompl::GridB< _T, LessThanExternal, LessThanInternal >, and ompl::GridB< CellData *, OrderCellsByImportance >.

Definition at line 300 of file Grid.h.

Member Data Documentation

◆ dimension_

template<typename _T>

unsigned int ompl::Grid< _T >::dimension_

protected

The dimension of the grid.

Definition at line 382 of file Grid.h.

◆ hash_

template<typename _T>

CoordHash ompl::Grid< _T >::hash_

protected

The hash holding the cells.

Definition at line 388 of file Grid.h.

◆ maxNeighbors_

template<typename _T>

unsigned int ompl::Grid< _T >::maxNeighbors_

protected

The maximum number of neighbors a cell can have (2 * dimension).

Definition at line 385 of file Grid.h.

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

ompl/datastructures/Grid.h

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ CellArray

◆ Coord

◆ CoordHash

◆ iterator

Constructor & Destructor Documentation

◆ Grid()

◆ ~Grid()

Member Function Documentation

◆ add()

◆ begin()

◆ clear()

◆ components()

◆ createCell()

◆ destroyCell()

◆ empty()

◆ end()

◆ freeMemory()

◆ getCell()

◆ getCells()

◆ getContent()

◆ getCoordinates()

◆ getDimension()

◆ has()

◆ neighbors() [1/3]

◆ neighbors() [2/3]

◆ neighbors() [3/3]

◆ printCoord()

◆ remove()

◆ setDimension()

◆ size()

◆ status()

Member Data Documentation

◆ dimension_

◆ hash_

◆ maxNeighbors_