A helper class to handle the various heuristic functions in one place. More...

#include <ompl/geometric/planners/informedtrees/bitstar/CostHelper.h>

Public Member Functions
	CostHelper ()=default
	Construct the heuristic helper, must be setup before use.

void	setup (const ompl::base::OptimizationObjectivePtr &opt, ImplicitGraph *graph)
	Setup the CostHelper, must be called before use.

void	reset ()
	Reset the CostHelper, returns to state at construction.

ompl::base::OptimizationObjectivePtr	getOptObj () const
	Get the underling OptimizationObjective.

ompl::base::Cost	lowerBoundHeuristicVertex (const VertexConstPtr &vertex) const
	Calculates a heuristic estimate of the cost of a solution constrained to pass through a vertex, independent of the current cost-to-come. I.e., combines the heuristic estimates of the cost-to-come and cost-to-go.

ompl::base::Cost	currentHeuristicVertex (const VertexConstPtr &vertex) const
	Calculates a heuristic estimate of the cost of a solution constrained to pass through a vertex, dependent on the current cost-to-come. I.e., combines the current cost-to-come with a heuristic estimate of the cost-to-go.

ompl::base::Cost	lowerBoundHeuristicEdge (const VertexConstPtrPair &edgePair) const
	Calculates a heuristic estimate of the cost of a solution constrained to go through an edge, independent of the cost-to-come of the parent state. I.e., combines the heuristic estimates of the cost-to-come, edge cost, and cost-to-go.

ompl::base::Cost	currentHeuristicEdge (const VertexConstPtrPair &edgePair) const
	Calculates a heuristic estimate of the cost of a solution constrained to go through an edge, dependent on the cost-to-come of the parent state. I.e., combines the current cost-to-come with heuristic estimates of the edge cost, and cost-to-go.

ompl::base::Cost	lowerBoundHeuristicToTarget (const VertexConstPtrPair &edgePair) const
	Calculates a heuristic estimate of the cost of a path to the target of an edge, independent of the current cost-to-come of the parent state. I.e., combines heuristics estimates of the cost-to-come and the edge cost.

ompl::base::Cost	currentHeuristicToTarget (const VertexConstPtrPair &edgePair) const
	Calculates a heuristic estimate of the cost of a path to the target of an edge, dependent on the cost-to-come of the parent state. I.e., combines the current cost-to-come with heuristic estimates of the edge cost.

ompl::base::Cost	costToComeHeuristic (const VertexConstPtr &vertex) const
	Calculate a heuristic estimate of the cost-to-come for a Vertex.

ompl::base::Cost	edgeCostHeuristic (const VertexConstPtrPair &edgePair) const
	Calculate a heuristic estimate of the cost of an edge between two Vertices.

ompl::base::Cost	costToGoHeuristic (const VertexConstPtr &vertex) const
	Calculate a heuristic estimate of the cost-to-go for a Vertex.

ompl::base::Cost	trueEdgeCost (const VertexConstPtrPair &edgePair) const
	The true cost of an edge, including constraints.

template<typename... Costs>
ompl::base::Cost	combineCosts (const ompl::base::Cost &cost, const Costs &... costs) const
	Combine multiple costs.

ompl::base::Cost	inflateCost (const ompl::base::Cost &cost, double factor) const
	Inflate a cost by a given factor.

bool	isCostWorseThan (const ompl::base::Cost &a, const ompl::base::Cost &b) const
	Compare whether cost a is worse than cost b by checking whether b is better than a.

bool	isCostNotEquivalentTo (const ompl::base::Cost &a, const ompl::base::Cost &b) const
	Compare whether cost a and cost b are not equivalent by checking if either a or b is better than the other.

bool	isCostBetterThanOrEquivalentTo (const ompl::base::Cost &a, const ompl::base::Cost &b) const
	Compare whether cost a is better or equivalent to cost b by checking that b is not better than a.

bool	isCostWorseThanOrEquivalentTo (const ompl::base::Cost &a, const ompl::base::Cost &b) const
	Compare whether cost a is worse or equivalent to cost b by checking that a is not better than b.

double	fractionalChange (const ompl::base::Cost &newCost, const ompl::base::Cost &oldCost) const
	Calculate the fractional change of cost "newCost" from "oldCost" relative to "oldCost", i.e., (newCost - oldCost)/oldCost.

double	fractionalChange (const ompl::base::Cost &newCost, const ompl::base::Cost &oldCost, const ompl::base::Cost &refCost) const
	Calculate the fractional change of cost "newCost" from "oldCost" relative to "refCost", i.e., (newCost - oldCost)/refCost.

bool	isSatisfied (const ompl::base::Cost &a) const

bool	isFinite (const ompl::base::Cost &a) const

bool	isCostEquivalentTo (const ompl::base::Cost &a, const ompl::base::Cost &b) const

bool	isCostBetterThan (const ompl::base::Cost &a, const ompl::base::Cost &b) const

ompl::base::Cost	betterCost (const ompl::base::Cost &a, const ompl::base::Cost &b) const

ompl::base::Cost	combineCosts (const ompl::base::Cost &a, const ompl::base::Cost &b) const

ompl::base::Cost	infiniteCost () const

ompl::base::Cost	identityCost () const

ompl::base::Cost	motionCostHeuristic (const ompl::base::State a, const ompl::base::State b) const

ompl::base::Cost	motionCost (const ompl::base::State a, const ompl::base::State b) const

Detailed Description

A helper class to handle the various heuristic functions in one place.

Short Description: A header-only class that consolidates all the various heuristic calculations for vertices/edges in a graph into one place. Most of these functions are simply combinatorial pass-throughs to the OptimizationObjective.

Definition at line 133 of file CostHelper.h.

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

ompl/geometric/planners/informedtrees/bitstar/CostHelper.h

Public Member Functions

Detailed Description