Loading...
Searching...
No Matches
Vertex.h
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
std::vector< std::shared_ptr< Vertex > > getReverseChildren() const
Returns this vertex's children in the reverse search tree.
Definition Vertex.cpp:447
std::vector< std::weak_ptr< Vertex > > invalidateForwardBranch()
Recursively invalidates the branch of the forward tree rooted in this vertex.
Definition Vertex.cpp:242
ompl::base::State * getState()
Provides write access to the underlying state.
Definition Vertex.cpp:114
std::vector< EdgeQueue::Element * > getForwardQueueIncomingLookup() const
Returns the forward queue incoming lookup of this vertex.
Definition Vertex.cpp:511
bool isWhitelistedAsChild(const std::shared_ptr< Vertex > &vertex) const
Returns whether a child is whitelisted.
Definition Vertex.cpp:353
void removeFromForwardQueueOutgoingLookup(typename EdgeQueue::Element *element)
Remove an element from the outgoing queue lookup.
Definition Vertex.cpp:531
void blacklistAsChild(const std::shared_ptr< Vertex > &vertex) const
Blacklists a child.
Definition Vertex.cpp:379
ompl::base::Cost getExpandedCostToComeFromGoal() const
Returns the cost to come to this vertex from the goal when it was expanded.
Definition Vertex.cpp:139
void resetForwardQueueOutgoingLookup()
Resets the forward queue outgoing lookup.
Definition Vertex.cpp:544
void addToForwardQueueOutgoingLookup(typename EdgeQueue::Element *pointer)
Adds an element to the forward queue outgoing lookup.
Definition Vertex.cpp:502
Vertex(const ompl::base::SpaceInformationPtr &spaceInformation, const ompl::base::ProblemDefinitionPtr &problemDefinition, const std::size_t &batchId)
Constructs a vertex by sampling a state.
Definition Vertex.cpp:63
void removeFromForwardChildren(std::size_t vertexId)
Removes a vertex from this vertex's forward children.
Definition Vertex.cpp:305
bool hasCachedNeighbors() const
Returns whether the vertex knows its nearest neighbors on the current approximation.
Definition Vertex.cpp:407
void callOnReverseBranch(const std::function< void(const std::shared_ptr< Vertex > &)> &function)
Calls the given function on this vertex and all of its children.
Definition Vertex.cpp:561
std::vector< EdgeQueue::Element * > getForwardQueueOutgoingLookup() const
Returns the forward queue outgoing lookup of this vertex.
Definition Vertex.cpp:518
void resetExpandedCostToComeFromGoal()
Resets the expanded cost to come to this vertex from the goal to infinity.
Definition Vertex.cpp:197
void setForwardParent(const std::shared_ptr< Vertex > &vertex, const ompl::base::Cost &edgeCost)
Sets the parent vertex (in the forward-search tree).
Definition Vertex.cpp:260
bool isConsistent() const
Returns whether the vertex is consistent, i.e., whether its cost-to-come is equal to the cost-to-come...
Definition Vertex.cpp:459
void setCostToComeFromGoal(const ompl::base::Cost &cost)
Sets the cost to come to this vertex from the goal.
Definition Vertex.cpp:187
ompl::base::Cost getCostToComeFromStart() const
Returns the cost to come to this vertex from the start.
Definition Vertex.cpp:129
void addToReverseChildren(const std::shared_ptr< Vertex > &vertex)
Adds a vertex this vertex's children.
Definition Vertex.cpp:324
ompl::base::Cost getCostToComeFromGoal() const
Returns the cost to come to this vertex from the goal.
Definition Vertex.cpp:134
ompl::base::ScopedState getScopedState() const
Returns a scoped copy of the underlying state.
Definition Vertex.cpp:124
void setExpandedCostToComeFromGoal(const ompl::base::Cost &cost)
Sets the cost to come to this vertex from the goal when it was expanded.
Definition Vertex.cpp:202
bool hasForwardParent() const
Returns whether this vertex has a parent in the forward search.
Definition Vertex.cpp:154
bool isBlacklistedAsChild(const std::shared_ptr< Vertex > &vertex) const
Returns whether a child is blacklisted.
Definition Vertex.cpp:384
void resetForwardQueueIncomingLookup()
Resets the forward queue incoming lookup.
Definition Vertex.cpp:539
void addToForwardChildren(const std::shared_ptr< Vertex > &vertex)
Adds a vertex to this vertex's forward children.
Definition Vertex.cpp:300
void updateCostOfForwardBranch() const
Updates the cost to the whole branch rooted at this vertex.
Definition Vertex.cpp:212
void setForwardEdgeCost(const ompl::base::Cost &cost)
Sets the cost to come to this vertex.
Definition Vertex.cpp:177
VertexQueue::Element * getReverseQueuePointer() const
Returns the reverse queue pointer of this vertex.
Definition Vertex.cpp:481
void callOnForwardBranch(const std::function< void(const std::shared_ptr< Vertex > &)> &function)
Calls the given function on this vertex and all of its children.
Definition Vertex.cpp:549
ompl::base::Cost getCostToGoToGoal() const
Returns the cost to go heuristic from this vertex.
Definition Vertex.cpp:144
void setReverseParent(const std::shared_ptr< Vertex > &vertex)
Sets the parent vertex (in the reverse-search tree).
Definition Vertex.cpp:283
void removeFromReverseChildren(std::size_t vertexId)
Removes a vertex from this vertex's forward children.
Definition Vertex.cpp:329
void cacheNeighbors(const std::vector< std::shared_ptr< Vertex > > &neighbors) const
Caches the neighbors for the current approximation.
Definition Vertex.cpp:412
void whitelistAsChild(const std::shared_ptr< Vertex > &vertex) const
Whitelists a child.
Definition Vertex.cpp:348
bool hasReverseParent() const
Returns whether this vertex has a parent in the reverse search.
Definition Vertex.cpp:167
void addToForwardQueueIncomingLookup(typename EdgeQueue::Element *pointer)
Adds an element to the forward queue incoming lookup.
Definition Vertex.cpp:495
std::vector< std::weak_ptr< Vertex > > invalidateReverseBranch()
Recursively invalidates the branch of the reverse tree rooted in this vertex.
Definition Vertex.cpp:223
const std::vector< std::shared_ptr< Vertex > > getNeighbors() const
Returns the nearest neighbors, throws if not up to date.
Definition Vertex.cpp:419
void setCostToComeFromStart(const ompl::base::Cost &cost)
Sets the cost to come to this vertex.
Definition Vertex.cpp:182
void removeFromForwardQueueIncomingLookup(typename EdgeQueue::Element *element)
Remove an element from the incoming queue lookup.
Definition Vertex.cpp:523
void setCostToGoToGoal(const ompl::base::Cost &cost)
Sets the cost to go heuristic of this vertex.
Definition Vertex.cpp:207
std::shared_ptr< Vertex > getForwardParent() const
Returns the parent of the vertex (in the forward-search tree).
Definition Vertex.cpp:162
void setReverseQueuePointer(typename VertexQueue::Element *pointer)
Sets the reverse queue pointer of this vertex.
Definition Vertex.cpp:465
ompl::base::Cost getEdgeCostFromForwardParent() const
Returns the edge cost from the forward parent.
Definition Vertex.cpp:149
std::vector< std::shared_ptr< Vertex > > getForwardChildren() const
Returns this vertex's children in the forward search tree.
Definition Vertex.cpp:436
std::shared_ptr< Vertex > getReverseParent() const
Returns the parent of the vertex (in the reverse-search tree).
Definition Vertex.cpp:172
void resetCostToComeFromGoal()
Resets the cost to come to this vertex from the goal to infinity.
Definition Vertex.cpp:192
This namespace contains code that is specific to planning under geometric constraints.
Definition GeneticSearch.h:48
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66