Class BFMT::BiDirMotion

Defined in File BFMT.h

Nested Relationships

This class is a nested type of Class BFMT.

Class Documentation

class BiDirMotion

Representation of a bidirectional motion.

Public Types

enum SetType

The FMT* planner begins with all nodes included in set Unvisited “Waiting for optimal connection”. As nodes are connected to the tree, they are transferred into set Open “Horizon of explored tree.” Once a node in Open is no longer close enough to the frontier to connect to any more nodes in Unvisited, it is removed from Open. These three SetTypes are flags indicating which set the node belongs to; Open, Unvisited, or Closed (neither)

Values:

enumerator SET_CLOSED

enumerator SET_OPEN

enumerator SET_UNVISITED

using BiDirMotionPtrs = std::vector<BiDirMotion*>

Public Functions

inline BiDirMotion(TreeType *tree)

inline BiDirMotion(const base::SpaceInformationPtr &si, TreeType *tree): Constructor that allocates memory for the state.

inline base::Cost getCost() const: Set the state associated with the motion.

inline base::Cost getOtherCost() const: Get cost of this motion in the inactive tree.

inline void setCost(base::Cost cost): Set the cost of the motion.

inline void setParent(BiDirMotion *parent): Set the parent of the motion.

inline BiDirMotion *getParent() const: Get the parent of the motion.

inline void setChildren(BiDirMotionPtrs children): Set the children of the motion.

inline BiDirMotionPtrs getChildren() const: Get the children of the motion.

inline void setCurrentSet(SetType set): Set the current set of the motion.

inline SetType getCurrentSet() const: Fet the current set of the motion.

inline SetType getOtherSet() const: Get set of this motion in the inactive tree.

inline void setTreeType(TreeType *treePtr): Set tree identifier for this motion.

inline TreeType getTreeType() const: Get tree identifier for this motion.

inline void setState(base::State *state): Set the state associated with the motion.

inline base::State *getState() const: Get the state associated with the motion.

inline bool alreadyCC(BiDirMotion *m): Returns true if the connection to m has been already tested and failed because of a collision.

inline void addCC(BiDirMotion *m): Caches a failed collision check to m.

inline void setHeuristicCost(const base::Cost h): Set the cost to go heuristic cost.

inline base::Cost getHeuristicCost() const: Get the cost to go heuristic cost.

Public Members

base::State *state_: The state contained by the motion.

BiDirMotion *parent_[2]: The parent motion in the exploration tree

BiDirMotionPtrs children_[2]: The set of motions descending from the current motion

SetType currentSet_[2]: Current set in which the motion is included.

TreeType *tree_: Tree identifier

base::Cost cost_[2]: The cost of this motion

base::Cost hcost_[2]: The minimum cost to go of this motion (heuristically computed)

std::set<BiDirMotion*> collChecksDone_: Contains the connections attempted FROM this node.