One-level discretization used for KPIECE. More...

#include <ompl/geometric/planners/kpiece/Discretization.h>

Classes
struct	CellData
	The data held by a cell in the grid of motions. More...

struct	OrderCellsByImportance
	Definintion of an operator passed to the Grid structure, to order cells by importance. More...

Public Types
using	Grid = GridB< CellData *, OrderCellsByImportance >
	The datatype for the maintained grid datastructure.

using	Cell = typename Grid::Cell
	The datatype for the maintained grid cells.

using	Coord = typename Grid::Coord
	The datatype for the maintained grid coordinates.

using	FreeMotionFn = typename std::function< void(Motion *)>
	The signature of a function that frees the memory for a motion.

Public Member Functions
	Discretization (FreeMotionFn freeMotion)

void	setBorderFraction (double bp)
	Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction used to select cells that are exterior (minimum because if 95% of cells are on the border, they will be selected with 95% chance, even if this fraction is set to 90%)

double	getBorderFraction () const
	Set the fraction of time for focusing on the border (between 0 and 1).

void	setDimension (unsigned int dim)
	Set the dimension of the grid to be maintained.

void	clear ()
	Restore the discretization to its original form.

void	countIteration ()

std::size_t	getMotionCount () const

std::size_t	getCellCount () const

void	freeMemory ()
	Free the memory for the motions contained in a grid.

unsigned int	addMotion (Motion *motion, const Coord &coord, double dist=0.0)
	Add a motion to the grid containing motions. As a hint, dist specifies the distance to the goal from the state of the motion being added. The function returns the number of cells created to accommodate the new motion (0 or 1). The discretization takes ownership of the motion passed as argument, and the memory for the motion is freed by calling the function passed to the constructor.

void	selectMotion (Motion &smotion, Cell &scell)
	Select a motion and the cell it is part of from the grid of motions. This is where preference is given to cells on the boundary of the grid.

bool	removeMotion (Motion *motion, const Coord &coord)

void	updateCell (Cell *cell)

const Grid &	getGrid () const

void	getPlannerData (base::PlannerData &data, int tag, bool start, const Motion *lastGoalMotion) const

Detailed Description

template<typename Motion>
class ompl::geometric::Discretization< Motion >

One-level discretization used for KPIECE.

Definition at line 122 of file Discretization.h.

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

ompl/geometric/planners/kpiece/Discretization.h

Classes

Public Types

Public Member Functions

Detailed Description

template<typename Motion> class ompl::geometric::Discretization< Motion >

template<typename Motion>
class ompl::geometric::Discretization< Motion >