ompl::GridN< _T > Class Template Reference

Representation of a grid where cells keep track of how many neighbors they have. More...

#include <GridN.h>

Inheritance diagram for ompl::GridN< _T >:

[legend]

List of all members.

Classes
struct	Cell
	Definition of a cell in this grid. More...
Public Types
typedef Grid< _T >::Cell	BaseCell
	Datatype for cell in base class.
typedef Grid< _T >::CellArray	BaseCellArray
	Datatype for array of cells in base class.
typedef std::vector< Cell * >	CellArray
	The datatype for arrays of cells.
typedef Grid< _T >::Coord	Coord
	Datatype for cell coordinates.
Public Member Functions
virtual BaseCell *	createCell (const Coord &coord, BaseCellArray *nbh=NULL)
Cell *	getCell (const Coord &coord) const
	Get the cell at a specified coordinate.
void	getCells (CellArray &cells) const
	Get the set of instantiated cells in the grid.
	GridN (unsigned int dimension)
	The constructor takes the dimension of the grid as argument.
void	neighbors (Coord &coord, CellArray &list) const
	Get the list of neighbors for a given coordinate.
void	neighbors (const Coord &coord, CellArray &list) const
	Get the list of neighbors for a given coordinate.
void	neighbors (const Cell *cell, CellArray &list) const
	Get the list of neighbors for a given cell.
virtual bool	remove (BaseCell *cell)
void	setBounds (const Coord &low, const Coord &up)
void	setDimension (unsigned int dimension)
void	setInteriorCellNeighborLimit (unsigned int count)
virtual	~GridN (void)
Protected Member Functions
unsigned int	numberOfBoundaryDimensions (const Coord &coord) const
	Compute how many sides of a coordinate touch the boundaries of the grid.
Protected Attributes
bool	hasBounds_
	Flag indicating whether bounds are in effect for this grid.
unsigned int	interiorCellNeighborsLimit_
Coord	lowBound_
	If bounds are set, this defines the lower corner cell.
bool	overrideCellNeighborsLimit_
Coord	upBound_
	If bounds are set, this defines the upper corner cell.

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Detailed Description

template<typename _T>
class ompl::GridN< _T >

Representation of a grid where cells keep track of how many neighbors they have.

Definition at line 47 of file GridN.h.

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Member Typedef Documentation

template<typename _T>

typedef Grid<_T>::Cell ompl::GridN< _T >::BaseCell

Datatype for cell in base class.

Definition at line 52 of file GridN.h.

template<typename _T>

typedef Grid<_T>::CellArray ompl::GridN< _T >::BaseCellArray

Datatype for array of cells in base class.

Definition at line 55 of file GridN.h.

template<typename _T>

typedef std::vector<Cell*> ompl::GridN< _T >::CellArray

The datatype for arrays of cells.

Reimplemented from ompl::Grid< _T >.

Reimplemented in ompl::GridB< _T, LessThanExternal, LessThanInternal >, and ompl::GridB< CellData *, OrderCellsByImportance >.

Definition at line 79 of file GridN.h.

template<typename _T>

typedef Grid<_T>::Coord ompl::GridN< _T >::Coord

Datatype for cell coordinates.

Reimplemented from ompl::Grid< _T >.

Reimplemented in ompl::GridB< _T, LessThanExternal, LessThanInternal >, and ompl::GridB< CellData *, OrderCellsByImportance >.

Definition at line 58 of file GridN.h.

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Constructor & Destructor Documentation

template<typename _T>

ompl::GridN< _T >::GridN

(

unsigned int

dimension

)

[inline, explicit]

The constructor takes the dimension of the grid as argument.

Definition at line 84 of file GridN.h.

template<typename _T>

virtual ompl::GridN< _T >::~GridN

(

void

)

[inline, virtual]

Definition at line 91 of file GridN.h.

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Member Function Documentation

template<typename _T>

virtual BaseCell* ompl::GridN< _T >::createCell	(	const Coord &	coord,
		BaseCellArray *	nbh = NULL
	)			[inline, virtual]

Instantiate a new cell at given coordinates; Optionally return the list of future neighbors. Note: this call only creates the cell, but does not add it to the grid. It however updates the neighbor count for neighboring cells

Definition at line 166 of file GridN.h.

template<typename _T>

Cell* ompl::GridN< _T >::getCell

(

const Coord &

coord

)

const [inline]

Get the cell at a specified coordinate.

Reimplemented from ompl::Grid< _T >.

Definition at line 132 of file GridN.h.

template<typename _T>

void ompl::GridN< _T >::getCells

(

CellArray &

cells

)

const [inline]

Get the set of instantiated cells in the grid.

Reimplemented from ompl::Grid< _T >.

Definition at line 219 of file GridN.h.

template<typename _T>

void ompl::GridN< _T >::neighbors	(	Coord &	coord,
		CellArray &	list
	)			const [inline]

Get the list of neighbors for a given coordinate.

Reimplemented from ompl::Grid< _T >.

Definition at line 152 of file GridN.h.

template<typename _T>

void ompl::GridN< _T >::neighbors	(	const Coord &	coord,
		CellArray &	list
	)			const [inline]

Get the list of neighbors for a given coordinate.

Reimplemented from ompl::Grid< _T >.

Definition at line 145 of file GridN.h.

template<typename _T>

void ompl::GridN< _T >::neighbors	(	const Cell *	cell,
		CellArray &	list
	)			const [inline]

Get the list of neighbors for a given cell.

Reimplemented from ompl::Grid< _T >.

Definition at line 138 of file GridN.h.

template<typename _T>

unsigned int ompl::GridN< _T >::numberOfBoundaryDimensions

(

const Coord &

coord

)

const [inline, protected]

Compute how many sides of a coordinate touch the boundaries of the grid.

Definition at line 229 of file GridN.h.

template<typename _T>

virtual bool ompl::GridN< _T >::remove

(

BaseCell *

cell

)

[inline, virtual]

Remove a cell from the grid. If the cell has not been Added to the grid, only update the neighbor list

Reimplemented from ompl::Grid< _T >.

Reimplemented in ompl::GridB< _T, LessThanExternal, LessThanInternal >.

Definition at line 194 of file GridN.h.

template<typename _T>

void ompl::GridN< _T >::setBounds	(	const Coord &	low,
		const Coord &	up
	)			[inline]

If bounds for the grid need to be considered, we can set them here. When the number of neighbors are counted, whether the Space is bounded matters, in the sense that if a cell is on the boundary, we know some of its neighbors cannot exist. In order to allow such a cell to reflect the fact it has Achieved its maximal number of neighbors, the boundary is counted as the number of neighbors it prevents from existing.

Definition at line 115 of file GridN.h.

template<typename _T>

void ompl::GridN< _T >::setDimension

(

unsigned int

dimension

)

[inline]

Update the dimension of the grid; this should not be done unless the grid is empty

Reimplemented from ompl::Grid< _T >.

Definition at line 97 of file GridN.h.

template<typename _T>

void ompl::GridN< _T >::setInteriorCellNeighborLimit

(

unsigned int

count

)

[inline]

Set the limit of neighboring cells to determine when a cell becomes interior by default, this is 2 * dimension of grid

Definition at line 124 of file GridN.h.

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Member Data Documentation

template<typename _T>

bool ompl::GridN< _T >::hasBounds_ [protected]

Flag indicating whether bounds are in effect for this grid.

Definition at line 242 of file GridN.h.

template<typename _T>

unsigned int ompl::GridN< _T >::interiorCellNeighborsLimit_ [protected]

By default, cells are considered on the border if 2n neighbors are created, for a space of dimension n. this value is overridden and set in this member variable

Definition at line 253 of file GridN.h.

template<typename _T>

Coord ompl::GridN< _T >::lowBound_ [protected]

If bounds are set, this defines the lower corner cell.

Definition at line 245 of file GridN.h.

template<typename _T>

bool ompl::GridN< _T >::overrideCellNeighborsLimit_ [protected]

Flag indicating whether the neighbor count used to determine whether a cell is on the border or not

Definition at line 257 of file GridN.h.

template<typename _T>

Coord ompl::GridN< _T >::upBound_ [protected]

If bounds are set, this defines the upper corner cell.

Definition at line 248 of file GridN.h.

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The documentation for this class was generated from the following file:

• GridN.h