Public Member Functions | |
| ImplicitGraph (const ompl::base::Cost &solutionCost) | |
| Constructs an implicit graph. | |
| virtual | ~ImplicitGraph ()=default |
| Destructs an implicit graph. | |
| void | setup (const ompl::base::SpaceInformationPtr &spaceInformation, const ompl::base::ProblemDefinitionPtr &problemDefinition, ompl::base::PlannerInputStates *inputStates) |
| The setup method for the graph. Needed to have it on the stack. | |
| void | clear () |
| Resets the graph to its construction state, without resetting options. | |
| void | setRewireFactor (double rewireFactor) |
| Set the rewire factor of the RGG. | |
| double | getRewireFactor () const |
| Get the reqire factor of the RGG. | |
| void | setMaxNumberOfGoals (unsigned int maxNumberOfGoals) |
| Set the maximum number of goals BLIT* will sample from sampleable goal regions. | |
| unsigned int | getMaxNumberOfGoals () const |
| Get the maximum number of goals BLIT* will sample from sampleable goal regions. | |
| void | setUseKNearest (bool useKNearest) |
| Whether to use a k-nearest connection model. If false, it uses an r-disc model. | |
| bool | getUseKNearest () const |
| Whether the graph uses a k-nearest connection model. If false, it uses an r-disc model. | |
| void | setTrackApproximateSolution (bool track) |
| Sets whether to track approximate solutions or not. | |
| bool | addSamples (std::size_t numNewSamples, const ompl::base::PlannerTerminationCondition &terminationCondition, bool need_prune) |
| Adds a batch of samples and returns the samples it has added. | |
| std::size_t | getNumVertices () const |
| Gets the number of samples in the graph. | |
| std::size_t | getNumNeighbors () const |
| double | getConnectionRadius () const |
| Gets the RGG connection radius. | |
| ompl::base::Cost | EculideanDistanceToStart (const std::shared_ptr< Vertex > &vertex) const |
| Gets the Eculidean distance to Start. | |
| ompl::base::Cost | EculideanDistanceToGoal (const std::shared_ptr< Vertex > &vertex) const |
| Gets the Eculidean distance to Goal. | |
| void | registerStartState (const ompl::base::State *const startState) |
| Registers a state as a start state. | |
| void | registerGoalState (const ompl::base::State *const goalState) |
| Registers a state as a goal state. | |
| bool | hasAStartState () const |
| Returns whether the graph has a goal state. | |
| bool | hasAGoalState () const |
| Returns whether the graph has a goal state. | |
| void | updateStartAndGoalStates (const ompl::base::PlannerTerminationCondition &terminationCondition, ompl::base::PlannerInputStates *inputStates) |
| Adds new start and goals to the graph if avavilable and creates a new informed sampler if necessary. | |
| std::vector< std::shared_ptr< Vertex > > | getNeighbors (const std::shared_ptr< Vertex > &vertex) const |
| Get neighbors of a vertex. | |
| bool | isStart (const std::shared_ptr< Vertex > &vertex) const |
| Checks whether the vertex is a start vertex. | |
| bool | isGoal (const std::shared_ptr< Vertex > &vertex) const |
| Checks whether the vertex is a goal vertex. | |
| const std::vector< std::shared_ptr< Vertex > > & | getStartVertices () const |
| Get the start vertices. | |
| const std::vector< std::shared_ptr< Vertex > > & | getGoalVertices () const |
| Get the goal vertices. | |
| std::vector< std::shared_ptr< Vertex > > | getVertices () const |
| Get all vertices. | |
| void | prune () |
| Prune all samples that can not contribute to a solution better than the current one. | |
| std::size_t | getNumberOfSampledStates () const |
| Returns the total number of sampled states. | |
| std::size_t | getNumberOfValidSamples () const |
| Returns the total number of valid samples found. | |
| std::size_t | getNumberOfStateCollisionChecks () const |
| Get the number of state collision checks. | |
| std::size_t | getNumberOfNearestNeighborCalls () const |
| Get the number of nearest neighbor calls. | |
Detailed Description
Definition at line 66 of file ImplicitGraph.h.
Constructor & Destructor Documentation
◆ ImplicitGraph()
| ompl::geometric::blitstar::ImplicitGraph::ImplicitGraph | ( | const ompl::base::Cost & | solutionCost | ) |
Constructs an implicit graph.
Definition at line 56 of file ImplicitGraph.cpp.
Member Function Documentation
◆ addSamples()
| bool ompl::geometric::blitstar::ImplicitGraph::addSamples | ( | std::size_t | numNewSamples, |
| const ompl::base::PlannerTerminationCondition & | terminationCondition, | ||
| bool | need_prune ) |
Adds a batch of samples and returns the samples it has added.
Definition at line 318 of file ImplicitGraph.cpp.
◆ clear()
| void ompl::geometric::blitstar::ImplicitGraph::clear | ( | ) |
Resets the graph to its construction state, without resetting options.
Definition at line 75 of file ImplicitGraph.cpp.
◆ getConnectionRadius()
| double ompl::geometric::blitstar::ImplicitGraph::getConnectionRadius | ( | ) | const |
Gets the RGG connection radius.
Definition at line 393 of file ImplicitGraph.cpp.
◆ getGoalVertices()
| const std::vector< std::shared_ptr< Vertex > > & ompl::geometric::blitstar::ImplicitGraph::getGoalVertices | ( | ) | const |
Get the goal vertices.
Definition at line 452 of file ImplicitGraph.cpp.
◆ getMaxNumberOfGoals()
| unsigned int ompl::geometric::blitstar::ImplicitGraph::getMaxNumberOfGoals | ( | ) | const |
Get the maximum number of goals BLIT* will sample from sampleable goal regions.
Definition at line 104 of file ImplicitGraph.cpp.
◆ getNeighbors()
| std::vector< std::shared_ptr< Vertex > > ompl::geometric::blitstar::ImplicitGraph::getNeighbors | ( | const std::shared_ptr< Vertex > & | vertex | ) | const |
Get neighbors of a vertex.
Definition at line 399 of file ImplicitGraph.cpp.
◆ getNumberOfNearestNeighborCalls()
| std::size_t ompl::geometric::blitstar::ImplicitGraph::getNumberOfNearestNeighborCalls | ( | ) | const |
Get the number of nearest neighbor calls.
Definition at line 535 of file ImplicitGraph.cpp.
◆ getNumberOfSampledStates()
| std::size_t ompl::geometric::blitstar::ImplicitGraph::getNumberOfSampledStates | ( | ) | const |
Returns the total number of sampled states.
Definition at line 518 of file ImplicitGraph.cpp.
◆ getNumberOfStateCollisionChecks()
| std::size_t ompl::geometric::blitstar::ImplicitGraph::getNumberOfStateCollisionChecks | ( | ) | const |
Get the number of state collision checks.
Definition at line 528 of file ImplicitGraph.cpp.
◆ getNumberOfValidSamples()
| std::size_t ompl::geometric::blitstar::ImplicitGraph::getNumberOfValidSamples | ( | ) | const |
Returns the total number of valid samples found.
Definition at line 523 of file ImplicitGraph.cpp.
◆ getNumNeighbors()
| std::size_t ompl::geometric::blitstar::ImplicitGraph::getNumNeighbors | ( | ) | const |
Definition at line 389 of file ImplicitGraph.cpp.
◆ getNumVertices()
| std::size_t ompl::geometric::blitstar::ImplicitGraph::getNumVertices | ( | ) | const |
Gets the number of samples in the graph.
Definition at line 385 of file ImplicitGraph.cpp.
◆ getRewireFactor()
| double ompl::geometric::blitstar::ImplicitGraph::getRewireFactor | ( | ) | const |
Get the reqire factor of the RGG.
Definition at line 94 of file ImplicitGraph.cpp.
◆ getStartVertices()
| const std::vector< std::shared_ptr< Vertex > > & ompl::geometric::blitstar::ImplicitGraph::getStartVertices | ( | ) | const |
Get the start vertices.
Definition at line 447 of file ImplicitGraph.cpp.
◆ getUseKNearest()
| bool ompl::geometric::blitstar::ImplicitGraph::getUseKNearest | ( | ) | const |
Whether the graph uses a k-nearest connection model. If false, it uses an r-disc model.
Definition at line 114 of file ImplicitGraph.cpp.
◆ getVertices()
| std::vector< std::shared_ptr< Vertex > > ompl::geometric::blitstar::ImplicitGraph::getVertices | ( | ) | const |
Get all vertices.
Definition at line 457 of file ImplicitGraph.cpp.
◆ hasAGoalState()
| bool ompl::geometric::blitstar::ImplicitGraph::hasAGoalState | ( | ) | const |
Returns whether the graph has a goal state.
Definition at line 157 of file ImplicitGraph.cpp.
◆ hasAStartState()
| bool ompl::geometric::blitstar::ImplicitGraph::hasAStartState | ( | ) | const |
Returns whether the graph has a goal state.
Definition at line 152 of file ImplicitGraph.cpp.
◆ isGoal()
| bool ompl::geometric::blitstar::ImplicitGraph::isGoal | ( | const std::shared_ptr< Vertex > & | vertex | ) | const |
Checks whether the vertex is a goal vertex.
Definition at line 435 of file ImplicitGraph.cpp.
◆ isStart()
| bool ompl::geometric::blitstar::ImplicitGraph::isStart | ( | const std::shared_ptr< Vertex > & | vertex | ) | const |
Checks whether the vertex is a start vertex.
Definition at line 423 of file ImplicitGraph.cpp.
◆ prune()
| void ompl::geometric::blitstar::ImplicitGraph::prune | ( | ) |
Prune all samples that can not contribute to a solution better than the current one.
Definition at line 464 of file ImplicitGraph.cpp.
◆ registerGoalState()
| void ompl::geometric::blitstar::ImplicitGraph::registerGoalState | ( | const ompl::base::State *const | goalState | ) |
Registers a state as a goal state.
Definition at line 137 of file ImplicitGraph.cpp.
◆ registerStartState()
| void ompl::geometric::blitstar::ImplicitGraph::registerStartState | ( | const ompl::base::State *const | startState | ) |
Registers a state as a start state.
Definition at line 119 of file ImplicitGraph.cpp.
◆ setMaxNumberOfGoals()
| void ompl::geometric::blitstar::ImplicitGraph::setMaxNumberOfGoals | ( | unsigned int | maxNumberOfGoals | ) |
Set the maximum number of goals BLIT* will sample from sampleable goal regions.
Definition at line 99 of file ImplicitGraph.cpp.
◆ setRewireFactor()
| void ompl::geometric::blitstar::ImplicitGraph::setRewireFactor | ( | double | rewireFactor | ) |
Set the rewire factor of the RGG.
Definition at line 89 of file ImplicitGraph.cpp.
◆ setup()
| void ompl::geometric::blitstar::ImplicitGraph::setup | ( | const ompl::base::SpaceInformationPtr & | spaceInformation, |
| const ompl::base::ProblemDefinitionPtr & | problemDefinition, | ||
| ompl::base::PlannerInputStates * | inputStates ) |
The setup method for the graph. Needed to have it on the stack.
Definition at line 61 of file ImplicitGraph.cpp.
◆ setUseKNearest()
| void ompl::geometric::blitstar::ImplicitGraph::setUseKNearest | ( | bool | useKNearest | ) |
Whether to use a k-nearest connection model. If false, it uses an r-disc model.
Definition at line 109 of file ImplicitGraph.cpp.
◆ updateStartAndGoalStates()
| void ompl::geometric::blitstar::ImplicitGraph::updateStartAndGoalStates | ( | const ompl::base::PlannerTerminationCondition & | terminationCondition, |
| ompl::base::PlannerInputStates * | inputStates ) |
Adds new start and goals to the graph if avavilable and creates a new informed sampler if necessary.
Definition at line 163 of file ImplicitGraph.cpp.
The documentation for this class was generated from the following files:
- ompl/geometric/planners/lazyinformedtrees/blitstar/ImplicitGraph.h
- ompl/geometric/planners/lazyinformedtrees/blitstar/src/ImplicitGraph.cpp