ompl::GridB< _T, LessThanExternal, LessThanInternal > Class Template Reference

This class defines a grid that keeps track of its boundary: it distinguishes between interior and exterior cells. More...

#include <GridB.h>

Inheritance diagram for ompl::GridB< _T, LessThanExternal, LessThanInternal >:

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List of all members.

Classes
struct	LessThanExternalCell
	Define order for external cells. More...
struct	LessThanInternalCell
	Define order for internal cells. More...
Public Types
typedef GridN< _T >::Cell	Cell
	Definition of a cell in this grid.
typedef GridN< _T >::CellArray	CellArray
	The datatype for arrays of cells.
typedef GridN< _T >::Coord	Coord
	Datatype for cell coordinates.
typedef void(*	EventCellUpdate )(Cell , void )
Public Member Functions
virtual void	add (Cell *cell)
	Add the cell to the grid.
virtual void	clear (void)
	Clear all cells in the grid.
unsigned int	countExternal (void) const
	Return the number of external cells.
unsigned int	countInternal (void) const
	Return the number of internal cells.
virtual Cell *	createCell (const Coord &coord, CellArray *nbh=NULL)
	Create a cell but do not add it to the grid; update neighboring cells however.
double	fracExternal (void) const
	Return the fraction of external cells.
double	fracInternal (void) const
	Return the fraction of internal cells.
	GridB (unsigned int dimension)
	Constructor.
void	onCellUpdate (EventCellUpdate event, void *arg)
virtual bool	remove (Cell *cell)
	Remove a cell from the grid.
virtual void	status (std::ostream &out=std::cout) const
	Print information about the data in this grid structure.
Cell *	topExternal (void) const
	Return the cell that is at the top of the heap maintaining external cells.
Cell *	topInternal (void) const
	Return the cell that is at the top of the heap maintaining internal cells.
void	update (Cell *cell)
	Update the position in the heaps for a particular cell.
void	updateAll (void)
	Update all cells and reconstruct the heaps.
virtual	~GridB (void)
Protected Types
typedef BinaryHeap< CellX *, LessThanExternalCell >	externalBHeap
	Datatype for a heap of cells containing exterior cells.
typedef BinaryHeap< CellX *, LessThanInternalCell >	internalBHeap
	Datatype for a heap of cells containing interior cells.
Protected Member Functions
void	clearHeaps (void)
	Clear the data from both heaps.
void	setupHeaps (void)
	Set the update procedure for the heaps of internal and external cells.
Static Protected Member Functions
static void	noCellUpdate (Cell , void )
	Default no-op update routine for a cell.
static void	setHeapElementE (typename externalBHeap::Element element, void )
	Routine used internally for keeping track of binary heap elements for external cells.
static void	setHeapElementI (typename internalBHeap::Element element, void )
	Routine used internally for keeping track of binary heap elements for internal cells.
Protected Attributes
EventCellUpdate	eventCellUpdate_
	Pointer to function to be called when a cell needs to be updated.
void *	eventCellUpdateData_
	Data to be passed to function pointer above.
externalBHeap	external_
	The heap of external cells.
internalBHeap	internal_
	The heap of interior cells.

Detailed Description

template<typename _T, class LessThanExternal = std::less<_T>, class LessThanInternal = LessThanExternal>
class ompl::GridB< _T, LessThanExternal, LessThanInternal >

This class defines a grid that keeps track of its boundary: it distinguishes between interior and exterior cells.

Definition at line 51 of file GridB.h.