ompl::geometric::aitstar::ImplicitGraph Class Reference
Public Member Functions | |
| ImplicitGraph (const ompl::base::Cost &solutionCost) | |
| Constructs an implicit graph. | |
| virtual | ~ImplicitGraph ()=default |
| Destructs an implicit graph. | |
| void | setup (const ompl::base::SpaceInformationPtr &spaceInformation, const ompl::base::ProblemDefinitionPtr &problemDefinition, ompl::base::PlannerInputStates *inputStates) |
| The setup method for the graph. Needed to have it on the stack. | |
| void | clear () |
| Resets the graph to its construction state, without resetting options. | |
| void | setRewireFactor (double rewireFactor) |
| Set the rewire factor of the RGG. | |
| double | getRewireFactor () const |
| Get the reqire factor of the RGG. | |
| void | setMaxNumberOfGoals (unsigned int maxNumberOfGoals) |
| Set the maximum number of goals AIT* will sample from sampleable goal regions. | |
| unsigned int | getMaxNumberOfGoals () const |
| Get the maximum number of goals AIT* will sample from sampleable goal regions. | |
| void | setUseKNearest (bool useKNearest) |
| Whether to use a k-nearest connection model. If false, it uses an r-disc model. | |
| bool | getUseKNearest () const |
| Whether the graph uses a k-nearest connection model. If false, it uses an r-disc model. | |
| void | setTrackApproximateSolution (bool track) |
| Sets whether to track approximate solutions or not. | |
| bool | addSamples (std::size_t numNewSamples, const ompl::base::PlannerTerminationCondition &terminationCondition) |
| Adds a batch of samples and returns the samples it has added. | |
| std::size_t | getNumVertices () const |
| Gets the number of samples in the graph. | |
| double | getConnectionRadius () const |
| Gets the RGG connection radius. | |
| void | registerStartState (const ompl::base::State *const startState) |
| Registers a state as a start state. | |
| void | registerGoalState (const ompl::base::State *const goalState) |
| Registers a state as a goal state. | |
| bool | hasAStartState () const |
| Returns whether the graph has a goal state. | |
| bool | hasAGoalState () const |
| Returns whether the graph has a goal state. | |
| void | updateStartAndGoalStates (const ompl::base::PlannerTerminationCondition &terminationCondition, ompl::base::PlannerInputStates *inputStates) |
| Adds new start and goals to the graph if avavilable and creates a new informed sampler if necessary. | |
| std::vector< std::shared_ptr< Vertex > > | getNeighbors (const std::shared_ptr< Vertex > &vertex) const |
| Get neighbors of a vertex. | |
| bool | isStart (const std::shared_ptr< Vertex > &vertex) const |
| Checks whether the vertex is a start vertex. | |
| bool | isGoal (const std::shared_ptr< Vertex > &vertex) const |
| Checks whether the vertex is a goal vertex. | |
| const std::vector< std::shared_ptr< Vertex > > & | getStartVertices () const |
| Get the start vertices. | |
| const std::vector< std::shared_ptr< Vertex > > & | getGoalVertices () const |
| Get the goal vertices. | |
| std::vector< std::shared_ptr< Vertex > > | getVertices () const |
| Get all vertices. | |
| void | prune () |
| Prune all samples that can not contribute to a solution better than the current one. | |
| std::size_t | getNumberOfSampledStates () const |
| Returns the total number of sampled states. | |
| std::size_t | getNumberOfValidSamples () const |
| Returns the total number of valid samples found. | |
| std::size_t | getNumberOfStateCollisionChecks () const |
| Get the number of state collision checks. | |
| std::size_t | getNumberOfNearestNeighborCalls () const |
| Get the number of nearest neighbor calls. | |
Detailed Description
Definition at line 154 of file ImplicitGraph.h.
The documentation for this class was generated from the following files:
- ompl/geometric/planners/informedtrees/aitstar/ImplicitGraph.h
- ompl/geometric/planners/informedtrees/aitstar/src/ImplicitGraph.cpp