Class Vertex

Defined in File Vertex.h

Inheritance Relationships

Base Type

public std::enable_shared_from_this< Vertex >

Class Documentation

class Vertex : public std::enable_shared_from_this<Vertex>

Public Functions

Vertex(const ompl::base::SpaceInformationPtr &spaceInformation, const ompl::base::ProblemDefinitionPtr &problemDefinition, const std::size_t &batchId): Constructs a vertex by sampling a state.

explicit 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.

ompl::base::State const *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.