Class Vertex

Defined in File Vertex.h

Inheritance Relationships

Base Type

public std::enable_shared_from_this< Vertex >

Class Documentation

class Vertex : public std::enable_shared_from_this<Vertex>

Public Functions

Vertex(const ompl::base::SpaceInformationPtr &spaceInformation, const ompl::base::ProblemDefinitionPtr &problemDefinition, const std::size_t &batchId): Constructs a vertex by sampling a state.

explicit Vertex(const std::shared_ptr<Vertex> &other): Constructs a copy of another vertex.

virtual ~Vertex(): Destructs the vertex.

std::size_t getId() const: Get the unique id of this vertex.

ompl::base::State *getState(): Provides write access to the underlying state.

ompl::base::State const *getState() const: Provides read access to the underlying state.

ompl::base::ScopedState getScopedState() const: Returns a scoped copy of the underlying state.

ompl::base::Cost getCostToComeFromStart() const: Returns the cost to come to this vertex from the start.

ompl::base::Cost getCostToComeFromGoal() const: Returns the cost to come to this vertex from the goal.

ompl::base::Cost getCostToGoToGoal() const: Returns the cost to go heuristic from this vertex.

ompl::base::Cost getEdgeCostFromForwardParent() const: Returns the edge cost from the forward parent.

ompl::base::Cost getEdgeCostFromReverseParent() const: Returns the edge cost from the reverse parent.

ompl::base::Cost getValidForwardEdgeCost() const: Returns the valid edge cost from the forward and backward tree on a valid path.

ompl::base::Cost getValidReverseEdgeCost() const

void resetForwardParent(): Resets associated parents of this vertex.

void resetReverseParent()

void resetForwardEdgeParent()

void resetReverseEdgeParent()

bool hasForwardParent() const: Returns whether this vertex has a parent in either search.

bool hasReverseParent() const

bool hasReverseEdgeParent() const

bool hasForwardEdgeParent() const

std::shared_ptr<Vertex> getForwardParent() const: Returns the parent of the vertex (in the forward-search tree).

std::shared_ptr<Vertex> getForwardEdgeParent() const

std::shared_ptr<Vertex> getReverseParent() const: Returns the parent of the vertex (in the reverse-search tree).

std::shared_ptr<Vertex> getReverseEdgeParent() const

void setForwardEdgeCost(const ompl::base::Cost &cost): Sets the cost to come to this vertex.

void setCostToComeFromStart(const ompl::base::Cost &cost): Sets the cost to come to this vertex.

void setCostToComeFromGoal(const ompl::base::Cost &cost): Sets the cost to come to this vertex from the goal.

void setCostToGoToGoal(const ompl::base::Cost &cost): Sets the cost to go To goal heuristic of this vertex.

void setCostToGoToStart(const ompl::base::Cost &cost): Sets the cost to go To start heuristic of this vertex.

void addToForwardChildren(const std::shared_ptr<Vertex> &vertex): Adds a vertex to this vertex’s forward children.

void removeFromForwardChildren(std::size_t vertexId): Removes a vertex from this vertex’s forward children.

std::vector<std::shared_ptr<Vertex>> getForwardChildren() const: Returns this vertex’s children in the forward search tree.

void addToReverseChildren(const std::shared_ptr<Vertex> &vertex): Adds a vertex this vertex’s children.

void removeFromReverseChildren(std::size_t vertexId): Removes a vertex from this vertex’s forward children.

std::vector<std::shared_ptr<Vertex>> getReverseChildren() const: Returns this vertex’s children in the reverse search tree.

void whitelistAsChild(const std::shared_ptr<Vertex> &vertex) const: Whitelists a child.

bool isWhitelistedAsChild(const std::shared_ptr<Vertex> &vertex) const: Returns whether a child is whitelisted.

void blacklistAsChild(const std::shared_ptr<Vertex> &vertex) const: Blacklists a child.

std::size_t getIncomingCollisionCheckResolution(const std::size_t vertexId) const

void setIncomingCollisionCheckResolution(const std::size_t vertexId, std::size_t numChecks) const

bool isBlacklistedAsChild(const std::shared_ptr<Vertex> &vertex) const: Returns whether a child is blacklisted.

bool hasCachedNeighbors() const: Returns whether the vertex knows its nearest neighbors on the current approximation.

void cacheNeighbors(const std::vector<std::shared_ptr<Vertex>> &neighbors) const: Caches the neighbors for the current approximation.

const std::vector<std::shared_ptr<Vertex>> getNeighbors() const: Returns the nearest neighbors, throws if not up to date.

bool isGoal(): set and evalue whether this vertex is a start, goal or meeting state.

void setMeet()

bool isStart()

bool meetVertex()

bool nearObstacle(): whether a state is near obstalce

void setGoalVertex()

bool forwardInvalid()

bool reverseInvalid()

void setStartVertex(): remark the state to be near obstalce.

void setNearObstacle()

void setForwardInvalid()

void setReverseInvalid()

void setReverseExpanded(): Sets wether this vertex is expanded.

void setForwardExpanded()

bool isForwardExpanded(): Check whether a state is expanded.

bool isReverseExpanded()

std::size_t getForwardId(): get the current search counter of a state

std::size_t getReverseId()

ompl::base::Cost getLowerCostBoundToGoal(): Set the the lower bound of the estimated heuristic value.

ompl::base::Cost getLowerCostBoundToStart()

void setForwardId(const std::size_t counter): Set the current search counter.

void setReverseId(const std::size_t counter)

void setLowerCostBoundToGoal(const ompl::base::Cost &ToGoal): Set the lower-cost-bound-to-go of this vertex.

void setLowerCostBoundToStart(const ompl::base::Cost &ToStart)

void resetMeet(): Resets the value of aforementioned values.

void resetNearObstacle()

void resetBackwardParent()

void resetForwardId()

void resetReverseId()

void resetForwardInvalid()

void resetReverseInvalid()

void resetForwardExpanded()

void resetReverseExpanded()

void resetCostToComeFromGoal()

void resetCostToComeFromStart()

void resetForwardVertexQueuePointer(): Resets the reverse queue pointer.

void resetReverseVertexQueuePointer()

VertexQueue::Element *getForwardVertexQueuePointer() const: Returns the reverse queue pointer of this vertex.

VertexQueue::Element *getReverseVertexQueuePointer() const

void setForwardVertexQueuePointer(typename VertexQueue::Element *pointer): Sets the reverse queue pointer of this vertex.

void setReverseVertexQueuePointer(typename VertexQueue::Element *pointer)

void setForwardValidParent(const std::shared_ptr<Vertex> &vertex, const ompl::base::Cost &edgeCost): Sets the valid parent vertex (in a valid path).

void setReverseValidParent(const std::shared_ptr<Vertex> &vertex, const ompl::base::Cost &edgeCost)

void setReverseVertexParent(const std::shared_ptr<Vertex> &vertex, const ompl::base::Cost &edgeCost): Sets the parent vertex (in the reverse or forward -search tree).

void setForwardVertexParent(const std::shared_ptr<Vertex> &vertex, const ompl::base::Cost &edgeCost)