Template Class AnalyticExpansion

• Defined in File analytic_expansion.hpp

Nested Relationships

Nested Types

• Struct AnalyticExpansion::AnalyticExpansionNode

• Struct AnalyticExpansion::AnalyticExpansionNodes

Class Documentation

template<typename NodeT>
class AnalyticExpansion

Public Types

typedef NodeT *NodePtr

typedef NodeT::Coordinates Coordinates

typedef std::function<bool(const uint64_t&, NodeT*&)> NodeGetter

typedef std::vector<AnalyticExpansionNode> AnalyticExpansionNodes

Public Functions

AnalyticExpansion(const MotionModel &motion_model, const SearchInfo &search_info, const bool &traverse_unknown, const unsigned int &dim_3_size)

Constructor for analytic expansion object.

void setCollisionChecker(GridCollisionChecker *collision_checker)

Sets the collision checker and costmap to use in expansion validation.

Parameters:

collision_checker – Collision checker to use

NodePtr tryAnalyticExpansion(const NodePtr &current_node, const NodePtr &goal_node, const NodeGetter &getter, int &iterations, int &best_cost)

Attempt an analytic path completion.

Parameters:

• node – The node to start the analytic path from

• goal – The goal node to plan to

• getter – Gets a node at a set of coordinates

• iterations – Iterations to run over

• best_cost – Best heuristic cost to propertionally expand more closer to the goal

Returns:

Node pointer reference to goal node if successful, else return nullptr

AnalyticExpansionNodes getAnalyticPath(const NodePtr &node, const NodePtr &goal, const NodeGetter &getter, const ompl::base::StateSpacePtr &state_space)

Perform an analytic path expansion to the goal.

Parameters:

• node – The node to start the analytic path from

• goal – The goal node to plan to

• getter – The function object that gets valid nodes from the graph

• state_space – State space to use for computing analytic expansions

Returns:

A set of analytically expanded nodes to the goal from current node, if possible

NodePtr setAnalyticPath(const NodePtr &node, const NodePtr &goal, const AnalyticExpansionNodes &expanded_nodes)

Takes final analytic expansion and appends to current expanded node.

Parameters:

• node – The node to start the analytic path from

• goal – The goal node to plan to

• expanded_nodes – Expanded nodes to append to end of current search path

Returns:

Node pointer to goal node if successful, else return nullptr

void cleanNode(const NodePtr &nodes)

Takes an expanded nodes to clean up, if necessary, of any state information that may be poluting it from a prior search iteration.

Parameters:

expanded_nodes – Expanded node to clean up from search

Protected Attributes

MotionModel _motion_model

SearchInfo _search_info

bool _traverse_unknown

unsigned int _dim_3_size

GridCollisionChecker *_collision_checker

std::list<std::unique_ptr<NodeT>> _detached_nodes

struct AnalyticExpansionNode

Public Functions

inline AnalyticExpansionNode(NodePtr &node_in, Coordinates &initial_coords_in, Coordinates &proposed_coords_in)

Public Members

NodePtr node

Coordinates initial_coords

Coordinates proposed_coords