ompl::geometric::Discretization< Motion > Class Template Reference

One-level discretization used for KPIECE. More...

#include <Discretization.h>

Classes
struct	CellData
	The data held by a cell in the grid of motions. More...
struct	OrderCellsByImportance
	Definintion of an operator passed to the Grid structure, to order cells by importance. More...
Public Types
typedef Grid::Cell	Cell
	The datatype for the maintained grid cells.
typedef Grid::Coord	Coord
	The datatype for the maintained grid coordinates.
typedef boost::function1< void, Motion * >	FreeMotionFn
	The signature of a function that frees the memory for a motion.
typedef GridB< CellData *, OrderCellsByImportance >	Grid
	The datatype for the maintained grid datastructure.
Public Member Functions
unsigned int	addMotion (Motion *motion, const Coord &coord, double dist=0.0)
	Add a motion to the grid containing motions. As a hint, dist specifies the distance to the goal from the state of the motion being added. The function returns the number of cells created to accommodate the new motion (0 or 1). The discretization takes ownership of the motion passed as argument, and the memory for the motion is freed by calling the function passed to the constructor.
void	clear (void)
	Restore the discretization to its original form.
void	countIteration (void)
	Discretization (const FreeMotionFn &freeMotion)
void	freeMemory (void)
	Free the memory for the motions contained in a grid.
double	getBorderFraction (void) const
	Set the fraction of time for focusing on the border (between 0 and 1).
std::size_t	getCellCount (void)
const Grid &	getGrid (void) const
std::size_t	getMotionCount (void)
void	getPlannerData (base::PlannerData &data, int tag) const
bool	removeMotion (Motion *motion, const Coord &coord)
void	selectMotion (Motion &smotion, Cell &scell)
	Select a motion and the cell it is part of from the grid of motions. This is where preference is given to cells on the boundary of the grid.
void	setBorderFraction (double bp)
	Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction used to select cells that are exterior (minimum because if 95% of cells are on the border, they will be selected with 95% chance, even if this fraction is set to 90%).
void	setDimension (unsigned int dim)
	Set the dimension of the grid to be maintained.
void	updateCell (Cell *cell)
	~Discretization (void)
Private Member Functions
void	freeCellData (CellData *cdata)
	Free the memory for the data contained in a grid cell.
Static Private Member Functions
static void	computeImportance (Cell cell, void )
	This function is provided as a callback to the grid datastructure to update the importance of a cell.
Private Attributes
FreeMotionFn	freeMotion_
	Method that can free the memory for a stored motion.
Grid	grid_
	A grid containing motions, imposed on a projection of the state space.
unsigned int	iteration_
	The number of iterations performed on this tree.
Cell *	recentCell_
	The most recently created cell.
RNG	rng_
	The random number generator.
double	selectBorderFraction_
	The fraction of time to focus exploration on the border of the grid.
std::size_t	size_
	The total number of motions (there can be multiple per cell) in the grid.

Detailed Description

template<typename Motion>
class ompl::geometric::Discretization< Motion >

One-level discretization used for KPIECE.

Definition at line 58 of file Discretization.h.

Member Typedef Documentation

template<typename Motion>

typedef Grid::Cell ompl::geometric::Discretization< Motion >::Cell

The datatype for the maintained grid cells.

Definition at line 113 of file Discretization.h.

template<typename Motion>

typedef Grid::Coord ompl::geometric::Discretization< Motion >::Coord

The datatype for the maintained grid coordinates.

Definition at line 116 of file Discretization.h.

template<typename Motion>

typedef boost::function1<void, Motion*> ompl::geometric::Discretization< Motion >::FreeMotionFn

The signature of a function that frees the memory for a motion.

Definition at line 119 of file Discretization.h.

template<typename Motion>

typedef GridB<CellData*, OrderCellsByImportance> ompl::geometric::Discretization< Motion >::Grid

The datatype for the maintained grid datastructure.

Definition at line 110 of file Discretization.h.

Constructor & Destructor Documentation

template<typename Motion>

ompl::geometric::Discretization< Motion >::Discretization ( const FreeMotionFn & freeMotion ) [inline]

Definition at line 121 of file Discretization.h.

template<typename Motion>

ompl::geometric::Discretization< Motion >::~Discretization ( void ) [inline]

Definition at line 128 of file Discretization.h.

Member Function Documentation

template<typename Motion>

unsigned int ompl::geometric::Discretization< Motion >::addMotion	(	Motion *	motion,
		const Coord &	coord,
		double	dist = `0.0`
	)			`[inline]`

Add a motion to the grid containing motions. As a hint, dist specifies the distance to the goal from the state of the motion being added. The function returns the number of cells created to accommodate the new motion (0 or 1). The discretization takes ownership of the motion passed as argument, and the memory for the motion is freed by calling the function passed to the constructor.

Definition at line 199 of file Discretization.h.

template<typename Motion>

void ompl::geometric::Discretization< Motion >::clear ( void ) [inline]

Restore the discretization to its original form.

Definition at line 160 of file Discretization.h.

template<typename Motion>

static void ompl::geometric::Discretization< Motion >::computeImportance	(	Cell *	cell,
		void *
	)			`[inline, static, private]`

This function is provided as a callback to the grid datastructure to update the importance of a cell.

Definition at line 313 of file Discretization.h.

template<typename Motion>

void ompl::geometric::Discretization< Motion >::countIteration ( void ) [inline]

Definition at line 168 of file Discretization.h.

template<typename Motion>

void ompl::geometric::Discretization< Motion >::freeCellData ( CellData * cdata ) [inline, private]

Free the memory for the data contained in a grid cell.

Definition at line 303 of file Discretization.h.

template<typename Motion>

void ompl::geometric::Discretization< Motion >::freeMemory ( void ) [inline]

Free the memory for the motions contained in a grid.

Definition at line 184 of file Discretization.h.

template<typename Motion>

double ompl::geometric::Discretization< Motion >::getBorderFraction ( void ) const [inline]

Set the fraction of time for focusing on the border (between 0 and 1).

Definition at line 148 of file Discretization.h.

template<typename Motion>

std::size_t ompl::geometric::Discretization< Motion >::getCellCount ( void ) [inline]

Definition at line 178 of file Discretization.h.

template<typename Motion>

const Grid& ompl::geometric::Discretization< Motion >::getGrid ( void ) const [inline]

Definition at line 283 of file Discretization.h.

template<typename Motion>

std::size_t ompl::geometric::Discretization< Motion >::getMotionCount ( void ) [inline]

Definition at line 173 of file Discretization.h.

template<typename Motion>

void ompl::geometric::Discretization< Motion >::getPlannerData	(	base::PlannerData &	data,
		int	tag
	)			const `[inline]`

Definition at line 288 of file Discretization.h.

template<typename Motion>

bool ompl::geometric::Discretization< Motion >::removeMotion	(	Motion *	motion,
		const Coord &	coord
	)			`[inline]`

Definition at line 253 of file Discretization.h.

template<typename Motion>

void ompl::geometric::Discretization< Motion >::selectMotion	(	Motion *&	smotion,
		Cell *&	scell
	)			`[inline]`

Select a motion and the cell it is part of from the grid of motions. This is where preference is given to cells on the boundary of the grid.

Definition at line 230 of file Discretization.h.

template<typename Motion>

void ompl::geometric::Discretization< Motion >::setBorderFraction ( double bp ) [inline]

Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction used to select cells that are exterior (minimum because if 95% of cells are on the border, they will be selected with 95% chance, even if this fraction is set to 90%).

Definition at line 139 of file Discretization.h.

template<typename Motion>

void ompl::geometric::Discretization< Motion >::setDimension ( unsigned int dim ) [inline]

Set the dimension of the grid to be maintained.

Definition at line 154 of file Discretization.h.

template<typename Motion>

void ompl::geometric::Discretization< Motion >::updateCell ( Cell * cell ) [inline]