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ompl::geometric::BFMT::BiDirMotion Class Reference

Representation of a bidirectional motion. More...

#include <ompl/geometric/planners/fmt/BFMT.h>

Public Types

enum  SetType { SET_CLOSED , SET_OPEN , SET_UNVISITED }
 The FMT* planner begins with all nodes included in set Unvisited "Waiting for optimal connection". As nodes are connected to the tree, they are transferred into set Open "Horizon of explored tree." Once a node in Open is no longer close enough to the frontier to connect to any more nodes in Unvisited, it is removed from Open. These three SetTypes are flags indicating which set the node belongs to; Open, Unvisited, or Closed (neither) More...
 
using BiDirMotionPtrs = std::vector<BiDirMotion *>
 

Public Member Functions

 BiDirMotion (TreeType *tree)
 
 BiDirMotion (const base::SpaceInformationPtr &si, TreeType *tree)
 Constructor that allocates memory for the state.
 
base::Cost getCost () const
 Set the state associated with the motion.
 
base::Cost getOtherCost () const
 Get cost of this motion in the inactive tree.
 
void setCost (base::Cost cost)
 Set the cost of the motion.
 
void setParent (BiDirMotion *parent)
 Set the parent of the motion.
 
BiDirMotiongetParent () const
 Get the parent of the motion.
 
void setChildren (BiDirMotionPtrs children)
 Set the children of the motion.
 
BiDirMotionPtrs getChildren () const
 Get the children of the motion.
 
void setCurrentSet (SetType set)
 Set the current set of the motion.
 
SetType getCurrentSet () const
 Fet the current set of the motion.
 
SetType getOtherSet () const
 Get set of this motion in the inactive tree.
 
void setTreeType (TreeType *treePtr)
 Set tree identifier for this motion.
 
TreeType getTreeType () const
 Get tree identifier for this motion.
 
void setState (base::State *state)
 Set the state associated with the motion.
 
base::StategetState () const
 Get the state associated with the motion.
 
bool alreadyCC (BiDirMotion *m)
 Returns true if the connection to m has been already tested and failed because of a collision.
 
void addCC (BiDirMotion *m)
 Caches a failed collision check to m.
 
void setHeuristicCost (const base::Cost h)
 Set the cost to go heuristic cost.
 
base::Cost getHeuristicCost () const
 Get the cost to go heuristic cost.
 

Public Attributes

base::Statestate_
 The state contained by the motion.
 
BiDirMotionparent_ [2]
 The parent motion in the exploration tree.
 
BiDirMotionPtrs children_ [2]
 The set of motions descending from the current motion.
 
SetType currentSet_ [2]
 Current set in which the motion is included.
 
TreeTypetree_
 Tree identifier.
 
base::Cost cost_ [2]
 The cost of this motion.
 
base::Cost hcost_ [2]
 The minimum cost to go of this motion (heuristically computed)
 
std::set< BiDirMotion * > collChecksDone_
 Contains the connections attempted FROM this node.
 

Detailed Description

Representation of a bidirectional motion.

Definition at line 273 of file BFMT.h.

Member Typedef Documentation

◆ BiDirMotionPtrs

using ompl::geometric::BFMT::BiDirMotion::BiDirMotionPtrs = std::vector<BiDirMotion *>

Definition at line 315 of file BFMT.h.

Member Enumeration Documentation

◆ SetType

The FMT* planner begins with all nodes included in set Unvisited "Waiting for optimal connection". As nodes are connected to the tree, they are transferred into set Open "Horizon of explored tree." Once a node in Open is no longer close enough to the frontier to connect to any more nodes in Unvisited, it is removed from Open. These three SetTypes are flags indicating which set the node belongs to; Open, Unvisited, or Closed (neither)

Definition at line 283 of file BFMT.h.

Constructor & Destructor Documentation

◆ BiDirMotion() [1/2]

ompl::geometric::BFMT::BiDirMotion::BiDirMotion ( TreeType * tree)
inline

Definition at line 290 of file BFMT.h.

◆ BiDirMotion() [2/2]

ompl::geometric::BFMT::BiDirMotion::BiDirMotion ( const base::SpaceInformationPtr & si,
TreeType * tree )
inline

Constructor that allocates memory for the state.

Definition at line 303 of file BFMT.h.

Member Function Documentation

◆ addCC()

void ompl::geometric::BFMT::BiDirMotion::addCC ( BiDirMotion * m)
inline

Caches a failed collision check to m.

Definition at line 433 of file BFMT.h.

◆ alreadyCC()

bool ompl::geometric::BFMT::BiDirMotion::alreadyCC ( BiDirMotion * m)
inline

Returns true if the connection to m has been already tested and failed because of a collision.

Definition at line 427 of file BFMT.h.

◆ getChildren()

BiDirMotionPtrs ompl::geometric::BFMT::BiDirMotion::getChildren ( ) const
inline

Get the children of the motion.

Definition at line 378 of file BFMT.h.

◆ getCost()

base::Cost ompl::geometric::BFMT::BiDirMotion::getCost ( ) const
inline

Set the state associated with the motion.

Definition at line 342 of file BFMT.h.

◆ getCurrentSet()

SetType ompl::geometric::BFMT::BiDirMotion::getCurrentSet ( ) const
inline

Fet the current set of the motion.

Definition at line 390 of file BFMT.h.

◆ getHeuristicCost()

base::Cost ompl::geometric::BFMT::BiDirMotion::getHeuristicCost ( ) const
inline

Get the cost to go heuristic cost.

Definition at line 445 of file BFMT.h.

◆ getOtherCost()

base::Cost ompl::geometric::BFMT::BiDirMotion::getOtherCost ( ) const
inline

Get cost of this motion in the inactive tree.

Definition at line 348 of file BFMT.h.

◆ getOtherSet()

SetType ompl::geometric::BFMT::BiDirMotion::getOtherSet ( ) const
inline

Get set of this motion in the inactive tree.

Definition at line 396 of file BFMT.h.

◆ getParent()

BiDirMotion * ompl::geometric::BFMT::BiDirMotion::getParent ( ) const
inline

Get the parent of the motion.

Definition at line 366 of file BFMT.h.

◆ getState()

base::State * ompl::geometric::BFMT::BiDirMotion::getState ( ) const
inline

Get the state associated with the motion.

Definition at line 420 of file BFMT.h.

◆ getTreeType()

TreeType ompl::geometric::BFMT::BiDirMotion::getTreeType ( ) const
inline

Get tree identifier for this motion.

Definition at line 408 of file BFMT.h.

◆ setChildren()

void ompl::geometric::BFMT::BiDirMotion::setChildren ( BiDirMotionPtrs children)
inline

Set the children of the motion.

Definition at line 372 of file BFMT.h.

◆ setCost()

void ompl::geometric::BFMT::BiDirMotion::setCost ( base::Cost cost)
inline

Set the cost of the motion.

Definition at line 354 of file BFMT.h.

◆ setCurrentSet()

void ompl::geometric::BFMT::BiDirMotion::setCurrentSet ( SetType set)
inline

Set the current set of the motion.

Definition at line 384 of file BFMT.h.

◆ setHeuristicCost()

void ompl::geometric::BFMT::BiDirMotion::setHeuristicCost ( const base::Cost h)
inline

Set the cost to go heuristic cost.

Definition at line 439 of file BFMT.h.

◆ setParent()

void ompl::geometric::BFMT::BiDirMotion::setParent ( BiDirMotion * parent)
inline

Set the parent of the motion.

Definition at line 360 of file BFMT.h.

◆ setState()

void ompl::geometric::BFMT::BiDirMotion::setState ( base::State * state)
inline

Set the state associated with the motion.

Definition at line 414 of file BFMT.h.

◆ setTreeType()

void ompl::geometric::BFMT::BiDirMotion::setTreeType ( TreeType * treePtr)
inline

Set tree identifier for this motion.

Definition at line 402 of file BFMT.h.

Member Data Documentation

◆ children_

BiDirMotionPtrs ompl::geometric::BFMT::BiDirMotion::children_[2]

The set of motions descending from the current motion.

Definition at line 324 of file BFMT.h.

◆ collChecksDone_

std::set<BiDirMotion *> ompl::geometric::BFMT::BiDirMotion::collChecksDone_

Contains the connections attempted FROM this node.

Definition at line 339 of file BFMT.h.

◆ cost_

base::Cost ompl::geometric::BFMT::BiDirMotion::cost_[2]

The cost of this motion.

Definition at line 333 of file BFMT.h.

◆ currentSet_

SetType ompl::geometric::BFMT::BiDirMotion::currentSet_[2]

Current set in which the motion is included.

Definition at line 327 of file BFMT.h.

◆ hcost_

base::Cost ompl::geometric::BFMT::BiDirMotion::hcost_[2]

The minimum cost to go of this motion (heuristically computed)

Definition at line 336 of file BFMT.h.

◆ parent_

BiDirMotion* ompl::geometric::BFMT::BiDirMotion::parent_[2]

The parent motion in the exploration tree.

Definition at line 321 of file BFMT.h.

◆ state_

base::State* ompl::geometric::BFMT::BiDirMotion::state_

The state contained by the motion.

Definition at line 318 of file BFMT.h.

◆ tree_

TreeType* ompl::geometric::BFMT::BiDirMotion::tree_

Tree identifier.

Definition at line 330 of file BFMT.h.


The documentation for this class was generated from the following file:
  • ompl/geometric/planners/fmt/BFMT.h