This class defines a grid that keeps track of its boundary: it distinguishes between interior and exterior cells. More...

#include <ompl/datastructures/GridB.h>

Inheritance diagram for ompl::GridB< _T, LessThanExternal, LessThanInternal >:

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Classes
struct	LessThanInternalCell
	Define order for internal cells. More...
struct	LessThanExternalCell
	Define order for external cells. More...

Public Types
using	Cell = typename GridN<_T>::Cell
	Definition of a cell in this grid.
using	BaseCell = typename GridN<_T>::BaseCell
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.
Public Types inherited from ompl::GridN< _T >
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.
Public Types inherited from ompl::Grid< _T >
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.
bool	remove (BaseCell *cell) override
	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.
Public Member Functions inherited from ompl::GridN< _T >
	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.
Public Member Functions inherited from ompl::Grid< _T >
	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.
Protected Types inherited from ompl::Grid< _T >
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.
Protected Member Functions inherited from ompl::GridN< _T >
unsigned int	numberOfBoundaryDimensions (const Coord &coord) const
	Compute how many sides of a coordinate touch the boundaries of the grid.
Protected Member Functions inherited from ompl::Grid< _T >
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.
Protected Attributes inherited from ompl::GridN< _T >
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_
Protected Attributes inherited from ompl::Grid< _T >
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.

Definition at line 51 of file GridB.h.

Member Typedef Documentation

◆ BaseCell

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

using ompl::GridB< _T, LessThanExternal, LessThanInternal >::BaseCell = typename GridN<_T>::BaseCell

Definition at line 56 of file GridB.h.

◆ Cell

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

using ompl::GridB< _T, LessThanExternal, LessThanInternal >::Cell = typename GridN<_T>::Cell

Definition of a cell in this grid.

Definition at line 55 of file GridB.h.

◆ CellArray

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

using ompl::GridB< _T, LessThanExternal, LessThanInternal >::CellArray = typename GridN<_T>::CellArray

The datatype for arrays of cells.

Definition at line 59 of file GridB.h.

◆ Coord

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

using ompl::GridB< _T, LessThanExternal, LessThanInternal >::Coord = typename GridN<_T>::Coord

Datatype for cell coordinates.

Definition at line 62 of file GridB.h.

◆ EventCellUpdate

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

using ompl::GridB< _T, LessThanExternal, LessThanInternal >::EventCellUpdate = void (*)(Cell *, void *)

Event to be called when a cell's priority is to be updated.

Definition at line 85 of file GridB.h.

◆ externalBHeap

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

using ompl::GridB< _T, LessThanExternal, LessThanInternal >::externalBHeap = BinaryHeap<CellX *, LessThanExternalCell>

protected

Datatype for a heap of cells containing exterior cells.

Definition at line 342 of file GridB.h.

◆ internalBHeap

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

using ompl::GridB< _T, LessThanExternal, LessThanInternal >::internalBHeap = BinaryHeap<CellX *, LessThanInternalCell>

protected

Datatype for a heap of cells containing interior cells.

Definition at line 339 of file GridB.h.

Constructor & Destructor Documentation

◆ GridB()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

ompl::GridB< _T, LessThanExternal, LessThanInternal >::GridB ( unsigned int dimension )

inlineexplicit

Constructor.

Definition at line 88 of file GridB.h.

◆ ~GridB()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

ompl::GridB< _T, LessThanExternal, LessThanInternal >::~GridB ( )

inlineoverride

Definition at line 93 of file GridB.h.

Member Function Documentation

◆ add()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

virtual void ompl::GridB< _T, LessThanExternal, LessThanInternal >::add ( Cell * cell )

inlinevirtual

Add the cell to the grid.

Definition at line 211 of file GridB.h.

◆ clear()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

void ompl::GridB< _T, LessThanExternal, LessThanInternal >::clear ( )

inlineoverridevirtual

Clear all cells in the grid.

Reimplemented from ompl::Grid< _T >.

Definition at line 273 of file GridB.h.

◆ clearHeaps()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

void ompl::GridB< _T, LessThanExternal, LessThanInternal >::clearHeaps ( )

inlineprotected

Clear the data from both heaps.

Definition at line 308 of file GridB.h.

◆ countExternal()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

unsigned int ompl::GridB< _T, LessThanExternal, LessThanInternal >::countExternal ( ) const

inline

Return the number of external cells.

Definition at line 127 of file GridB.h.

◆ countInternal()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

unsigned int ompl::GridB< _T, LessThanExternal, LessThanInternal >::countInternal ( ) const

inline

Return the number of internal cells.

Definition at line 121 of file GridB.h.

◆ createCell()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

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

inlinevirtual

Create a cell but do not add it to the grid; update neighboring cells however.

Reimplemented from ompl::Grid< _T >.

Definition at line 168 of file GridB.h.

◆ fracExternal()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

double ompl::GridB< _T, LessThanExternal, LessThanInternal >::fracExternal ( ) const

inline

Return the fraction of external cells.

Definition at line 133 of file GridB.h.

◆ fracInternal()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

double ompl::GridB< _T, LessThanExternal, LessThanInternal >::fracInternal ( ) const

inline

Return the fraction of internal cells.

Definition at line 139 of file GridB.h.

◆ noCellUpdate()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

void ompl::GridB< _T, LessThanExternal, LessThanInternal >::noCellUpdate	(	Cell *	,
		void *	)

inlinestaticprotected

Default no-op update routine for a cell.

Definition at line 294 of file GridB.h.

◆ onCellUpdate()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

void ompl::GridB< _T, LessThanExternal, LessThanInternal >::onCellUpdate	(	EventCellUpdate	event,
		void *	arg )

inline

Set the function callback and to be called when a cell's priority is updated

Definition at line 100 of file GridB.h.

◆ remove()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

bool ompl::GridB< _T, LessThanExternal, LessThanInternal >::remove ( BaseCell * cell )

inlineoverride

Remove a cell from the grid.

Definition at line 225 of file GridB.h.

◆ setHeapElementE()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

void ompl::GridB< _T, LessThanExternal, LessThanInternal >::setHeapElementE	(	typename externalBHeap::Element *	element,
		void *	)

inlinestaticprotected

Routine used internally for keeping track of binary heap elements for external cells.

Definition at line 351 of file GridB.h.

◆ setHeapElementI()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

void ompl::GridB< _T, LessThanExternal, LessThanInternal >::setHeapElementI	(	typename internalBHeap::Element *	element,
		void *	)

inlinestaticprotected

Routine used internally for keeping track of binary heap elements for internal cells.

Definition at line 345 of file GridB.h.

◆ setupHeaps()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

void ompl::GridB< _T, LessThanExternal, LessThanInternal >::setupHeaps ( )

inlineprotected

Set the update procedure for the heaps of internal and external cells.

Definition at line 299 of file GridB.h.

◆ status()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

void ompl::GridB< _T, LessThanExternal, LessThanInternal >::status ( std::ostream & out = std::cout ) const

inlineoverridevirtual

Print information about the data in this grid structure.

Reimplemented from ompl::Grid< _T >.

Definition at line 279 of file GridB.h.

◆ topExternal()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

Cell * ompl::GridB< _T, LessThanExternal, LessThanInternal >::topExternal ( ) const

inline

Return the cell that is at the top of the heap maintaining external cells.

Definition at line 114 of file GridB.h.

◆ topInternal()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

Cell * ompl::GridB< _T, LessThanExternal, LessThanInternal >::topInternal ( ) const

inline

Return the cell that is at the top of the heap maintaining internal cells.

Definition at line 107 of file GridB.h.

◆ update()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

void ompl::GridB< _T, LessThanExternal, LessThanInternal >::update ( Cell * cell )

inline

Update the position in the heaps for a particular cell.

Definition at line 145 of file GridB.h.

◆ updateAll()

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

void ompl::GridB< _T, LessThanExternal, LessThanInternal >::updateAll ( )

inline

Update all cells and reconstruct the heaps.

Definition at line 157 of file GridB.h.

Member Data Documentation

◆ eventCellUpdate_

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

EventCellUpdate ompl::GridB< _T, LessThanExternal, LessThanInternal >::eventCellUpdate_

protected

Pointer to function to be called when a cell needs to be updated.

Definition at line 288 of file GridB.h.

◆ eventCellUpdateData_

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

void* ompl::GridB< _T, LessThanExternal, LessThanInternal >::eventCellUpdateData_

protected

Data to be passed to function pointer above.

Definition at line 291 of file GridB.h.

◆ external_

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

externalBHeap ompl::GridB< _T, LessThanExternal, LessThanInternal >::external_

protected

The heap of external cells.

Definition at line 360 of file GridB.h.

◆ internal_

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>

internalBHeap ompl::GridB< _T, LessThanExternal, LessThanInternal >::internal_

protected

The heap of interior cells.

Definition at line 357 of file GridB.h.

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

ompl/datastructures/GridB.h

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ BaseCell

◆ Cell

◆ CellArray

◆ Coord

◆ EventCellUpdate

◆ externalBHeap

◆ internalBHeap

Constructor & Destructor Documentation

◆ GridB()

◆ ~GridB()

Member Function Documentation

◆ add()

◆ clear()

◆ clearHeaps()

◆ countExternal()

◆ countInternal()

◆ createCell()

◆ fracExternal()

◆ fracInternal()

◆ noCellUpdate()

◆ onCellUpdate()

◆ remove()

◆ setHeapElementE()

◆ setHeapElementI()

◆ setupHeaps()

◆ status()

◆ topExternal()

◆ topInternal()

◆ update()

◆ updateAll()

Member Data Documentation

◆ eventCellUpdate_

◆ eventCellUpdateData_

◆ external_

◆ internal_