A wrapper class for OMPL's state. More...

#include <ompl/geometric/planners/informedtrees/eitstar/State.h>

Inheritance diagram for ompl::geometric::eitstar::State:

Public Member Functions
	State (const std::shared_ptr< ompl::base::SpaceInformation > &spaceInfo, const std::shared_ptr< ompl::base::OptimizationObjective > &objective)
	Constructs the state, allocating the associated memory using information about the underlying space.
	~State ()
	Destructs this state, freeing the associated memory.
std::size_t	getId () const
	Returns the state's unique id.
ompl::base::State *	raw () const
	Returns the raw OMPL version of this state.
bool	hasForwardVertex () const
	Returns whether the state has an associated forward vertex.
bool	hasReverseVertex () const
	Returns whether the state has an associated reverse vertex.
std::shared_ptr< Vertex >	asForwardVertex ()
	Returns the state as a reverse vertex.
std::shared_ptr< Vertex >	asReverseVertex ()
	Returns the state as a reverse vertex.
void	blacklist (const std::shared_ptr< State > &state)
	Blacklists the given state as neighbor.
void	whitelist (const std::shared_ptr< State > &state)
	Whitelists the given state as neighbor.
bool	isBlacklisted (const std::shared_ptr< State > &state) const
	Returns whether the given state has been blacklisted.
bool	isWhitelisted (const std::shared_ptr< State > &state) const
	Returns whether the given has been whitelisted.
void	setEstimatedEffortToGo (std::size_t effort)
	Set the estimated effort (number of collision detections) to go from this state to the goal through the current RGG.
void	setEstimatedCostToGo (ompl::base::Cost cost)
	Set the best estimate of the cost to go from this state to the goal through the current RGG.
void	setAdmissibleCostToGo (ompl::base::Cost cost)
	Set the admissible estimate of the cost to go from this state to the goal through the current RGG.
void	setLowerBoundCostToGo (ompl::base::Cost cost)
	Set the lower bound cost to go from this state to the goal through the continuous state space.
void	setLowerBoundCostToCome (ompl::base::Cost cost)
	Set the lower bound cost to come from the start to this state through the continuous state space.
void	setCurrentCostToCome (ompl::base::Cost cost)
	Set the current cost to come from the start to this state.
void	setLowerBoundEffortToCome (unsigned int effort)
	Sets the lower bound effort to come to this state through the continuous state space.
void	setInadmissibleEffortToCome (unsigned int effort)
	Sets the inadmissible effort to come to this state through the continuous state space.
unsigned int	getEstimatedEffortToGo () const
	Get the estimated effort (number of collision detections) to go from this state to the goal through the current RGG.
ompl::base::Cost	getEstimatedCostToGo () const
	Returns the best estimate of the cost to go from this state to the goal through the current RGG.
ompl::base::Cost	getAdmissibleCostToGo () const
	Returns the admissible estimate of the cost to go from this state to the goal through the current RGG.
ompl::base::Cost	getLowerBoundCostToGo () const
	Returns the lower bound cost to go from this state to the goal through the continuous state space.
ompl::base::Cost	getLowerBoundCostToCome () const
	Returns the lower bound cost to come from the start to this state through the continuous state space.
ompl::base::Cost	getCurrentCostToCome () const
	Returns the current cost to come from the start to this state.
unsigned int	getLowerBoundEffortToCome () const
	Returns the lower bound effort to come from the start to this state through the continuous state space.
unsigned int	getInadmissibleEffortToCome () const
	Returns the inadmissible effort to come from the start to this state through the continuous state space.
const std::vector< std::weak_ptr< State > >	getSourcesOfIncomingEdgesInForwardQueue () const
	Returns the sources of incoming edges in forward queue.
void	addToSourcesOfIncomingEdgesInForwardQueue (const std::shared_ptr< State > &state) const
	Adds a source to sources of incoming edges in forward queue.
void	removeFromSourcesOfIncomingEdgesInForwardQueue (const std::shared_ptr< State > &state) const
	Removes a source from sources of incoming edges in forward queue.
void	resetSourcesOfIncomingEdgesInForwardQueue ()
	Resets the sources of incoming edges in the forward queue.
void	setIncomingCollisionCheckResolution (const std::shared_ptr< State > &source, std::size_t numChecks) const
	Sets the number of collision checks already performed on the edge incoming from source.
std::size_t	getIncomingCollisionCheckResolution (const std::shared_ptr< State > &source) const
	Returns the number of collision checks already performed on the edge incoming from source.

Friends
class	RandomGeometricGraph
	Grant access to the state internals to the random geometric graph.

Detailed Description

A wrapper class for OMPL's state.

Definition at line 57 of file State.h.

Constructor & Destructor Documentation

◆ State()

ompl::geometric::eitstar::State::State	(	const std::shared_ptr< ompl::base::SpaceInformation > &	spaceInfo,
		const std::shared_ptr< ompl::base::OptimizationObjective > &	objective )

Constructs the state, allocating the associated memory using information about the underlying space.

Definition at line 54 of file State.cpp.

◆ ~State()

ompl::geometric::eitstar::State::~State ( )

Destructs this state, freeing the associated memory.

Definition at line 72 of file State.cpp.

Member Function Documentation

◆ addToSourcesOfIncomingEdgesInForwardQueue()

void ompl::geometric::eitstar::State::addToSourcesOfIncomingEdgesInForwardQueue ( const std::shared_ptr< State > & state ) const

Adds a source to sources of incoming edges in forward queue.

Definition at line 252 of file State.cpp.

◆ asForwardVertex()

std::shared_ptr< Vertex > ompl::geometric::eitstar::State::asForwardVertex ( )

Returns the state as a reverse vertex.

Definition at line 97 of file State.cpp.

◆ asReverseVertex()

std::shared_ptr< Vertex > ompl::geometric::eitstar::State::asReverseVertex ( )

Returns the state as a reverse vertex.

Definition at line 122 of file State.cpp.

◆ blacklist()

void ompl::geometric::eitstar::State::blacklist ( const std::shared_ptr< State > & state )

Blacklists the given state as neighbor.

Definition at line 147 of file State.cpp.

◆ getAdmissibleCostToGo()

ompl::base::Cost ompl::geometric::eitstar::State::getAdmissibleCostToGo ( ) const

Returns the admissible estimate of the cost to go from this state to the goal through the current RGG.

Definition at line 217 of file State.cpp.

◆ getCurrentCostToCome()

ompl::base::Cost ompl::geometric::eitstar::State::getCurrentCostToCome ( ) const

Returns the current cost to come from the start to this state.

Definition at line 232 of file State.cpp.

◆ getEstimatedCostToGo()

ompl::base::Cost ompl::geometric::eitstar::State::getEstimatedCostToGo ( ) const

Returns the best estimate of the cost to go from this state to the goal through the current RGG.

Definition at line 212 of file State.cpp.

◆ getEstimatedEffortToGo()

unsigned int ompl::geometric::eitstar::State::getEstimatedEffortToGo ( ) const

Get the estimated effort (number of collision detections) to go from this state to the goal through the current RGG.

Definition at line 207 of file State.cpp.

◆ getId()

std::size_t ompl::geometric::eitstar::State::getId ( ) const

Returns the state's unique id.

Definition at line 77 of file State.cpp.

◆ getInadmissibleEffortToCome()

unsigned int ompl::geometric::eitstar::State::getInadmissibleEffortToCome ( ) const

Returns the inadmissible effort to come from the start to this state through the continuous state space.

Definition at line 242 of file State.cpp.

◆ getIncomingCollisionCheckResolution()

std::size_t ompl::geometric::eitstar::State::getIncomingCollisionCheckResolution ( const std::shared_ptr< State > & source ) const

Returns the number of collision checks already performed on the edge incoming from source.

Definition at line 284 of file State.cpp.

◆ getLowerBoundCostToCome()

ompl::base::Cost ompl::geometric::eitstar::State::getLowerBoundCostToCome ( ) const

Returns the lower bound cost to come from the start to this state through the continuous state space.

Definition at line 227 of file State.cpp.

◆ getLowerBoundCostToGo()

ompl::base::Cost ompl::geometric::eitstar::State::getLowerBoundCostToGo ( ) const

Returns the lower bound cost to go from this state to the goal through the continuous state space.

Definition at line 222 of file State.cpp.

◆ getLowerBoundEffortToCome()

unsigned int ompl::geometric::eitstar::State::getLowerBoundEffortToCome ( ) const

Returns the lower bound effort to come from the start to this state through the continuous state space.

Definition at line 237 of file State.cpp.

◆ getSourcesOfIncomingEdgesInForwardQueue()

const std::vector< std::weak_ptr< State > > ompl::geometric::eitstar::State::getSourcesOfIncomingEdgesInForwardQueue ( ) const

Returns the sources of incoming edges in forward queue.

Definition at line 247 of file State.cpp.

◆ hasForwardVertex()

bool ompl::geometric::eitstar::State::hasForwardVertex ( ) const

Returns whether the state has an associated forward vertex.

Definition at line 87 of file State.cpp.

◆ hasReverseVertex()

bool ompl::geometric::eitstar::State::hasReverseVertex ( ) const

Returns whether the state has an associated reverse vertex.

Definition at line 92 of file State.cpp.

◆ isBlacklisted()

bool ompl::geometric::eitstar::State::isBlacklisted ( const std::shared_ptr< State > & state ) const

Returns whether the given state has been blacklisted.

Definition at line 157 of file State.cpp.

◆ isWhitelisted()

bool ompl::geometric::eitstar::State::isWhitelisted ( const std::shared_ptr< State > & state ) const

Returns whether the given has been whitelisted.

Definition at line 162 of file State.cpp.

◆ raw()

ompl::base::State * ompl::geometric::eitstar::State::raw ( ) const

Returns the raw OMPL version of this state.

Definition at line 82 of file State.cpp.

◆ removeFromSourcesOfIncomingEdgesInForwardQueue()

void ompl::geometric::eitstar::State::removeFromSourcesOfIncomingEdgesInForwardQueue ( const std::shared_ptr< State > & state ) const

Removes a source from sources of incoming edges in forward queue.

Definition at line 257 of file State.cpp.

◆ resetSourcesOfIncomingEdgesInForwardQueue()

void ompl::geometric::eitstar::State::resetSourcesOfIncomingEdgesInForwardQueue ( )

Resets the sources of incoming edges in the forward queue.

Definition at line 273 of file State.cpp.

◆ setAdmissibleCostToGo()

void ompl::geometric::eitstar::State::setAdmissibleCostToGo ( ompl::base::Cost cost )

Set the admissible estimate of the cost to go from this state to the goal through the current RGG.

Definition at line 177 of file State.cpp.

◆ setCurrentCostToCome()

void ompl::geometric::eitstar::State::setCurrentCostToCome ( ompl::base::Cost cost )

Set the current cost to come from the start to this state.

Definition at line 192 of file State.cpp.

◆ setEstimatedCostToGo()

void ompl::geometric::eitstar::State::setEstimatedCostToGo ( ompl::base::Cost cost )

Set the best estimate of the cost to go from this state to the goal through the current RGG.

Definition at line 172 of file State.cpp.

◆ setEstimatedEffortToGo()

void ompl::geometric::eitstar::State::setEstimatedEffortToGo ( std::size_t effort )

Set the estimated effort (number of collision detections) to go from this state to the goal through the current RGG.

Definition at line 167 of file State.cpp.

◆ setInadmissibleEffortToCome()

void ompl::geometric::eitstar::State::setInadmissibleEffortToCome ( unsigned int effort )

Sets the inadmissible effort to come to this state through the continuous state space.

Definition at line 202 of file State.cpp.

◆ setIncomingCollisionCheckResolution()

void ompl::geometric::eitstar::State::setIncomingCollisionCheckResolution	(	const std::shared_ptr< State > &	source,
		std::size_t	numChecks ) const

Sets the number of collision checks already performed on the edge incoming from source.

Definition at line 278 of file State.cpp.

◆ setLowerBoundCostToCome()

void ompl::geometric::eitstar::State::setLowerBoundCostToCome ( ompl::base::Cost cost )

Set the lower bound cost to come from the start to this state through the continuous state space.

Definition at line 187 of file State.cpp.

◆ setLowerBoundCostToGo()

void ompl::geometric::eitstar::State::setLowerBoundCostToGo ( ompl::base::Cost cost )

Set the lower bound cost to go from this state to the goal through the continuous state space.

Definition at line 182 of file State.cpp.

◆ setLowerBoundEffortToCome()

void ompl::geometric::eitstar::State::setLowerBoundEffortToCome ( unsigned int effort )

Sets the lower bound effort to come to this state through the continuous state space.

Definition at line 197 of file State.cpp.

◆ whitelist()

void ompl::geometric::eitstar::State::whitelist ( const std::shared_ptr< State > & state )

Whitelists the given state as neighbor.

Definition at line 152 of file State.cpp.

◆ RandomGeometricGraph

friend class RandomGeometricGraph

friend

Grant access to the state internals to the random geometric graph.

Definition at line 179 of file State.h.

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

ompl/geometric/planners/informedtrees/eitstar/State.h
ompl/geometric/planners/informedtrees/eitstar/src/State.cpp

Public Member Functions

Friends