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>

The vertex class for both the forward and reverse search.

Public Functions

Vertex(const std::shared_ptr<State> &state, const std::shared_ptr<ompl::base::OptimizationObjective> &objective, const Direction &direction): Constructs the vertex, which must be associated with a state.

~Vertex(): Destructs this vertex.

std::size_t getId() const: Gets the unique vertex-id of this vertex.

std::shared_ptr<State> getState() const: Returns the state associated with this vertex.

const std::vector<std::shared_ptr<Vertex>> &getChildren() const: Returns the children of this vertex.

bool hasChildren() const: Returns whether this vertex has children.

std::vector<std::shared_ptr<Vertex>> updateCurrentCostOfChildren(const std::shared_ptr<ompl::base::OptimizationObjective> &objective): Update the cost-to-come of this vertex’s children.

void addChild(const std::shared_ptr<Vertex> &vertex): Adds the given vertex to this vertex’s children.

void removeChild(const std::shared_ptr<Vertex> &vertex): Removes the given vertex from this vertex’s children.

std::weak_ptr<Vertex> getParent() const: Returns the parent of this vertex.

bool isParent(const std::shared_ptr<Vertex> &vertex) const: Returns whether the given vertex is this vertex’s parent.

std::weak_ptr<Vertex> getTwin() const: Returns the twin of this vertex, i.e., the vertex in the other search tree with the same underlying state.

void updateParent(const std::shared_ptr<Vertex> &vertex): Resets the parent of this vertex.

void setEdgeCost(const ompl::base::Cost &edgeCost): Sets the cost of the edge in the forward tree that leads to this vertex.

ompl::base::Cost getEdgeCost() const: Returns the cost of the edge in the forward tree that leads to this vertex.

void resetParent(): Returns the parent of this vertex.

void setTwin(const std::shared_ptr<Vertex> &vertex): Sets the twin of this vertex, i.e., the vertex in the other search tree with the same underlying state.

void clearChildren(): Resets the children of this vertex.

std::size_t getExpandTag() const: Returns the tag when this vertex was last expanded.

void registerExpansionInReverseSearch(std::size_t tag): Sets the expand tag when this vertex was last expanded.

void callOnBranch(const std::function<void(const std::shared_ptr<eitstar::State>&)> &function): Recursively calls the given function on this vertex and all its children in the tree.