ompl::geometric::aitstar::Vertex Class Reference
Inheritance diagram for ompl::geometric::aitstar::Vertex:
Public Member Functions | |
| Vertex (const ompl::base::SpaceInformationPtr &spaceInformation, const ompl::base::ProblemDefinitionPtr &problemDefinition, const std::size_t &batchId) | |
| Constructs a vertex by sampling a state. | |
| Vertex (const std::shared_ptr< Vertex > &other) | |
| Constructs a copy of another vertex. | |
| virtual | ~Vertex () |
| Destructs the vertex. | |
| std::size_t | getId () const |
| Get the unique id of this vertex. | |
| ompl::base::State * | getState () |
| Provides write access to the underlying state. | |
| const ompl::base::State * | getState () const |
| Provides read access to the underlying state. | |
| ompl::base::ScopedState | getScopedState () const |
| Returns a scoped copy of the underlying state. | |
| ompl::base::Cost | getCostToComeFromStart () const |
| Returns the cost to come to this vertex from the start. | |
| ompl::base::Cost | getCostToComeFromGoal () const |
| Returns the cost to come to this vertex from the goal. | |
| ompl::base::Cost | getExpandedCostToComeFromGoal () const |
| Returns the cost to come to this vertex from the goal when it was expanded. | |
| ompl::base::Cost | getCostToGoToGoal () const |
| Returns the cost to go heuristic from this vertex. | |
| ompl::base::Cost | getEdgeCostFromForwardParent () const |
| Returns the edge cost from the forward parent. | |
| bool | hasForwardParent () const |
| Returns whether this vertex has a parent in the forward search. | |
| void | setForwardParent (const std::shared_ptr< Vertex > &vertex, const ompl::base::Cost &edgeCost) |
| Sets the parent vertex (in the forward-search tree). | |
| void | resetForwardParent () |
| Resets the forward parent of the vertex. | |
| bool | hasReverseParent () const |
| Returns whether this vertex has a parent in the reverse search. | |
| void | setReverseParent (const std::shared_ptr< Vertex > &vertex) |
| Sets the parent vertex (in the reverse-search tree). | |
| void | resetReverseParent () |
| Resets the reverse parent of the vertex. | |
| std::shared_ptr< Vertex > | getForwardParent () const |
| Returns the parent of the vertex (in the forward-search tree). | |
| std::shared_ptr< Vertex > | getReverseParent () const |
| Returns the parent of the vertex (in the reverse-search tree). | |
| void | setForwardEdgeCost (const ompl::base::Cost &cost) |
| Sets the cost to come to this vertex. | |
| void | setCostToComeFromStart (const ompl::base::Cost &cost) |
| Sets the cost to come to this vertex. | |
| void | setCostToComeFromGoal (const ompl::base::Cost &cost) |
| Sets the cost to come to this vertex from the goal. | |
| void | resetCostToComeFromGoal () |
| Resets the cost to come to this vertex from the goal to infinity. | |
| void | resetExpandedCostToComeFromGoal () |
| Resets the expanded cost to come to this vertex from the goal to infinity. | |
| void | setExpandedCostToComeFromGoal (const ompl::base::Cost &cost) |
| Sets the cost to come to this vertex from the goal when it was expanded. | |
| void | setCostToGoToGoal (const ompl::base::Cost &cost) |
| Sets the cost to go heuristic of this vertex. | |
| void | updateCostOfForwardBranch () const |
| Updates the cost to the whole branch rooted at this vertex. | |
| std::vector< std::weak_ptr< Vertex > > | invalidateReverseBranch () |
| Recursively invalidates the branch of the reverse tree rooted in this vertex. | |
| std::vector< std::weak_ptr< Vertex > > | invalidateForwardBranch () |
| Recursively invalidates the branch of the forward tree rooted in this vertex. | |
| void | addToForwardChildren (const std::shared_ptr< Vertex > &vertex) |
| Adds a vertex to this vertex's forward children. | |
| void | removeFromForwardChildren (std::size_t vertexId) |
| Removes a vertex from this vertex's forward children. | |
| std::vector< std::shared_ptr< Vertex > > | getForwardChildren () const |
| Returns this vertex's children in the forward search tree. | |
| void | addToReverseChildren (const std::shared_ptr< Vertex > &vertex) |
| Adds a vertex this vertex's children. | |
| void | removeFromReverseChildren (std::size_t vertexId) |
| Removes a vertex from this vertex's forward children. | |
| std::vector< std::shared_ptr< Vertex > > | getReverseChildren () const |
| Returns this vertex's children in the reverse search tree. | |
| void | whitelistAsChild (const std::shared_ptr< Vertex > &vertex) const |
| Whitelists a child. | |
| bool | isWhitelistedAsChild (const std::shared_ptr< Vertex > &vertex) const |
| Returns whether a child is whitelisted. | |
| void | blacklistAsChild (const std::shared_ptr< Vertex > &vertex) const |
| Blacklists a child. | |
| bool | isBlacklistedAsChild (const std::shared_ptr< Vertex > &vertex) const |
| Returns whether a child is blacklisted. | |
| bool | hasCachedNeighbors () const |
| Returns whether the vertex knows its nearest neighbors on the current approximation. | |
| void | cacheNeighbors (const std::vector< std::shared_ptr< Vertex >> &neighbors) const |
| Caches the neighbors for the current approximation. | |
| const std::vector< std::shared_ptr< Vertex > > | getNeighbors () const |
| Returns the nearest neighbors, throws if not up to date. | |
| bool | isConsistent () const |
| Returns whether the vertex is consistent, i.e., whether its cost-to-come is equal to the cost-to-come when it was last expanded. | |
| void | setReverseQueuePointer (typename VertexQueue::Element *pointer) |
| Sets the reverse queue pointer of this vertex. | |
| VertexQueue::Element * | getReverseQueuePointer () const |
| Returns the reverse queue pointer of this vertex. | |
| void | resetReverseQueuePointer () |
| Resets the reverse queue pointer. | |
| void | addToForwardQueueIncomingLookup (typename EdgeQueue::Element *pointer) |
| Adds an element to the forward queue incoming lookup. | |
| void | addToForwardQueueOutgoingLookup (typename EdgeQueue::Element *pointer) |
| Adds an element to the forward queue outgoing lookup. | |
| std::vector< EdgeQueue::Element * > | getForwardQueueIncomingLookup () const |
| Returns the forward queue incoming lookup of this vertex. | |
| std::vector< EdgeQueue::Element * > | getForwardQueueOutgoingLookup () const |
| Returns the forward queue outgoing lookup of this vertex. | |
| void | removeFromForwardQueueIncomingLookup (typename EdgeQueue::Element *element) |
| Remove an element from the incoming queue lookup. | |
| void | removeFromForwardQueueOutgoingLookup (typename EdgeQueue::Element *element) |
| Remove an element from the outgoing queue lookup. | |
| void | resetForwardQueueIncomingLookup () |
| Resets the forward queue incoming lookup. | |
| void | resetForwardQueueOutgoingLookup () |
| Resets the forward queue outgoing lookup. | |
| void | callOnForwardBranch (const std::function< void(const std::shared_ptr< Vertex > &)> &function) |
| Calls the given function on this vertex and all of its children. | |
| void | callOnReverseBranch (const std::function< void(const std::shared_ptr< Vertex > &)> &function) |
| Calls the given function on this vertex and all of its children. | |
Detailed Description
The documentation for this class was generated from the following files:
- ompl/geometric/planners/informedtrees/aitstar/Vertex.h
- ompl/geometric/planners/informedtrees/aitstar/src/Vertex.cpp