Class State

Defined in File State.h

Inheritance Relationships

Base Type

public std::enable_shared_from_this< State >

Class Documentation

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

A wrapper class for OMPL’s state.

Public Functions

State(const std::shared_ptr<ompl::base::SpaceInformation> &spaceInfo, const std::shared_ptr<ompl::base::OptimizationObjective> &objective): Constructs the state, allocating the associated memory using information about the underlying space.

~State(): Destructs this state, freeing the associated memory.

std::size_t getId() const: Returns the state’s unique id.

ompl::base::State *raw() const: Returns the raw OMPL version of this state.

bool hasForwardVertex() const: Returns whether the state has an associated forward vertex.

bool hasReverseVertex() const: Returns whether the state has an associated reverse vertex.

std::shared_ptr<Vertex> asForwardVertex(): Returns the state as a reverse vertex.

std::shared_ptr<Vertex> asReverseVertex(): Returns the state as a reverse vertex.

void blacklist(const std::shared_ptr<State> &state): Blacklists the given state as neighbor.

void whitelist(const std::shared_ptr<State> &state): Whitelists the given state as neighbor.

bool isBlacklisted(const std::shared_ptr<State> &state) const: Returns whether the given state has been blacklisted.

bool isWhitelisted(const std::shared_ptr<State> &state) const: Returns whether the given has been whitelisted.

void setEstimatedEffortToGo(std::size_t effort): Set the estimated effort (number of collision detections) to go from this state to the goal through the current RGG.

void setEstimatedCostToGo(ompl::base::Cost cost): Set the best estimate of the cost to go from this state to the goal through the current RGG.

void setAdmissibleCostToGo(ompl::base::Cost cost): Set the admissible estimate of the cost to go from this state to the goal through the current RGG.

void setLowerBoundCostToGo(ompl::base::Cost cost): Set the lower bound cost to go from this state to the goal through the continuous state space.

void setLowerBoundCostToCome(ompl::base::Cost cost): Set the lower bound cost to come from the start to this state through the continuous state space.

void setCurrentCostToCome(ompl::base::Cost cost): Set the current cost to come from the start to this state.

void setLowerBoundEffortToCome(unsigned int effort): Sets the lower bound effort to come to this state through the continuous state space.

void setInadmissibleEffortToCome(unsigned int effort): Sets the inadmissible effort to come to this state through the continuous state space.

unsigned int getEstimatedEffortToGo() const: Get the estimated effort (number of collision detections) to go from this state to the goal through the current RGG.

ompl::base::Cost getEstimatedCostToGo() const: Returns the best estimate of the cost to go from this state to the goal through the current RGG.

ompl::base::Cost getAdmissibleCostToGo() const: Returns the admissible estimate of the cost to go from this state to the goal through the current RGG.

ompl::base::Cost getLowerBoundCostToGo() const: Returns the lower bound cost to go from this state to the goal through the continuous state space.

ompl::base::Cost getLowerBoundCostToCome() const: Returns the lower bound cost to come from the start to this state through the continuous state space.

ompl::base::Cost getCurrentCostToCome() const: Returns the current cost to come from the start to this state.

unsigned int getLowerBoundEffortToCome() const: Returns the lower bound effort to come from the start to this state through the continuous state space.

unsigned int getInadmissibleEffortToCome() const: Returns the inadmissible effort to come from the start to this state through the continuous state space.

const std::vector<std::weak_ptr<State>> getSourcesOfIncomingEdgesInForwardQueue() const: Returns the sources of incoming edges in forward queue.

void addToSourcesOfIncomingEdgesInForwardQueue(const std::shared_ptr<State> &state) const: Adds a source to sources of incoming edges in forward queue.

void removeFromSourcesOfIncomingEdgesInForwardQueue(const std::shared_ptr<State> &state) const: Removes a source from sources of incoming edges in forward queue.

void resetSourcesOfIncomingEdgesInForwardQueue(): Resets the sources of incoming edges in the forward queue.

void setIncomingCollisionCheckResolution(const std::shared_ptr<State> &source, std::size_t numChecks) const: Sets the number of collision checks already performed on the edge incoming from source.

std::size_t getIncomingCollisionCheckResolution(const std::shared_ptr<State> &source) const: Returns the number of collision checks already performed on the edge incoming from source.