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ompl::GridB< _T, LessThanExternal, LessThanInternal > Class Template Reference
This class defines a grid that keeps track of its boundary: it distinguishes between interior and exterior cells.
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#include <ompl/datastructures/GridB.h>
Inheritance diagram for ompl::GridB< _T, LessThanExternal, LessThanInternal >:

Classes | |
struct | LessThanExternalCell |
Define order for external cells. More... | |
struct | LessThanInternalCell |
Define order for internal cells. More... | |
Public Types | |
using | Cell = typename GridN< _T >::Cell |
Definition of a cell in this grid. | |
using | CellArray = typename GridN< _T >::CellArray |
The datatype for arrays of cells. | |
using | Coord = typename GridN< _T >::Coord |
Datatype for cell coordinates. | |
using | EventCellUpdate = void(*)(Cell *, void *) |
Event to be called when a cell's priority is to be updated. | |
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using | BaseCell = typename Grid< _T >::Cell |
Datatype for cell in base class. | |
using | BaseCellArray = typename Grid< _T >::CellArray |
Datatype for array of cells in base class. | |
using | Coord = typename Grid< _T >::Coord |
Datatype for cell coordinates. | |
using | CellArray = std::vector< Cell * > |
The datatype for arrays of cells. | |
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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 | |
GridB (unsigned int dimension) | |
Constructor. | |
void | onCellUpdate (EventCellUpdate event, void *arg) |
Cell * | topInternal () const |
Return the cell that is at the top of the heap maintaining internal cells. | |
Cell * | topExternal () const |
Return the cell that is at the top of the heap maintaining external cells. | |
unsigned int | countInternal () const |
Return the number of internal cells. | |
unsigned int | countExternal () const |
Return the number of external cells. | |
double | fracExternal () const |
Return the fraction of external cells. | |
double | fracInternal () const |
Return the fraction of internal cells. | |
void | update (Cell *cell) |
Update the position in the heaps for a particular cell. | |
void | updateAll () |
Update all cells and reconstruct the heaps. | |
virtual Cell * | createCell (const Coord &coord, CellArray *nbh=nullptr) |
Create a cell but do not add it to the grid; update neighboring cells however. | |
virtual void | add (Cell *cell) |
Add the cell to the grid. | |
virtual bool | remove (Cell *cell) |
Remove a cell from the grid. | |
void | clear () override |
Clear all cells in the grid. | |
void | status (std::ostream &out=std::cout) const override |
Print information about the data in this grid structure. | |
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GridN (unsigned int dimension) | |
The constructor takes the dimension of the grid as argument. | |
void | setDimension (unsigned int dimension) |
void | setBounds (const Coord &low, const Coord &up) |
void | setInteriorCellNeighborLimit (unsigned int count) |
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. | |
BaseCell * | createCell (const Coord &coord, BaseCellArray *nbh=nullptr) override |
bool | remove (BaseCell *cell) override |
void | getCells (CellArray &cells) const |
Get the set of instantiated cells in the grid. | |
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Grid (unsigned int dimension) | |
The constructor takes the dimension of the grid as argument. | |
virtual | ~Grid () |
Destructor. | |
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 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. | |
iterator | begin () const |
Return the begin() iterator for the grid. | |
iterator | end () const |
Return the end() iterator for the grid. | |
Protected Types | |
using | internalBHeap = BinaryHeap< CellX *, LessThanInternalCell > |
Datatype for a heap of cells containing interior cells. | |
using | externalBHeap = BinaryHeap< CellX *, LessThanExternalCell > |
Datatype for a heap of cells containing exterior cells. | |
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using | CoordHash = std::unordered_map< Coord *, Cell *, HashFunCoordPtr, EqualCoordPtr > |
Define the datatype for the used hash structure. | |
Protected Member Functions | |
void | setupHeaps () |
Set the update procedure for the heaps of internal and external cells. | |
void | clearHeaps () |
Clear the data from both heaps. | |
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unsigned int | numberOfBoundaryDimensions (const Coord &coord) const |
Compute how many sides of a coordinate touch the boundaries of the grid. | |
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void | freeMemory () |
Free the allocated memory. | |
Static Protected Member Functions | |
static void | noCellUpdate (Cell *, void *) |
Default no-op update routine for a cell. | |
static void | setHeapElementI (typename internalBHeap::Element *element, void *) |
Routine used internally for keeping track of binary heap elements for internal cells. | |
static void | setHeapElementE (typename externalBHeap::Element *element, void *) |
Routine used internally for keeping track of binary heap elements for external cells. | |
Protected Attributes | |
EventCellUpdate | eventCellUpdate_ |
Pointer to function to be called when a cell needs to be updated. | |
void * | eventCellUpdateData_ |
Data to be passed to function pointer above. | |
internalBHeap | internal_ |
The heap of interior cells. | |
externalBHeap | external_ |
The heap of external cells. | |
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bool | hasBounds_ |
Flag indicating whether bounds are in effect for this grid. | |
Coord | lowBound_ |
If bounds are set, this defines the lower corner cell. | |
Coord | upBound_ |
If bounds are set, this defines the upper corner cell. | |
unsigned int | interiorCellNeighborsLimit_ |
bool | overrideCellNeighborsLimit_ |
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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 LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>
class ompl::GridB< _T, LessThanExternal, LessThanInternal >
This class defines a grid that keeps track of its boundary: it distinguishes between interior and exterior cells.
Member Function Documentation
◆ onCellUpdate()
template<typename _T , class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>
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inline |
The documentation for this class was generated from the following file:
- ompl/datastructures/GridB.h