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 155 of file RandomGeometricGraph.h.

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

Public Member Functions

Detailed Description