Public Member Functions | |
| RandomGeometricGraph (const std::shared_ptr< ompl::base::SpaceInformation > &spaceInfo, const ompl::base::Cost &solutionCost) | |
| Constructs a random geometric graph with the given space information and reference to the current solution cost. | |
| ~RandomGeometricGraph ()=default | |
| Destricts this random geometric graph. | |
| void | setup (const std::shared_ptr< ompl::base::ProblemDefinition > &problem, ompl::base::PlannerInputStates *inputStates) |
| Setup the graph with the given problem definition and planner input states. | |
| void | clear () |
| Clears all internal planner structures but retains settings. Subsequent calls to solve() will start from scratch. | |
| void | clearQuery () |
| Clears all query-specific structures, such as start and goal states. | |
| void | updateStartAndGoalStates (const ompl::base::PlannerTerminationCondition &terminationCondition, ompl::base::PlannerInputStates *inputStates) |
| Adds new starts and goals to the graph if available and creates a new informed sampler if necessary. | |
| ompl::base::Cost | minPossibleCost () const |
| Returns the minimum possible cost for the current problem, using admissible cost estimates to calculate it. | |
| void | setRadiusFactor (double factor) |
| Sets the radius factor (eta in the paper). | |
| double | getRadiusFactor () const |
| Returns the radius factor (eta in the paper). | |
| void | setEffortThreshold (const unsigned int threshold) |
| Sets the effort threshold. | |
| unsigned int | getEffortThreshold () const |
| Gets the effort threshold. | |
| void | enablePruning (bool prune) |
| Enable pruning of the graph. | |
| bool | isPruningEnabled () const |
| Returns Whether pruning is enabled. | |
| void | enableMultiquery (bool multiquery) |
| Enable multiquery usage of the graph. | |
| bool | isMultiqueryEnabled () const |
| Returns Whether multiquery usage of the graph is enabled. | |
| void | setUseKNearest (bool useKNearest) |
| Set whether to use a k-nearest connection model. If false, it uses an r-disc model. | |
| bool | getUseKNearest () const |
| Returns whether the graph uses a k-nearest connection model. If false, it uses an r-disc model. | |
| void | setMaxNumberOfGoals (unsigned int maxNumberOfGoals) |
| Sets the maximum number of goals EIT* will sample from sampleable goal regions. | |
| unsigned int | getMaxNumberOfGoals () const |
| Returns the maximum number of goals EIT* will sample from sampleable goal regions. | |
| bool | addStates (std::size_t numStates, const ompl::base::PlannerTerminationCondition &terminationCondition) |
| Samples random states and adds them to the graph. | |
| void | prune () |
| Prunes the graph of states that can not improve the current solution. | |
| std::vector< std::weak_ptr< State > > | getNeighbors (const std::shared_ptr< State > &state) const |
| Returns the neighbors of a state. | |
| const std::vector< std::shared_ptr< State > > & | getStartStates () const |
| Returns the start states. | |
| const std::vector< std::shared_ptr< State > > & | getGoalStates () const |
| Returns the goal states. | |
| unsigned int | getNumberOfSampledStates () const |
| Returns the number of sampled states. | |
| unsigned int | getNumberOfValidSamples () const |
| Returns the number of valid samples. | |
| unsigned int | getNumberOfNearestNeighborCalls () const |
| Returns the number of nearest neighbor calls. | |
| std::shared_ptr< State > | registerStartState (const ompl::base::State *start) |
| Sets the start state. | |
| std::shared_ptr< State > | registerGoalState (const ompl::base::State *goal) |
| Sets the goal state. | |
| void | registerWhitelistedState (const std::shared_ptr< State > &state) const |
| Registers a whitelisted state. | |
| bool | hasStartState () const |
| Returns whether a start state is available. | |
| bool | hasGoalState () const |
| Returns whether a goal state is available. | |
| bool | isStart (const std::shared_ptr< State > &state) const |
| Returns whether the given state is a start state. | |
| bool | isGoal (const std::shared_ptr< State > &state) const |
| Returns whether the given state is a goal state. | |
| std::vector< std::shared_ptr< State > > | getStates () const |
| Returns all sampled states (that have not been pruned). | |
| void | registerInvalidEdge (const Edge &edge) const |
| Registers an invalid edge. | |
| std::size_t | getTag () const |
| Returns the tag of the current RGG. | |
| unsigned int | inadmissibleEffortToCome (const std::shared_ptr< State > &state) const |
| Returns the inadmissible effort to come. | |
Detailed Description
Definition at line 59 of file RandomGeometricGraph.h.
Constructor & Destructor Documentation
◆ RandomGeometricGraph()
| ompl::geometric::eitstar::RandomGeometricGraph::RandomGeometricGraph | ( | const std::shared_ptr< ompl::base::SpaceInformation > & | spaceInfo, |
| const ompl::base::Cost & | solutionCost ) |
Constructs a random geometric graph with the given space information and reference to the current solution cost.
Definition at line 54 of file RandomGeometricGraph.cpp.
Member Function Documentation
◆ addStates()
| bool ompl::geometric::eitstar::RandomGeometricGraph::addStates | ( | std::size_t | numStates, |
| const ompl::base::PlannerTerminationCondition & | terminationCondition ) |
Samples random states and adds them to the graph.
Definition at line 544 of file RandomGeometricGraph.cpp.
◆ clear()
| void ompl::geometric::eitstar::RandomGeometricGraph::clear | ( | ) |
Clears all internal planner structures but retains settings. Subsequent calls to solve() will start from scratch.
Definition at line 104 of file RandomGeometricGraph.cpp.
◆ clearQuery()
| void ompl::geometric::eitstar::RandomGeometricGraph::clearQuery | ( | ) |
Clears all query-specific structures, such as start and goal states.
Definition at line 164 of file RandomGeometricGraph.cpp.
◆ enableMultiquery()
| void ompl::geometric::eitstar::RandomGeometricGraph::enableMultiquery | ( | bool | multiquery | ) |
Enable multiquery usage of the graph.
Definition at line 639 of file RandomGeometricGraph.cpp.
◆ enablePruning()
| void ompl::geometric::eitstar::RandomGeometricGraph::enablePruning | ( | bool | prune | ) |
Enable pruning of the graph.
Definition at line 629 of file RandomGeometricGraph.cpp.
◆ getEffortThreshold()
| unsigned int ompl::geometric::eitstar::RandomGeometricGraph::getEffortThreshold | ( | ) | const |
Gets the effort threshold.
Definition at line 364 of file RandomGeometricGraph.cpp.
◆ getGoalStates()
| const std::vector< std::shared_ptr< State > > & ompl::geometric::eitstar::RandomGeometricGraph::getGoalStates | ( | ) | const |
Returns the goal states.
Definition at line 374 of file RandomGeometricGraph.cpp.
◆ getMaxNumberOfGoals()
| unsigned int ompl::geometric::eitstar::RandomGeometricGraph::getMaxNumberOfGoals | ( | ) | const |
Returns the maximum number of goals EIT* will sample from sampleable goal regions.
Definition at line 664 of file RandomGeometricGraph.cpp.
◆ getNeighbors()
| std::vector< std::weak_ptr< State > > ompl::geometric::eitstar::RandomGeometricGraph::getNeighbors | ( | const std::shared_ptr< State > & | state | ) | const |
Returns the neighbors of a state.
Definition at line 670 of file RandomGeometricGraph.cpp.
◆ getNumberOfNearestNeighborCalls()
| unsigned int ompl::geometric::eitstar::RandomGeometricGraph::getNumberOfNearestNeighborCalls | ( | ) | const |
Returns the number of nearest neighbor calls.
Definition at line 389 of file RandomGeometricGraph.cpp.
◆ getNumberOfSampledStates()
| unsigned int ompl::geometric::eitstar::RandomGeometricGraph::getNumberOfSampledStates | ( | ) | const |
Returns the number of sampled states.
Definition at line 379 of file RandomGeometricGraph.cpp.
◆ getNumberOfValidSamples()
| unsigned int ompl::geometric::eitstar::RandomGeometricGraph::getNumberOfValidSamples | ( | ) | const |
Returns the number of valid samples.
Definition at line 384 of file RandomGeometricGraph.cpp.
◆ getRadiusFactor()
| double ompl::geometric::eitstar::RandomGeometricGraph::getRadiusFactor | ( | ) | const |
Returns the radius factor (eta in the paper).
Definition at line 354 of file RandomGeometricGraph.cpp.
◆ getStartStates()
| const std::vector< std::shared_ptr< State > > & ompl::geometric::eitstar::RandomGeometricGraph::getStartStates | ( | ) | const |
Returns the start states.
Definition at line 369 of file RandomGeometricGraph.cpp.
◆ getStates()
| std::vector< std::shared_ptr< State > > ompl::geometric::eitstar::RandomGeometricGraph::getStates | ( | ) | const |
Returns all sampled states (that have not been pruned).
Definition at line 416 of file RandomGeometricGraph.cpp.
◆ getTag()
| std::size_t ompl::geometric::eitstar::RandomGeometricGraph::getTag | ( | ) | const |
Returns the tag of the current RGG.
Definition at line 441 of file RandomGeometricGraph.cpp.
◆ getUseKNearest()
| bool ompl::geometric::eitstar::RandomGeometricGraph::getUseKNearest | ( | ) | const |
Returns whether the graph uses a k-nearest connection model. If false, it uses an r-disc model.
Definition at line 654 of file RandomGeometricGraph.cpp.
◆ hasGoalState()
| bool ompl::geometric::eitstar::RandomGeometricGraph::hasGoalState | ( | ) | const |
Returns whether a goal state is available.
Definition at line 399 of file RandomGeometricGraph.cpp.
◆ hasStartState()
| bool ompl::geometric::eitstar::RandomGeometricGraph::hasStartState | ( | ) | const |
Returns whether a start state is available.
Definition at line 394 of file RandomGeometricGraph.cpp.
◆ inadmissibleEffortToCome()
| unsigned int ompl::geometric::eitstar::RandomGeometricGraph::inadmissibleEffortToCome | ( | const std::shared_ptr< State > & | state | ) | const |
Returns the inadmissible effort to come.
Definition at line 904 of file RandomGeometricGraph.cpp.
◆ isGoal()
| bool ompl::geometric::eitstar::RandomGeometricGraph::isGoal | ( | const std::shared_ptr< State > & | state | ) | const |
Returns whether the given state is a goal state.
Definition at line 410 of file RandomGeometricGraph.cpp.
◆ isMultiqueryEnabled()
| bool ompl::geometric::eitstar::RandomGeometricGraph::isMultiqueryEnabled | ( | ) | const |
Returns Whether multiquery usage of the graph is enabled.
Definition at line 644 of file RandomGeometricGraph.cpp.
◆ isPruningEnabled()
| bool ompl::geometric::eitstar::RandomGeometricGraph::isPruningEnabled | ( | ) | const |
Returns Whether pruning is enabled.
Definition at line 634 of file RandomGeometricGraph.cpp.
◆ isStart()
| bool ompl::geometric::eitstar::RandomGeometricGraph::isStart | ( | const std::shared_ptr< State > & | state | ) | const |
Returns whether the given state is a start state.
Definition at line 404 of file RandomGeometricGraph.cpp.
◆ minPossibleCost()
| ompl::base::Cost ompl::geometric::eitstar::RandomGeometricGraph::minPossibleCost | ( | ) | const |
Returns the minimum possible cost for the current problem, using admissible cost estimates to calculate it.
Definition at line 344 of file RandomGeometricGraph.cpp.
◆ prune()
| void ompl::geometric::eitstar::RandomGeometricGraph::prune | ( | ) |
Prunes the graph of states that can not improve the current solution.
Definition at line 775 of file RandomGeometricGraph.cpp.
◆ registerGoalState()
| std::shared_ptr< State > ompl::geometric::eitstar::RandomGeometricGraph::registerGoalState | ( | const ompl::base::State * | goal | ) |
Sets the goal state.
Definition at line 466 of file RandomGeometricGraph.cpp.
◆ registerInvalidEdge()
| void ompl::geometric::eitstar::RandomGeometricGraph::registerInvalidEdge | ( | const Edge & | edge | ) | const |
Registers an invalid edge.
Definition at line 423 of file RandomGeometricGraph.cpp.
◆ registerStartState()
| std::shared_ptr< State > ompl::geometric::eitstar::RandomGeometricGraph::registerStartState | ( | const ompl::base::State * | start | ) |
Sets the start state.
Definition at line 446 of file RandomGeometricGraph.cpp.
◆ registerWhitelistedState()
| void ompl::geometric::eitstar::RandomGeometricGraph::registerWhitelistedState | ( | const std::shared_ptr< State > & | state | ) | const |
Registers a whitelisted state.
Definition at line 485 of file RandomGeometricGraph.cpp.
◆ setEffortThreshold()
| void ompl::geometric::eitstar::RandomGeometricGraph::setEffortThreshold | ( | const unsigned int | threshold | ) |
Sets the effort threshold.
Definition at line 359 of file RandomGeometricGraph.cpp.
◆ setMaxNumberOfGoals()
| void ompl::geometric::eitstar::RandomGeometricGraph::setMaxNumberOfGoals | ( | unsigned int | maxNumberOfGoals | ) |
Sets the maximum number of goals EIT* will sample from sampleable goal regions.
Definition at line 659 of file RandomGeometricGraph.cpp.
◆ setRadiusFactor()
| void ompl::geometric::eitstar::RandomGeometricGraph::setRadiusFactor | ( | double | factor | ) |
Sets the radius factor (eta in the paper).
Definition at line 349 of file RandomGeometricGraph.cpp.
◆ setup()
| void ompl::geometric::eitstar::RandomGeometricGraph::setup | ( | const std::shared_ptr< ompl::base::ProblemDefinition > & | problem, |
| ompl::base::PlannerInputStates * | inputStates ) |
Setup the graph with the given problem definition and planner input states.
Definition at line 71 of file RandomGeometricGraph.cpp.
◆ setUseKNearest()
| void ompl::geometric::eitstar::RandomGeometricGraph::setUseKNearest | ( | bool | useKNearest | ) |
Set whether to use a k-nearest connection model. If false, it uses an r-disc model.
Definition at line 649 of file RandomGeometricGraph.cpp.
◆ updateStartAndGoalStates()
| void ompl::geometric::eitstar::RandomGeometricGraph::updateStartAndGoalStates | ( | const ompl::base::PlannerTerminationCondition & | terminationCondition, |
| ompl::base::PlannerInputStates * | inputStates ) |
Adds new starts and goals to the graph if available and creates a new informed sampler if necessary.
Definition at line 194 of file RandomGeometricGraph.cpp.
The documentation for this class was generated from the following files:
- ompl/geometric/planners/informedtrees/eitstar/RandomGeometricGraph.h
- ompl/geometric/planners/informedtrees/eitstar/src/RandomGeometricGraph.cpp