A configuration in Bundle-space. More...
#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
Public Member Functions | |
Configuration (const ompl::base::SpaceInformationPtr &si) | |
Configuration (const ompl::base::SpaceInformationPtr &si, const ompl::base::State *state_) | |
void | setPDFElement (void *element_) |
void * | getPDFElement () |
Public Attributes | |
ompl::base::State * | state {nullptr} |
ompl::control::Control * | control {nullptr} |
unsigned int | total_connection_attempts {0} |
unsigned int | successful_connection_attempts {0} |
bool | on_shortest_path {false} |
void * | pdf_element |
Element of Probability Density Function (needed to update probability) | |
bool | isStart {false} |
bool | isGoal {false} |
Configuration * | parent {nullptr} |
parent index for {qrrt*} | |
base::Cost | cost |
cost to reach until current vertex in {qrrt*} | |
base::Cost | lineCost |
same as rrt*, connection cost with parent {qrrt*} | |
std::vector< Configuration * > | children |
The set of motions descending from the current motion {qrrt*}. | |
normalized_index_type | index {-1} |
Index of configuration in boost::graph. Usually in the interval [0,num_vertices(graph)], but if vertices are deleted or graphs are copied, we sometimes need to map them back to [0, num_vertices(graph)] | |
normalized_index_type | representativeIndex {-1} |
Access to the representatives (Sparse Vertex) of the Dense vertices For Sparse Graph: Store index of Sparse Vertex which is represtative of Dense Graph Vertex. | |
std::set< normalized_index_type > | nonInterfaceIndexList |
Access to all non-interface supporting vertices of the sparse nodes. | |
std::unordered_map< normalized_index_type, std::set< normalized_index_type > > | interfaceIndexList |
Access to the interface-supporting vertice hashes of the sparse nodes. | |
std::vector< Configuration * > | reachableSet |
Detailed Description
A configuration in Bundle-space.
Definition at line 95 of file BundleSpaceGraph.h.
Constructor & Destructor Documentation
◆ Configuration() [1/2]
BundleSpaceGraph::Configuration::Configuration | ( | const ompl::base::SpaceInformationPtr & | si | ) |
Definition at line 256 of file BundleSpaceGraph.cpp.
◆ Configuration() [2/2]
BundleSpaceGraph::Configuration::Configuration | ( | const ompl::base::SpaceInformationPtr & | si, |
const ompl::base::State * | state_ | ||
) |
Definition at line 259 of file BundleSpaceGraph.cpp.
Member Function Documentation
◆ getPDFElement()
|
inline |
Definition at line 116 of file BundleSpaceGraph.h.
◆ setPDFElement()
|
inline |
Definition at line 112 of file BundleSpaceGraph.h.
Member Data Documentation
◆ children
std::vector<Configuration *> ompl::multilevel::BundleSpaceGraph::Configuration::children |
The set of motions descending from the current motion {qrrt*}.
Definition at line 134 of file BundleSpaceGraph.h.
◆ control
ompl::control::Control* ompl::multilevel::BundleSpaceGraph::Configuration::control {nullptr} |
Definition at line 103 of file BundleSpaceGraph.h.
◆ cost
base::Cost ompl::multilevel::BundleSpaceGraph::Configuration::cost |
cost to reach until current vertex in {qrrt*}
Definition at line 128 of file BundleSpaceGraph.h.
◆ index
normalized_index_type ompl::multilevel::BundleSpaceGraph::Configuration::index {-1} |
Index of configuration in boost::graph. Usually in the interval [0,num_vertices(graph)], but if vertices are deleted or graphs are copied, we sometimes need to map them back to [0, num_vertices(graph)]
Definition at line 140 of file BundleSpaceGraph.h.
◆ interfaceIndexList
std::unordered_map<normalized_index_type, std::set<normalized_index_type> > ompl::multilevel::BundleSpaceGraph::Configuration::interfaceIndexList |
Access to the interface-supporting vertice hashes of the sparse nodes.
Definition at line 154 of file BundleSpaceGraph.h.
◆ isGoal
bool ompl::multilevel::BundleSpaceGraph::Configuration::isGoal {false} |
Definition at line 122 of file BundleSpaceGraph.h.
◆ isStart
bool ompl::multilevel::BundleSpaceGraph::Configuration::isStart {false} |
Definition at line 121 of file BundleSpaceGraph.h.
◆ lineCost
base::Cost ompl::multilevel::BundleSpaceGraph::Configuration::lineCost |
same as rrt*, connection cost with parent {qrrt*}
Definition at line 131 of file BundleSpaceGraph.h.
◆ nonInterfaceIndexList
std::set<normalized_index_type> ompl::multilevel::BundleSpaceGraph::Configuration::nonInterfaceIndexList |
Access to all non-interface supporting vertices of the sparse nodes.
Definition at line 149 of file BundleSpaceGraph.h.
◆ on_shortest_path
bool ompl::multilevel::BundleSpaceGraph::Configuration::on_shortest_path {false} |
Definition at line 107 of file BundleSpaceGraph.h.
◆ parent
Configuration* ompl::multilevel::BundleSpaceGraph::Configuration::parent {nullptr} |
parent index for {qrrt*}
Definition at line 125 of file BundleSpaceGraph.h.
◆ pdf_element
void* ompl::multilevel::BundleSpaceGraph::Configuration::pdf_element |
Element of Probability Density Function (needed to update probability)
Definition at line 111 of file BundleSpaceGraph.h.
◆ reachableSet
std::vector<Configuration *> ompl::multilevel::BundleSpaceGraph::Configuration::reachableSet |
Definition at line 156 of file BundleSpaceGraph.h.
◆ representativeIndex
normalized_index_type ompl::multilevel::BundleSpaceGraph::Configuration::representativeIndex {-1} |
Access to the representatives (Sparse Vertex) of the Dense vertices For Sparse Graph: Store index of Sparse Vertex which is represtative of Dense Graph Vertex.
Definition at line 145 of file BundleSpaceGraph.h.
◆ state
ompl::base::State* ompl::multilevel::BundleSpaceGraph::Configuration::state {nullptr} |
Definition at line 102 of file BundleSpaceGraph.h.
◆ successful_connection_attempts
unsigned int ompl::multilevel::BundleSpaceGraph::Configuration::successful_connection_attempts {0} |
Definition at line 106 of file BundleSpaceGraph.h.
◆ total_connection_attempts
unsigned int ompl::multilevel::BundleSpaceGraph::Configuration::total_connection_attempts {0} |
Definition at line 105 of file BundleSpaceGraph.h.
The documentation for this class was generated from the following files:
- ompl/multilevel/datastructures/BundleSpaceGraph.h
- ompl/multilevel/datastructures/src/BundleSpaceGraph.cpp