Template Class AnalyticExpansion

Nested Relationships

Nested Types

Class Documentation

template<typename NodeT>
class AnalyticExpansion

Public Types

typedef NodeT *NodePtr
typedef std::vector<NodePtr> NodeVector
typedef NodeT::Coordinates Coordinates
typedef std::function<bool(const uint64_t&, NodeT*&)> NodeGetter
typedef NodeT::CoordinateVector CoordinateVector

Public Functions

AnalyticExpansion(const MotionModel &motion_model, const SearchInfo &search_info, const bool &traverse_unknown, const unsigned int &dim_3_size)

Constructor for analytic expansion object.

void setCollisionChecker(GridCollisionChecker *collision_checker)

Sets the collision checker and costmap to use in expansion validation.

Parameters:

collision_checker – Collision checker to use

NodePtr tryAnalyticExpansion(const NodePtr &current_node, const NodeVector &coarse_check_goals, const NodeVector &fine_check_goals, const CoordinateVector &goals_coords, const NodeGetter &getter, int &iterations, int &closest_distance)

Attempt an analytic path completion.

Parameters:

  • node – The node to start the analytic path from

  • coarse_check_goals – Coarse list of goals nodes to plan to

  • fine_check_goals – Fine list of goals nodes to plan to

  • goals_coords – vector of goal coordinates to plan to

  • getter – Gets a node at a set of coordinates

  • iterations – Iterations to run over

  • closest_distance – Closest distance to goal

Returns:

Node pointer reference to goal node with the best score out of the goals node if successful, else return nullptr

AnalyticExpansionNodes getAnalyticPath(const NodePtr &node, const NodePtr &goal, const NodeGetter &getter, const ompl::base::StateSpacePtr &state_space)

Perform an analytic path expansion to the goal.

Parameters:

  • node – The node to start the analytic path from

  • goal – The goal node to plan to

  • getter – The function object that gets valid nodes from the graph

  • state_space – State space to use for computing analytic expansions

Returns:

A set of analytically expanded nodes to the goal from current node, if possible

float refineAnalyticPath(NodePtr &node, const NodePtr &goal_node, const NodeGetter &getter, AnalyticExpansionNodes &analytic_nodes)

Refined analytic path from the current node to the goal.

Parameters:

  • node – The node to start the analytic path from. Node head may change as a result of refinement

  • goal_node – The goal node to plan to

  • getter – The function object that gets valid nodes from the graph

  • analytic_nodes – The set of analytic nodes to refine

Returns:

The score of the refined path

NodePtr setAnalyticPath(const NodePtr &node, const NodePtr &goal, const AnalyticExpansionNodes &expanded_nodes)

Takes final analytic expansion and appends to current expanded node.

Parameters:

  • node – The node to start the analytic path from

  • goal – The goal node to plan to

  • expanded_nodes – Expanded nodes to append to end of current search path

Returns:

Node pointer to goal node if successful, else return nullptr

int countDirectionChanges(const ompl::base::ReedsSheppStateSpace::ReedsSheppPath &path)

Counts the number of direction changes in a Reeds-Shepp path.

Parameters:

path – The Reeds-Shepp path to count direction changes in

Returns:

The number of direction changes in the path

void cleanNode(const NodePtr &nodes)

Takes an expanded nodes to clean up, if necessary, of any state information that may be polluting it from a prior search iteration.

Parameters:

expanded_nodes – Expanded node to clean up from search

Protected Attributes

MotionModel _motion_model
SearchInfo _search_info
bool _traverse_unknown
unsigned int _dim_3_size
GridCollisionChecker *_collision_checker
std::list<std::unique_ptr<NodeT>> _detached_nodes
struct AnalyticExpansionNode

Public Functions

inline AnalyticExpansionNode(NodePtr &node_in, Coordinates &initial_coords_in, Coordinates &proposed_coords_in)

Public Members

NodePtr node
Coordinates initial_coords
Coordinates proposed_coords
struct AnalyticExpansionNodes

Analytic expansion nodes and associated metadata.

This structure holds a collection of analytic expansion nodes and the number of direction changes encountered during the expansion.

Public Functions

AnalyticExpansionNodes() = default
inline void add(NodePtr &node, Coordinates &initial_coords, Coordinates &proposed_coords)
inline void setDirectionChanges(int changes)

Public Members

std::vector<AnalyticExpansionNode> nodes
int direction_changes = {0}