ompl::geometric::eitstar::Vertex Class Reference
The vertex class for both the forward and reverse search. More...
#include <ompl/geometric/planners/informedtrees/eitstar/Vertex.h>
Inheritance diagram for ompl::geometric::eitstar::Vertex:
Public Member Functions | |
| Vertex (const std::shared_ptr< State > &state, const std::shared_ptr< ompl::base::OptimizationObjective > &objective, const Direction &direction) | |
| Constructs the vertex, which must be associated with a state. | |
| ~Vertex () | |
| Destructs this vertex. | |
| std::size_t | getId () const |
| Gets the unique vertex-id of this vertex. | |
| std::shared_ptr< State > | getState () const |
| Returns the state associated with this vertex. | |
| const std::vector< std::shared_ptr< Vertex > > & | getChildren () const |
| Returns the children of this vertex. | |
| bool | hasChildren () const |
| Returns whether this vertex has children. | |
| std::vector< std::shared_ptr< Vertex > > | updateCurrentCostOfChildren (const std::shared_ptr< ompl::base::OptimizationObjective > &objective) |
| Update the cost-to-come of this vertex's children. | |
| void | addChild (const std::shared_ptr< Vertex > &vertex) |
| Adds the given vertex to this vertex's children. | |
| void | removeChild (const std::shared_ptr< Vertex > &vertex) |
| Removes the given vertex from this vertex's children. | |
| std::weak_ptr< Vertex > | getParent () const |
| Returns the parent of this vertex. | |
| bool | isParent (const std::shared_ptr< Vertex > &vertex) const |
| Returns whether the given vertex is this vertex's parent. | |
| std::weak_ptr< Vertex > | getTwin () const |
| Returns the twin of this vertex, i.e., the vertex in the other search tree with the same underlying state. | |
| void | updateParent (const std::shared_ptr< Vertex > &vertex) |
| Resets the parent of this vertex. | |
| void | setEdgeCost (const ompl::base::Cost &edgeCost) |
| Sets the cost of the edge in the forward tree that leads to this vertex. | |
| ompl::base::Cost | getEdgeCost () const |
| Returns the cost of the edge in the forward tree that leads to this vertex. | |
| void | resetParent () |
| Returns the parent of this vertex. | |
| void | setTwin (const std::shared_ptr< Vertex > &vertex) |
| Sets the twin of this vertex, i.e., the vertex in the other search tree with the same underlying state. | |
| void | clearChildren () |
| Resets the children of this vertex. | |
| std::size_t | getExpandTag () const |
| Returns the tag when this vertex was last expanded. | |
| void | registerExpansionInReverseSearch (std::size_t tag) |
| Sets the expand tag when this vertex was last expanded. | |
| void | callOnBranch (const std::function< void(const std::shared_ptr< eitstar::State > &)> &function) |
| Recursively calls the given function on this vertex and all its children in the tree. | |
Friends | |
| class | ReverseQueue |
| The edge queue is a friend class to allow efficient updates of outgoing edges of this vertex in the queue. | |
Detailed Description
The documentation for this class was generated from the following files:
- ompl/geometric/planners/informedtrees/eitstar/Vertex.h
- ompl/geometric/planners/informedtrees/eitstar/src/Vertex.cpp