ompl::geometric::aitstar::Vertex Class Reference
Inheritance diagram for ompl::geometric::aitstar::Vertex:

Public Member Functions

 Vertex (const ompl::base::SpaceInformationPtr &spaceInformation, const ompl::base::ProblemDefinitionPtr &problemDefinition, const std::size_t &batchId)
 Constructs a vertex by sampling a state.
 
 Vertex (const std::shared_ptr< Vertex > &other)
 Constructs a copy of another vertex.
 
virtual ~Vertex ()
 Destructs the vertex.
 
std::size_t getId () const
 Get the unique id of this vertex.
 
ompl::base::StategetState ()
 Provides write access to the underlying state.
 
const ompl::base::StategetState () const
 Provides read access to the underlying state.
 
ompl::base::ScopedState getScopedState () const
 Returns a scoped copy of the underlying state.
 
ompl::base::Cost getCostToComeFromStart () const
 Returns the cost to come to this vertex from the start.
 
ompl::base::Cost getCostToComeFromGoal () const
 Returns the cost to come to this vertex from the goal.
 
ompl::base::Cost getExpandedCostToComeFromGoal () const
 Returns the cost to come to this vertex from the goal when it was expanded.
 
ompl::base::Cost getCostToGoToGoal () const
 Returns the cost to go heuristic from this vertex.
 
ompl::base::Cost getEdgeCostFromForwardParent () const
 Returns the edge cost from the forward parent.
 
bool hasForwardParent () const
 Returns whether this vertex has a parent in the forward search.
 
void setForwardParent (const std::shared_ptr< Vertex > &vertex, const ompl::base::Cost &edgeCost)
 Sets the parent vertex (in the forward-search tree).
 
void resetForwardParent ()
 Resets the forward parent of the vertex.
 
bool hasReverseParent () const
 Returns whether this vertex has a parent in the reverse search.
 
void setReverseParent (const std::shared_ptr< Vertex > &vertex)
 Sets the parent vertex (in the reverse-search tree).
 
void resetReverseParent ()
 Resets the reverse parent of the vertex.
 
std::shared_ptr< VertexgetForwardParent () const
 Returns the parent of the vertex (in the forward-search tree).
 
std::shared_ptr< VertexgetReverseParent () const
 Returns the parent of the vertex (in the reverse-search tree).
 
void setForwardEdgeCost (const ompl::base::Cost &cost)
 Sets the cost to come to this vertex.
 
void setCostToComeFromStart (const ompl::base::Cost &cost)
 Sets the cost to come to this vertex.
 
void setCostToComeFromGoal (const ompl::base::Cost &cost)
 Sets the cost to come to this vertex from the goal.
 
void resetCostToComeFromGoal ()
 Resets the cost to come to this vertex from the goal to infinity.
 
void resetExpandedCostToComeFromGoal ()
 Resets the expanded cost to come to this vertex from the goal to infinity.
 
void setExpandedCostToComeFromGoal (const ompl::base::Cost &cost)
 Sets the cost to come to this vertex from the goal when it was expanded.
 
void setCostToGoToGoal (const ompl::base::Cost &cost)
 Sets the cost to go heuristic of this vertex.
 
void updateCostOfForwardBranch () const
 Updates the cost to the whole branch rooted at this vertex.
 
std::vector< std::weak_ptr< Vertex > > invalidateReverseBranch ()
 Recursively invalidates the branch of the reverse tree rooted in this vertex.
 
std::vector< std::weak_ptr< Vertex > > invalidateForwardBranch ()
 Recursively invalidates the branch of the forward tree rooted in this vertex.
 
void addToForwardChildren (const std::shared_ptr< Vertex > &vertex)
 Adds a vertex to this vertex's forward children.
 
void removeFromForwardChildren (std::size_t vertexId)
 Removes a vertex from this vertex's forward children.
 
std::vector< std::shared_ptr< Vertex > > getForwardChildren () const
 Returns this vertex's children in the forward search tree.
 
void addToReverseChildren (const std::shared_ptr< Vertex > &vertex)
 Adds a vertex this vertex's children.
 
void removeFromReverseChildren (std::size_t vertexId)
 Removes a vertex from this vertex's forward children.
 
std::vector< std::shared_ptr< Vertex > > getReverseChildren () const
 Returns this vertex's children in the reverse search tree.
 
void whitelistAsChild (const std::shared_ptr< Vertex > &vertex) const
 Whitelists a child.
 
bool isWhitelistedAsChild (const std::shared_ptr< Vertex > &vertex) const
 Returns whether a child is whitelisted.
 
void blacklistAsChild (const std::shared_ptr< Vertex > &vertex) const
 Blacklists a child.
 
bool isBlacklistedAsChild (const std::shared_ptr< Vertex > &vertex) const
 Returns whether a child is blacklisted.
 
bool hasCachedNeighbors () const
 Returns whether the vertex knows its nearest neighbors on the current approximation.
 
void cacheNeighbors (const std::vector< std::shared_ptr< Vertex >> &neighbors) const
 Caches the neighbors for the current approximation.
 
const std::vector< std::shared_ptr< Vertex > > getNeighbors () const
 Returns the nearest neighbors, throws if not up to date.
 
bool isConsistent () const
 Returns whether the vertex is consistent, i.e., whether its cost-to-come is equal to the cost-to-come when it was last expanded.
 
void setReverseQueuePointer (typename VertexQueue::Element *pointer)
 Sets the reverse queue pointer of this vertex.
 
VertexQueue::Element * getReverseQueuePointer () const
 Returns the reverse queue pointer of this vertex.
 
void resetReverseQueuePointer ()
 Resets the reverse queue pointer.
 
void addToForwardQueueIncomingLookup (typename EdgeQueue::Element *pointer)
 Adds an element to the forward queue incoming lookup.
 
void addToForwardQueueOutgoingLookup (typename EdgeQueue::Element *pointer)
 Adds an element to the forward queue outgoing lookup.
 
std::vector< EdgeQueue::Element * > getForwardQueueIncomingLookup () const
 Returns the forward queue incoming lookup of this vertex.
 
std::vector< EdgeQueue::Element * > getForwardQueueOutgoingLookup () const
 Returns the forward queue outgoing lookup of this vertex.
 
void removeFromForwardQueueIncomingLookup (typename EdgeQueue::Element *element)
 Remove an element from the incoming queue lookup.
 
void removeFromForwardQueueOutgoingLookup (typename EdgeQueue::Element *element)
 Remove an element from the outgoing queue lookup.
 
void resetForwardQueueIncomingLookup ()
 Resets the forward queue incoming lookup.
 
void resetForwardQueueOutgoingLookup ()
 Resets the forward queue outgoing lookup.
 
void callOnForwardBranch (const std::function< void(const std::shared_ptr< Vertex > &)> &function)
 Calls the given function on this vertex and all of its children.
 
void callOnReverseBranch (const std::function< void(const std::shared_ptr< Vertex > &)> &function)
 Calls the given function on this vertex and all of its children.
 

Detailed Description

Definition at line 155 of file Vertex.h.


The documentation for this class was generated from the following files:
  • ompl/geometric/planners/informedtrees/aitstar/Vertex.h
  • ompl/geometric/planners/informedtrees/aitstar/src/Vertex.cpp