Representation of a bidirectional motion.
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#include <ompl/geometric/planners/fmt/BFMT.h>
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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...
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using | BiDirMotionPtrs = std::vector< BiDirMotion * > |
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Representation of a bidirectional motion.
Definition at line 273 of file BFMT.h.
◆ BiDirMotionPtrs
using ompl::geometric::BFMT::BiDirMotion::BiDirMotionPtrs = std::vector<BiDirMotion *> |
◆ 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.
◆ BiDirMotion() [1/2]
ompl::geometric::BFMT::BiDirMotion::BiDirMotion |
( |
TreeType * |
tree | ) |
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inline |
◆ BiDirMotion() [2/2]
ompl::geometric::BFMT::BiDirMotion::BiDirMotion |
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const base::SpaceInformationPtr & |
si, |
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TreeType * |
tree |
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) |
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inline |
Constructor that allocates memory for the state.
Definition at line 303 of file BFMT.h.
◆ addCC()
void ompl::geometric::BFMT::BiDirMotion::addCC |
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BiDirMotion * |
m | ) |
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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 | ) |
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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 |
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const |
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inline |
Get the children of the motion.
Definition at line 378 of file BFMT.h.
◆ getCost()
base::Cost ompl::geometric::BFMT::BiDirMotion::getCost |
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const |
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inline |
Set the state associated with the motion.
Definition at line 342 of file BFMT.h.
◆ getCurrentSet()
SetType ompl::geometric::BFMT::BiDirMotion::getCurrentSet |
( |
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const |
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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 |
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inline |
Get the cost to go heuristic cost.
Definition at line 445 of file BFMT.h.
◆ getOtherCost()
base::Cost ompl::geometric::BFMT::BiDirMotion::getOtherCost |
( |
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const |
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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 |
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const |
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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 |
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const |
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inline |
Get the parent of the motion.
Definition at line 366 of file BFMT.h.
◆ getState()
base::State * ompl::geometric::BFMT::BiDirMotion::getState |
( |
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const |
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inline |
Get the state associated with the motion.
Definition at line 420 of file BFMT.h.
◆ getTreeType()
TreeType ompl::geometric::BFMT::BiDirMotion::getTreeType |
( |
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const |
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inline |
Get tree identifier for this motion.
Definition at line 408 of file BFMT.h.
◆ setChildren()
void ompl::geometric::BFMT::BiDirMotion::setChildren |
( |
BiDirMotionPtrs |
children | ) |
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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 | ) |
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inline |
Set the cost of the motion.
Definition at line 354 of file BFMT.h.
◆ setCurrentSet()
void ompl::geometric::BFMT::BiDirMotion::setCurrentSet |
( |
SetType |
set | ) |
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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 | ) |
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inline |
Set the cost to go heuristic cost.
Definition at line 439 of file BFMT.h.
◆ setParent()
void ompl::geometric::BFMT::BiDirMotion::setParent |
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BiDirMotion * |
parent | ) |
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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 | ) |
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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 | ) |
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inline |
Set tree identifier for this motion.
Definition at line 402 of file BFMT.h.
◆ 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