Class NodeHybrid
Defined in File node_hybrid.hpp
Nested Relationships
Nested Types
Class Documentation
NodeHybrid implementation for graph, Hybrid-A*.
Public Types
Public Functions
A constructor for nav2_smac_planner::NodeHybrid.
- Parameters:
index – The index of this node for self-reference
A destructor for nav2_smac_planner::NodeHybrid.
operator== for comparisons
- Parameters:
NodeHybrid – right hand side node reference
- Returns:
If cell indicies are equal
setting continuous coordinate search poses (in partial-cells)
- Parameters:
Pose – pose
Reset method for new search.
Gets the accumulated cost at this node.
- Returns:
accumulated cost
Sets the accumulated cost at this node.
- Parameters:
reference – to accumulated cost
Sets the motion primitive index used to achieve node in search.
- Parameters:
reference – to motion primitive idx
Gets the motion primitive index used to achieve node in search.
- Returns:
reference to motion primitive idx
Gets the motion primitive turning direction used to achieve node in search.
- Returns:
reference to motion primitive turning direction
Gets the costmap cost at this node.
- Returns:
costmap cost
Gets if cell has been visited in search.
- Parameters:
If – cell was visited
Sets if cell has been visited in search.
Gets cell index.
- Returns:
Reference to cell index
Check if this node is valid.
- Parameters:
traverse_unknown – If we can explore unknown nodes on the graph
collision_checker – Collision checker object
- Returns:
whether this node is valid and collision free
Get traversal cost of parent node to child node.
- Parameters:
child – Node pointer to child
- Returns:
traversal cost
Retrieve all valid neighbors of a node.
- Parameters:
validity_checker – Functor for state validity checking
collision_checker – Collision checker to use
traverse_unknown – If unknown costs are valid to traverse
neighbors – Vector of neighbors to be filled
Set the starting pose for planning, as a node index.
- Parameters:
path – Reference to a vector of indicies of generated path
- Returns:
whether the path was able to be backtraced
Public Members
Public Static Functions
Get index at coordinates.
- Parameters:
x – X coordinate of point
y – Y coordinate of point
angle – Theta coordinate of point
width – Width of costmap
angle_quantization – Number of theta bins
- Returns:
Index
Get index at coordinates.
- Parameters:
x – X coordinate of point
y – Y coordinate of point
angle – Theta coordinate of point
- Returns:
Index
Get coordinates at index.
- Parameters:
index – Index of point
width – Width of costmap
angle_quantization – Theta size of costmap
- Returns:
Get cost of heuristic of node.
- Parameters:
node – Node index current
node – Node index of new
- Returns:
Heuristic cost between the nodes
Initialize motion models.
- Parameters:
motion_model – Motion model enum to use
size_x – Size of X of graph
size_y – Size of y of graph
angle_quantization – Size of theta bins of graph
search_info – Search info to use
Compute the SE2 distance heuristic.
- Parameters:
lookup_table_dim – Size, in costmap pixels, of the each lookup table dimension to populate
motion_model – Motion model to use for state space
dim_3_size – Number of quantization bins for caching
search_info – Info containing minimum radius to use
Compute the Obstacle heuristic.
- Parameters:
node_coords – Coordinates to get heuristic at
goal_coords – Coordinates to compute heuristic to
- Returns:
heuristic Heuristic value
Compute the Distance heuristic.
- Parameters:
node_coords – Coordinates to get heuristic at
goal_coords – Coordinates to compute heuristic to
obstacle_heuristic – Value of the obstacle heuristic to compute additional motion heuristics if required
- Returns:
heuristic Heuristic value
reset the obstacle heuristic state
- Parameters:
costmap_ros – Costmap to use
goal_coords – Coordinates to start heuristic expansion at
Destroy shared pointer assets at the end of the process that don’t require normal destruction handling.
Public Static Attributes
NodeHybrid implementation of coordinate structure.
Public Functions
A constructor for nav2_smac_planner::NodeHybrid::Coordinates.
A constructor for nav2_smac_planner::NodeHybrid::Coordinates.
- Parameters:
x_in – X coordinate
y_in – Y coordinate
theta_in – Theta coordinate
Public Members