A configuration in Bundle-space. More...
#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
Public Member Functions | |
| Configuration (const ompl::base::SpaceInformationPtr &si) | |
| Configuration (const ompl::base::SpaceInformationPtr &si, const ompl::base::State *state_) | |
| void | setPDFElement (void *element_) |
| void * | getPDFElement () |
Public Attributes | |
| ompl::base::State * | state {nullptr} |
| ompl::control::Control * | control {nullptr} |
| unsigned int | total_connection_attempts {0} |
| unsigned int | successful_connection_attempts {0} |
| bool | on_shortest_path {false} |
| void * | pdf_element |
| Element of Probability Density Function (needed to update probability). | |
| bool | isStart {false} |
| bool | isGoal {false} |
| Configuration * | parent {nullptr} |
| parent index for {qrrt*} | |
| base::Cost | cost |
| cost to reach until current vertex in {qrrt*} | |
| base::Cost | lineCost |
| same as rrt*, connection cost with parent {qrrt*} | |
| std::vector< Configuration * > | children |
| The set of motions descending from the current motion {qrrt*}. | |
| normalized_index_type | index {-1} |
| Index of configuration in boost::graph. Usually in the interval [0,num_vertices(graph)], but if vertices are deleted or graphs are copied, we sometimes need to map them back to [0, num_vertices(graph)]. | |
| normalized_index_type | representativeIndex {-1} |
| Access to the representatives (Sparse Vertex) of the Dense vertices For Sparse Graph: Store index of Sparse Vertex which is represtative of Dense Graph Vertex. | |
| std::set< normalized_index_type > | nonInterfaceIndexList |
| Access to all non-interface supporting vertices of the sparse nodes. | |
| std::unordered_map< normalized_index_type, std::set< normalized_index_type > > | interfaceIndexList |
| Access to the interface-supporting vertice hashes of the sparse nodes. | |
| std::vector< Configuration * > | reachableSet |
Detailed Description
A configuration in Bundle-space.
Definition at line 95 of file BundleSpaceGraph.h.
Constructor & Destructor Documentation
◆ Configuration() [1/2]
| BundleSpaceGraph::Configuration::Configuration | ( | const ompl::base::SpaceInformationPtr & | si | ) |
Definition at line 257 of file BundleSpaceGraph.cpp.
◆ Configuration() [2/2]
| BundleSpaceGraph::Configuration::Configuration | ( | const ompl::base::SpaceInformationPtr & | si, |
| const ompl::base::State * | state_ ) |
Definition at line 260 of file BundleSpaceGraph.cpp.
Member Function Documentation
◆ getPDFElement()
|
inline |
Definition at line 116 of file BundleSpaceGraph.h.
◆ setPDFElement()
|
inline |
Definition at line 112 of file BundleSpaceGraph.h.
Member Data Documentation
◆ children
| std::vector<Configuration *> ompl::multilevel::BundleSpaceGraph::Configuration::children |
The set of motions descending from the current motion {qrrt*}.
Definition at line 134 of file BundleSpaceGraph.h.
◆ control
| ompl::control::Control* ompl::multilevel::BundleSpaceGraph::Configuration::control {nullptr} |
Definition at line 103 of file BundleSpaceGraph.h.
◆ cost
| base::Cost ompl::multilevel::BundleSpaceGraph::Configuration::cost |
cost to reach until current vertex in {qrrt*}
Definition at line 128 of file BundleSpaceGraph.h.
◆ index
| normalized_index_type ompl::multilevel::BundleSpaceGraph::Configuration::index {-1} |
Index of configuration in boost::graph. Usually in the interval [0,num_vertices(graph)], but if vertices are deleted or graphs are copied, we sometimes need to map them back to [0, num_vertices(graph)].
Definition at line 140 of file BundleSpaceGraph.h.
◆ interfaceIndexList
| std::unordered_map<normalized_index_type, std::set<normalized_index_type> > ompl::multilevel::BundleSpaceGraph::Configuration::interfaceIndexList |
Access to the interface-supporting vertice hashes of the sparse nodes.
Definition at line 154 of file BundleSpaceGraph.h.
◆ isGoal
| bool ompl::multilevel::BundleSpaceGraph::Configuration::isGoal {false} |
Definition at line 122 of file BundleSpaceGraph.h.
◆ isStart
| bool ompl::multilevel::BundleSpaceGraph::Configuration::isStart {false} |
Definition at line 121 of file BundleSpaceGraph.h.
◆ lineCost
| base::Cost ompl::multilevel::BundleSpaceGraph::Configuration::lineCost |
same as rrt*, connection cost with parent {qrrt*}
Definition at line 131 of file BundleSpaceGraph.h.
◆ nonInterfaceIndexList
| std::set<normalized_index_type> ompl::multilevel::BundleSpaceGraph::Configuration::nonInterfaceIndexList |
Access to all non-interface supporting vertices of the sparse nodes.
Definition at line 149 of file BundleSpaceGraph.h.
◆ on_shortest_path
| bool ompl::multilevel::BundleSpaceGraph::Configuration::on_shortest_path {false} |
Definition at line 107 of file BundleSpaceGraph.h.
◆ parent
| Configuration* ompl::multilevel::BundleSpaceGraph::Configuration::parent {nullptr} |
parent index for {qrrt*}
Definition at line 125 of file BundleSpaceGraph.h.
◆ pdf_element
| void* ompl::multilevel::BundleSpaceGraph::Configuration::pdf_element |
Element of Probability Density Function (needed to update probability).
Definition at line 111 of file BundleSpaceGraph.h.
◆ reachableSet
| std::vector<Configuration *> ompl::multilevel::BundleSpaceGraph::Configuration::reachableSet |
Definition at line 156 of file BundleSpaceGraph.h.
◆ representativeIndex
| normalized_index_type ompl::multilevel::BundleSpaceGraph::Configuration::representativeIndex {-1} |
Access to the representatives (Sparse Vertex) of the Dense vertices For Sparse Graph: Store index of Sparse Vertex which is represtative of Dense Graph Vertex.
Definition at line 145 of file BundleSpaceGraph.h.
◆ state
| ompl::base::State* ompl::multilevel::BundleSpaceGraph::Configuration::state {nullptr} |
Definition at line 102 of file BundleSpaceGraph.h.
◆ successful_connection_attempts
| unsigned int ompl::multilevel::BundleSpaceGraph::Configuration::successful_connection_attempts {0} |
Definition at line 106 of file BundleSpaceGraph.h.
◆ total_connection_attempts
| unsigned int ompl::multilevel::BundleSpaceGraph::Configuration::total_connection_attempts {0} |
Definition at line 105 of file BundleSpaceGraph.h.
The documentation for this class was generated from the following files:
- ompl/multilevel/datastructures/BundleSpaceGraph.h
- ompl/multilevel/datastructures/src/BundleSpaceGraph.cpp