The vertex of the underlying graphs in gBITstar BIT*. More...

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

Public Member Functions
	Vertex (ompl::base::SpaceInformationPtr spaceInformation, const CostHelper const costHelpPtr, SearchQueue const queuePtr, const std::shared_ptr< const unsigned int > &approximationId, bool root=false)
	Construct a vertex using space information, and helpers to compute various costs.

virtual	~Vertex ()
	Destruct a vertex.

BITstar::VertexId	getId () const
	The (unique) vertex ID.

ompl::base::State *	state ()
	The state of a vertex as a pointer.

const ompl::base::State *	state () const
	The state of a vertex as a pointer to const.

bool	isRoot () const
	Returns whether the vertex is the root of the search tree.

bool	hasParent () const
	Returns whether this vertex has a parent.

bool	isInTree () const
	Get whether a vertex is in the search tree or a sample (i.e., a vertex of the RRG).

unsigned int	getDepth () const
	Get the depth of the vertex from the root.

VertexConstPtr	getParent () const
	Get a const pointer to the parent of this vertex.

VertexPtr	getParent ()
	Get a pointer to the parent of this vertex.

bool	isConsistent () const
	Whether the vertex is consistent.

bool	isPruned () const
	Whether the vertex has been pruned.

bool	isExpandedOnCurrentApproximation () const
	Returns whether the vertex is expanded on current approximation.

bool	isExpandedOnCurrentSearch () const
	Returns whether the vertex is expaned on current search.

bool	hasEverBeenExpandedAsRewiring () const
	Returns whether the vertex has ever been expanded as a rewiring.

void	addParent (const VertexPtr &newParent, const ompl::base::Cost &edgeInCost)
	Set the parent of this vertex, cannot be used to replace a previous parent. Will always update this vertex's cost, and can update descendent costs.

void	removeParent (bool updateChildCosts)
	Remove the parent of this vertex. Will always update this vertex's cost, and can update the descendent costs.

bool	hasChildren () const
	Get whether this vertex has any children.

void	getChildren (VertexConstPtrVector *children) const
	Get the children of a vertex as constant pointers.

void	getChildren (VertexPtrVector *children)
	Get the children of a vertex as mutable pointers.

void	addChild (const VertexPtr &newChild)
	Add a child to this vertex. Does not change this vertex's cost or those of its descendants. Child must already have this vertex listed as it's parent.

void	removeChild (const VertexPtr &oldChild)
	Remove a child from this vertex. Does not change this vertex's cost or those of its descendants. Child must still have this vertex listed as its parent and it will also throw an exception if the given vertex pointer is not found.

void	blacklistChild (const VertexConstPtr &vertex)
	Put the vertex on the blacklist of children.

void	whitelistChild (const VertexConstPtr &vertex)
	Put the vertex on the whitelist of children.

bool	isBlacklistedAsChild (const VertexConstPtr &vertex) const
	Returns true if the vertex is blacklisted as a child of this vertex.

bool	isWhitelistedAsChild (const VertexConstPtr &vertex) const
	Returns true if the vertex is blacklisted as a child of this vertex.

void	clearBlacklist ()
	Clears the blacklist.

void	clearWhitelist ()
	Clears the whitelist.

ompl::base::Cost	getCost () const
	Get the cost-to-come of a vertex. Return infinity if the edge is disconnected.

ompl::base::Cost	getEdgeInCost () const
	Get the incremental cost-to-come of a vertex.

void	registerExpansion ()
	Mark the vertex as expanded.

void	registerRewiringExpansion ()
	Mark expansion to vertices.

void	markPruned ()
	Mark the vertex as pruned.

void	markUnpruned ()
	Mark the vertex as unpruned.

void	insertInEdgeQueueInLookup (const SearchQueue::EdgeQueueElemPtr &inEdge)
	Add to the list of the edge queue entries that point in to this vertex. Will clear existing in/out lookups if they were added under a different id.

void	insertInEdgeQueueOutLookup (const SearchQueue::EdgeQueueElemPtr &outEdge)
	Add to the list of the edge queue entries that point out of this vertex. Will clear existing in/out lookups if they were added under a different id.

void	removeFromEdgeQueueInLookup (const SearchQueue::EdgeQueueElemPtr &inEdge)
	Remove an incoming edge queue entry by value to the member vector.

void	removeFromEdgeQueueOutLookup (const SearchQueue::EdgeQueueElemPtr &outEdge)
	Remove an outgoing edge queue entry by value.

void	removeFromEdgeQueueInLookup (const SearchQueue::EdgeQueueElemPtrVector::const_iterator &inEdge)
	Remove an incoming edge queue entry by iterator to the member vector.

void	removeFromEdgeQueueOutLookup (const SearchQueue::EdgeQueueElemPtrVector::const_iterator &outEdge)
	Remove an outgoing edge queue entry by iterator to the member vector.

BITstar::SearchQueue::EdgeQueueElemPtrVector::const_iterator	edgeQueueInLookupConstBegin ()
	Get an iterator to the front of the incoming edge queue entry vector. Will clear existing in/out lookups if they were added under a different id.

BITstar::SearchQueue::EdgeQueueElemPtrVector::const_iterator	edgeQueueOutLookupConstBegin ()
	Get an iterator to the front of the outgoing edge queue entry vector. Will clear existing in/out lookups if they were added under a different id.

BITstar::SearchQueue::EdgeQueueElemPtrVector::const_iterator	edgeQueueInLookupConstEnd ()
	Get an iterator to the end of the incoming edge queue entry vector. Will clear existing in/out lookups if they were added under a different id.

BITstar::SearchQueue::EdgeQueueElemPtrVector::const_iterator	edgeQueueOutLookupConstEnd ()
	Get an iterator to the end of the outgoing edge queue entry vector. Will clear existing in/out lookups if they were added under a different id.

unsigned int	edgeQueueInLookupSize ()
	Get the number of edge queue entries incoming to this vertex. Will clear existing in/out lookups if they were added under a different id.

unsigned int	edgeQueueOutLookupSize ()
	Get the number of edge queue entries outgoing from this vertex. Will clear existing in/out lookups if they were added under a different id.

void	clearEdgeQueueInLookup ()
	Clear the pointers to all of the incoming edge queue entries.

void	clearEdgeQueueOutLookup ()
	Clear the pointers to all of the outgoing edge queue entries.

Detailed Description

The vertex of the underlying graphs in gBITstar BIT*.

Short description: A class to store a state as a vertex in a (tree) graph. Allocates and frees it's own memory on construction/destruction. Parent vertices are owned by their children as shared pointers, assuring that a parent vertex will not be deleted while the child exists. Child vertices are owned by their parents as weak pointers, assuring that the shared-pointer ownership loop is broken.

Note: Add/Remove functions should almost always update their children's cost. The only known exception is when a series of operations are being performed and it would be beneficial to delay the update until the last operation. In this case, make sure that the last call updates the children and is on the highest ancestor that has been changed. Updates only flow downstream.

Definition at line 131 of file Vertex.h.

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

ompl/geometric/planners/informedtrees/bitstar/Vertex.h
ompl/geometric/planners/informedtrees/bitstar/src/Vertex.cpp

Public Member Functions

Detailed Description