ompl::GridN< _T > Class Template Reference

Representation of a grid where cells keep track of how many neighbors they have. More...

#include <ompl/datastructures/GridN.h>

Inheritance diagram for ompl::GridN< _T >:

Classes
struct	Cell
	Definition of a cell in this grid. More...

Public Types
using	BaseCell = typename Grid< _T >::Cell
	Datatype for cell in base class.

using	BaseCellArray = typename Grid< _T >::CellArray
	Datatype for array of cells in base class.

using	Coord = typename Grid< _T >::Coord
	Datatype for cell coordinates.

using	CellArray = std::vector< Cell * >
	The datatype for arrays of cells.

Public Types inherited from ompl::Grid< _T >
using	Coord = Eigen::VectorXi
	Definition of a coordinate within this grid.

using	CellArray = std::vector< Cell * >
	The datatype for arrays of cells.

using	iterator = typename CoordHash::const_iterator
	We only allow const iterators.

Public Member Functions
	GridN (unsigned int dimension)
	The constructor takes the dimension of the grid as argument.

void	setDimension (unsigned int dimension)

void	setBounds (const Coord &low, const Coord &up)

void	setInteriorCellNeighborLimit (unsigned int count)

Cell *	getCell (const Coord &coord) const
	Get the cell at a specified coordinate.

void	neighbors (const Cell *cell, CellArray &list) const
	Get the list of neighbors for a given cell.

void	neighbors (const Coord &coord, CellArray &list) const
	Get the list of neighbors for a given coordinate.

void	neighbors (Coord &coord, CellArray &list) const
	Get the list of neighbors for a given coordinate.

BaseCell *	createCell (const Coord &coord, BaseCellArray *nbh=nullptr) override

bool	remove (BaseCell *cell) override

void	getCells (CellArray &cells) const
	Get the set of instantiated cells in the grid.

Public Member Functions inherited from ompl::Grid< _T >
	Grid (unsigned int dimension)
	The constructor takes the dimension of the grid as argument.

virtual	~Grid ()
	Destructor.

virtual void	clear ()
	Clear all cells in the grid.

unsigned int	getDimension () const
	Return the dimension of the grid.

void	setDimension (unsigned int dimension)

bool	has (const Coord &coord) const
	Check if a cell exists at the specified coordinate.

Cell *	getCell (const Coord &coord) const
	Get the cell at a specified coordinate.

void	neighbors (const Cell *cell, CellArray &list) const
	Get the list of neighbors for a given cell.

void	neighbors (const Coord &coord, CellArray &list) const
	Get the list of neighbors for a given coordinate.

void	neighbors (Coord &coord, CellArray &list) const
	Get the list of neighbors for a given coordinate.

std::vector< std::vector< Cell * > >	components () const
	Get the connected components formed by the cells in this grid (based on neighboring relation)

virtual Cell *	createCell (const Coord &coord, CellArray *nbh=nullptr)

virtual bool	remove (Cell *cell)

virtual void	add (Cell *cell)
	Add an instantiated cell to the grid.

virtual void	destroyCell (Cell *cell) const
	Clear the memory occupied by a cell; do not call this function unless remove() was called first.

void	getContent (std::vector< _T > &content) const
	Get the data stored in the cells we are aware of.

void	getCoordinates (std::vector< Coord * > &coords) const
	Get the set of coordinates where there are cells.

void	getCells (CellArray &cells) const
	Get the set of instantiated cells in the grid.

void	printCoord (Coord &coord, std::ostream &out=std::cout) const
	Print the value of a coordinate to a stream.

bool	empty () const
	Check if the grid is empty.

unsigned int	size () const
	Check the size of the grid.

virtual void	status (std::ostream &out=std::cout) const
	Print information about the data in this grid structure.

iterator	begin () const
	Return the begin() iterator for the grid.

iterator	end () const
	Return the end() iterator for the grid.

Protected Member Functions
unsigned int	numberOfBoundaryDimensions (const Coord &coord) const
	Compute how many sides of a coordinate touch the boundaries of the grid.

Protected Member Functions inherited from ompl::Grid< _T >
void	freeMemory ()
	Free the allocated memory.

Protected Attributes
bool	hasBounds_
	Flag indicating whether bounds are in effect for this grid.

Coord	lowBound_
	If bounds are set, this defines the lower corner cell.

Coord	upBound_
	If bounds are set, this defines the upper corner cell.

unsigned int	interiorCellNeighborsLimit_

bool	overrideCellNeighborsLimit_

Protected Attributes inherited from ompl::Grid< _T >
unsigned int	dimension_
	The dimension of the grid.

unsigned int	maxNeighbors_
	The maximum number of neighbors a cell can have (2 * dimension)

CoordHash	hash_
	The hash holding the cells.

Additional Inherited Members
Protected Types inherited from ompl::Grid< _T >
using	CoordHash = std::unordered_map< Coord , Cell , HashFunCoordPtr, EqualCoordPtr >
	Define the datatype for the used hash structure.

Detailed Description

template<typename _T>
class ompl::GridN< _T >

Representation of a grid where cells keep track of how many neighbors they have.

Definition at line 78 of file GridN.h.

Member Function Documentation

◆ createCell()

template<typename _T >

BaseCell* ompl::GridN< _T >::createCell	(	const Coord &	coord,
		BaseCellArray *	nbh = `nullptr`
	)

inlineoverride

Instantiate a new cell at given coordinates; Optionally return the list of future neighbors. Note: this call only creates the cell, but does not add it to the grid. It however updates the neighbor count for neighboring cells

Definition at line 221 of file GridN.h.

◆ remove()

template<typename _T >

bool ompl::GridN< _T >::remove ( BaseCell * cell )

inlineoverride

Remove a cell from the grid. If the cell has not been Added to the grid, only update the neighbor list

Definition at line 249 of file GridN.h.

◆ setBounds()

template<typename _T >

void ompl::GridN< _T >::setBounds	(	const Coord &	low,
		const Coord &	up
	)

inline

If bounds for the grid need to be considered, we can set them here. When the number of neighbors are counted, whether the Space is bounded matters, in the sense that if a cell is on the boundary, we know some of its neighbors cannot exist. In order to allow such a cell to reflect the fact it has Achieved its maximal number of neighbors, the boundary is counted as the number of neighbors it prevents from existing.

Definition at line 170 of file GridN.h.

◆ setDimension()

template<typename _T >

void ompl::GridN< _T >::setDimension ( unsigned int dimension )

inline

Update the dimension of the grid; this should not be done unless the grid is empty

Definition at line 153 of file GridN.h.

◆ setInteriorCellNeighborLimit()

template<typename _T >

void ompl::GridN< _T >::setInteriorCellNeighborLimit ( unsigned int count )

inline

Set the limit of neighboring cells to determine when a cell becomes interior by default, this is 2 * dimension of grid

Definition at line 179 of file GridN.h.

Member Data Documentation

◆ interiorCellNeighborsLimit_

template<typename _T >

unsigned int ompl::GridN< _T >::interiorCellNeighborsLimit_

protected

By default, cells are considered on the border if 2n neighbors are created, for a space of dimension n. this value is overridden and set in this member variable

Definition at line 306 of file GridN.h.

◆ overrideCellNeighborsLimit_

template<typename _T >

bool ompl::GridN< _T >::overrideCellNeighborsLimit_

protected

Flag indicating whether the neighbor count used to determine whether a cell is on the border or not

Definition at line 310 of file GridN.h.

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

ompl/datastructures/GridN.h

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename _T> class ompl::GridN< _T >

Member Function Documentation

◆ createCell()

◆ remove()

◆ setBounds()

◆ setDimension()

◆ setInteriorCellNeighborLimit()

Member Data Documentation

◆ interiorCellNeighborsLimit_

◆ overrideCellNeighborsLimit_

template<typename _T>
class ompl::GridN< _T >