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Discretization.h
136 throw Exception("The fraction of time spent selecting border cells must be in the range (0,1]");
This class defines a grid that keeps track of its boundary: it distinguishes between interior and ext...
Definition GridB.h:52
typename GridN< CellData * >::Coord Coord
Definition GridB.h:61
typename GridN< CellData * >::Cell Cell
Definition GridB.h:55
Cell * getCell(const Coord &coord) const
Get the cell at a specified coordinate.
Definition GridN.h:123
virtual void destroyCell(Cell *cell) const
Clear the memory occupied by a cell; do not call this function unless remove() was called first.
Definition Grid.h:252
One-level discretization used for KPIECE.
Definition Discretization.h:59
void freeMemory()
Free the memory for the motions contained in a grid.
Definition Discretization.h:178
typename Grid::Coord Coord
The datatype for the maintained grid coordinates.
Definition Discretization.h:110
double getBorderFraction() const
Set the fraction of time for focusing on the border (between 0 and 1).
Definition Discretization.h:142
unsigned int addMotion(Motion *motion, const Coord &coord, double dist=0.0)
Add a motion to the grid containing motions. As a hint, dist specifies the distance to the goal from ...
Definition Discretization.h:193
void selectMotion(Motion *&smotion, Cell *&scell)
Select a motion and the cell it is part of from the grid of motions. This is where preference is give...
Definition Discretization.h:224
void setBorderFraction(double bp)
Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...
Definition Discretization.h:133
void setDimension(unsigned int dim)
Set the dimension of the grid to be maintained.
Definition Discretization.h:148
typename std::function< void(Motion *)> FreeMotionFn
The signature of a function that frees the memory for a motion.
Definition Discretization.h:113
GridB< CellData *, OrderCellsByImportance > Grid
The datatype for the maintained grid datastructure.
Definition Discretization.h:104
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
STL namespace.
The data held by a cell in the grid of motions.
Definition Discretization.h:63
std::vector< Motion * > motions
The set of motions contained in this grid cell.
Definition Discretization.h:69
double score
A heuristic score computed based on distance to goal (if available), successes and failures at expand...
Definition Discretization.h:83
unsigned int selections
The number of times this cell has been selected for expansion.
Definition Discretization.h:78
double importance
The computed importance (based on other class members)
Definition Discretization.h:89
double coverage
A measure of coverage for this cell. For this implementation, this is the sum of motion lengths.
Definition Discretization.h:74
Definintion of an operator passed to the Grid structure, to order cells by importance.
Definition Discretization.h:95
bool operator()(const CellData *const a, const CellData *const b) const
Order function.
Definition Discretization.h:97