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 68 of file CostHelper.h.

Member Function Documentation

◆ betterCost()

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

inline

Definition at line 304 of file CostHelper.h.

◆ combineCosts() [1/2]

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

inline

Definition at line 308 of file CostHelper.h.

◆ combineCosts() [2/2]

template<typename... Costs>

ompl::base::Cost ompl::geometric::BITstar::CostHelper::combineCosts	(	const ompl::base::Cost &	cost,
		const Costs &...	costs ) const

inline

Combine multiple costs.

Definition at line 219 of file CostHelper.h.

◆ costToComeHeuristic()

ompl::base::Cost ompl::geometric::BITstar::CostHelper::costToComeHeuristic ( const VertexConstPtr & vertex ) const

inline

Calculate a heuristic estimate of the cost-to-come for a Vertex.

Definition at line 157 of file CostHelper.h.

◆ costToGoHeuristic()

ompl::base::Cost ompl::geometric::BITstar::CostHelper::costToGoHeuristic ( const VertexConstPtr & vertex ) const

inline

Calculate a heuristic estimate of the cost-to-go for a Vertex.

Definition at line 189 of file CostHelper.h.

◆ currentHeuristicEdge()

ompl::base::Cost ompl::geometric::BITstar::CostHelper::currentHeuristicEdge ( const VertexConstPtrPair & edgePair ) const

inline

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.

Definition at line 134 of file CostHelper.h.

◆ currentHeuristicToTarget()

ompl::base::Cost ompl::geometric::BITstar::CostHelper::currentHeuristicToTarget ( const VertexConstPtrPair & edgePair ) const

inline

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.

Definition at line 151 of file CostHelper.h.

◆ currentHeuristicVertex()

ompl::base::Cost ompl::geometric::BITstar::CostHelper::currentHeuristicVertex ( const VertexConstPtr & vertex ) const

inline

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.

Definition at line 117 of file CostHelper.h.

◆ edgeCostHeuristic()

ompl::base::Cost ompl::geometric::BITstar::CostHelper::edgeCostHeuristic ( const VertexConstPtrPair & edgePair ) const

inline

Calculate a heuristic estimate of the cost of an edge between two Vertices.

Definition at line 183 of file CostHelper.h.

◆ fractionalChange() [1/2]

double ompl::geometric::BITstar::CostHelper::fractionalChange	(	const ompl::base::Cost &	newCost,
		const ompl::base::Cost &	oldCost ) const

inline

Calculate the fractional change of cost "newCost" from "oldCost" relative to "oldCost", i.e., (newCost - oldCost)/oldCost.

Definition at line 265 of file CostHelper.h.

◆ fractionalChange() [2/2]

double ompl::geometric::BITstar::CostHelper::fractionalChange	(	const ompl::base::Cost &	newCost,
		const ompl::base::Cost &	oldCost,
		const ompl::base::Cost &	refCost ) const

inline

Calculate the fractional change of cost "newCost" from "oldCost" relative to "refCost", i.e., (newCost - oldCost)/refCost.

Definition at line 272 of file CostHelper.h.

◆ getOptObj()

ompl::base::OptimizationObjectivePtr ompl::geometric::BITstar::CostHelper::getOptObj ( ) const

inline

Get the underling OptimizationObjective.

Definition at line 93 of file CostHelper.h.

◆ identityCost()

ompl::base::Cost ompl::geometric::BITstar::CostHelper::identityCost ( ) const

inline

Definition at line 316 of file CostHelper.h.

◆ infiniteCost()

ompl::base::Cost ompl::geometric::BITstar::CostHelper::infiniteCost ( ) const

inline

Definition at line 312 of file CostHelper.h.

◆ inflateCost()

ompl::base::Cost ompl::geometric::BITstar::CostHelper::inflateCost	(	const ompl::base::Cost &	cost,
		double	factor ) const

inline

Inflate a cost by a given factor.

Definition at line 225 of file CostHelper.h.

◆ isCostBetterThan()

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

inline

Definition at line 300 of file CostHelper.h.

◆ isCostBetterThanOrEquivalentTo()

bool ompl::geometric::BITstar::CostHelper::isCostBetterThanOrEquivalentTo	(	const ompl::base::Cost &	a,
		const ompl::base::Cost &	b ) const

inline

Compare whether cost a is better or equivalent to cost b by checking that b is not better than a.

Definition at line 249 of file CostHelper.h.

◆ isCostEquivalentTo()

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

inline

Definition at line 296 of file CostHelper.h.

◆ isCostNotEquivalentTo()

bool ompl::geometric::BITstar::CostHelper::isCostNotEquivalentTo	(	const ompl::base::Cost &	a,
		const ompl::base::Cost &	b ) const

inline

Compare whether cost a and cost b are not equivalent by checking if either a or b is better than the other.

Definition at line 241 of file CostHelper.h.

◆ isCostWorseThan()

bool ompl::geometric::BITstar::CostHelper::isCostWorseThan	(	const ompl::base::Cost &	a,
		const ompl::base::Cost &	b ) const

inline

Compare whether cost a is worse than cost b by checking whether b is better than a.

Definition at line 233 of file CostHelper.h.

◆ isCostWorseThanOrEquivalentTo()

bool ompl::geometric::BITstar::CostHelper::isCostWorseThanOrEquivalentTo	(	const ompl::base::Cost &	a,
		const ompl::base::Cost &	b ) const

inline

Compare whether cost a is worse or equivalent to cost b by checking that a is not better than b.

Definition at line 257 of file CostHelper.h.

◆ isFinite()

bool ompl::geometric::BITstar::CostHelper::isFinite ( const ompl::base::Cost & a ) const

inline

Definition at line 292 of file CostHelper.h.

◆ isSatisfied()

bool ompl::geometric::BITstar::CostHelper::isSatisfied ( const ompl::base::Cost & a ) const

inline

Definition at line 288 of file CostHelper.h.

◆ lowerBoundHeuristicEdge()

ompl::base::Cost ompl::geometric::BITstar::CostHelper::lowerBoundHeuristicEdge ( const VertexConstPtrPair & edgePair ) const

inline

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.

Definition at line 125 of file CostHelper.h.

◆ lowerBoundHeuristicToTarget()

ompl::base::Cost ompl::geometric::BITstar::CostHelper::lowerBoundHeuristicToTarget ( const VertexConstPtrPair & edgePair ) const

inline

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.

Definition at line 143 of file CostHelper.h.

◆ lowerBoundHeuristicVertex()

ompl::base::Cost ompl::geometric::BITstar::CostHelper::lowerBoundHeuristicVertex ( const VertexConstPtr & vertex ) const

inline

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.

Definition at line 103 of file CostHelper.h.

◆ motionCost()

ompl::base::Cost ompl::geometric::BITstar::CostHelper::motionCost	(	const ompl::base::State *	a,
		const ompl::base::State *	b ) const

inline

Definition at line 324 of file CostHelper.h.

◆ motionCostHeuristic()

ompl::base::Cost ompl::geometric::BITstar::CostHelper::motionCostHeuristic	(	const ompl::base::State *	a,
		const ompl::base::State *	b ) const

inline

Definition at line 320 of file CostHelper.h.

◆ reset()

void ompl::geometric::BITstar::CostHelper::reset ( )

inline

Reset the CostHelper, returns to state at construction.

Definition at line 86 of file CostHelper.h.

◆ setup()

void ompl::geometric::BITstar::CostHelper::setup	(	const ompl::base::OptimizationObjectivePtr &	opt,
		ImplicitGraph *	graph )

inline

Setup the CostHelper, must be called before use.

Definition at line 79 of file CostHelper.h.

◆ trueEdgeCost()

ompl::base::Cost ompl::geometric::BITstar::CostHelper::trueEdgeCost ( const VertexConstPtrPair & edgePair ) const

inline

The true cost of an edge, including constraints.

Definition at line 212 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

Member Function Documentation

◆ betterCost()

◆ combineCosts() [1/2]

◆ combineCosts() [2/2]

◆ costToComeHeuristic()

◆ costToGoHeuristic()

◆ currentHeuristicEdge()

◆ currentHeuristicToTarget()

◆ currentHeuristicVertex()

◆ edgeCostHeuristic()

◆ fractionalChange() [1/2]

◆ fractionalChange() [2/2]

◆ getOptObj()

◆ identityCost()

◆ infiniteCost()

◆ inflateCost()

◆ isCostBetterThan()

◆ isCostBetterThanOrEquivalentTo()

◆ isCostEquivalentTo()

◆ isCostNotEquivalentTo()

◆ isCostWorseThan()

◆ isCostWorseThanOrEquivalentTo()

◆ isFinite()

◆ isSatisfied()

◆ lowerBoundHeuristicEdge()

◆ lowerBoundHeuristicToTarget()

◆ lowerBoundHeuristicVertex()

◆ motionCost()

◆ motionCostHeuristic()

◆ reset()

◆ setup()

◆ trueEdgeCost()