Vertex.h
75 Vertex(ompl::base::SpaceInformationPtr spaceInformation, const CostHelper *const costHelpPtr, SearchQueue *const queuePtr,
213 void removeFromEdgeQueueInLookup(const SearchQueue::EdgeQueueElemPtrVector::const_iterator &inEdge);
216 void removeFromEdgeQueueOutLookup(const SearchQueue::EdgeQueueElemPtrVector::const_iterator &outEdge);
327 void removeFromEdgeQueueInLookup(const SearchQueue::EdgeQueueElemPtrVector::iterator &iterToDelete);
330 void removeFromEdgeQueueOutLookup(const SearchQueue::EdgeQueueElemPtrVector::iterator &iterToDelete);
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
A shared pointer wrapper for ompl::base::SpaceInformation.
A helper class to handle the various heuristic functions in one place.
Definition: CostHelper.h:70
A queue of edges, sorted according to a sort key.
Definition: SearchQueue.h:65
EdgeQueue::Element * EdgeQueueElemPtr
An element pointer into the edge queue binary heap.
Definition: SearchQueue.h:84
std::vector< EdgeQueueElemPtr > EdgeQueueElemPtrVector
A vector of edge queue pointers.
Definition: SearchQueue.h:87
The vertex of the underlying graphs in gBITstar BIT*.
Definition: Vertex.h:68
void removeChild(const VertexPtr &oldChild)
Remove a child from this vertex. Does not change this vertex's cost or those of its descendants....
Definition: Vertex.cpp:370
BITstar::SearchQueue::EdgeQueueElemPtrVector::const_iterator edgeQueueOutLookupConstEnd()
Get an iterator to the end of the outgoing edge queue entry vector. Will clear existing in/out lookup...
Definition: Vertex.cpp:773
Vertex(ompl::base::SpaceInformationPtr spaceInformation, const CostHelper *const costHelpPtr, SearchQueue *const queuePtr, const std::shared_ptr< const unsigned int > &approximationId, bool root=false)
Construct a vertex using space information, and helpers to compute various costs.
Definition: Vertex.cpp:107
void removeFromEdgeQueueOutLookup(const SearchQueue::EdgeQueueElemPtr &outEdge)
Remove an outgoing edge queue entry by value.
Definition: Vertex.cpp:698
BITstar::SearchQueue::EdgeQueueElemPtrVector::const_iterator edgeQueueInLookupConstBegin()
Get an iterator to the front of the incoming edge queue entry vector. Will clear existing in/out look...
Definition: Vertex.cpp:636
void getChildren(VertexConstPtrVector *children) const
Get the children of a vertex as constant pointers.
Definition: Vertex.cpp:299
void insertInEdgeQueueInLookup(const SearchQueue::EdgeQueueElemPtr &inEdge)
Add to the list of the edge queue entries that point in to this vertex. Will clear existing in/out lo...
Definition: Vertex.cpp:539
bool isBlacklistedAsChild(const VertexConstPtr &vertex) const
Returns true if the vertex is blacklisted as a child of this vertex.
Definition: Vertex.cpp:443
bool isInTree() const
Get whether a vertex is in the search tree or a sample (i.e., a vertex of the RRG).
Definition: Vertex.cpp:176
void blacklistChild(const VertexConstPtr &vertex)
Put the vertex on the blacklist of children.
Definition: Vertex.cpp:433
bool hasEverBeenExpandedAsRewiring() const
Returns whether the vertex has ever been expanded as a rewiring.
Definition: Vertex.cpp:504
void removeParent(bool updateChildCosts)
Remove the parent of this vertex. Will always update this vertex's cost, and can update the descenden...
Definition: Vertex.cpp:267
void clearEdgeQueueInLookup()
Clear the pointers to all of the incoming edge queue entries.
Definition: Vertex.cpp:629
unsigned int edgeQueueOutLookupSize()
Get the number of edge queue entries outgoing from this vertex. Will clear existing in/out lookups if...
Definition: Vertex.cpp:783
void addChild(const VertexPtr &newChild)
Add a child to this vertex. Does not change this vertex's cost or those of its descendants....
Definition: Vertex.cpp:343
BITstar::SearchQueue::EdgeQueueElemPtrVector::const_iterator edgeQueueInLookupConstEnd()
Get an iterator to the end of the incoming edge queue entry vector. Will clear existing in/out lookup...
Definition: Vertex.cpp:646
bool isWhitelistedAsChild(const VertexConstPtr &vertex) const
Returns true if the vertex is blacklisted as a child of this vertex.
Definition: Vertex.cpp:448
VertexConstPtr getParent() const
Get a const pointer to the parent of this vertex.
Definition: Vertex.cpp:198
void whitelistChild(const VertexConstPtr &vertex)
Put the vertex on the whitelist of children.
Definition: Vertex.cpp:438
bool isRoot() const
Returns whether the vertex is the root of the search tree.
Definition: Vertex.cpp:162
BITstar::SearchQueue::EdgeQueueElemPtrVector::const_iterator edgeQueueOutLookupConstBegin()
Get an iterator to the front of the outgoing edge queue entry vector. Will clear existing in/out look...
Definition: Vertex.cpp:763
bool isExpandedOnCurrentApproximation() const
Returns whether the vertex is expanded on current approximation.
Definition: Vertex.cpp:494
ompl::base::Cost getEdgeInCost() const
Get the incremental cost-to-come of a vertex.
Definition: Vertex.cpp:470
void addParent(const VertexPtr &newParent, const ompl::base::Cost &edgeInCost)
Set the parent of this vertex, cannot be used to replace a previous parent. Will always update this v...
Definition: Vertex.cpp:240
bool isExpandedOnCurrentSearch() const
Returns whether the vertex is expaned on current search.
Definition: Vertex.cpp:499
void clearEdgeQueueOutLookup()
Clear the pointers to all of the outgoing edge queue entries.
Definition: Vertex.cpp:756
ompl::base::Cost getCost() const
Get the cost-to-come of a vertex. Return infinity if the edge is disconnected.
Definition: Vertex.cpp:463
void insertInEdgeQueueOutLookup(const SearchQueue::EdgeQueueElemPtr &outEdge)
Add to the list of the edge queue entries that point out of this vertex. Will clear existing in/out l...
Definition: Vertex.cpp:666
void removeFromEdgeQueueInLookup(const SearchQueue::EdgeQueueElemPtr &inEdge)
Remove an incoming edge queue entry by value to the member vector.
Definition: Vertex.cpp:571
unsigned int edgeQueueInLookupSize()
Get the number of edge queue entries incoming to this vertex. Will clear existing in/out lookups if t...
Definition: Vertex.cpp:656
std::vector< VertexConstPtr > VertexConstPtrVector
A vector of shared pointers to const vertices.
Definition: BITstar.h:128
std::vector< VertexPtr > VertexPtrVector
A vector of shared pointers to vertices.
Definition: BITstar.h:125
std::shared_ptr< const Vertex > VertexConstPtr
A shared pointer to a const vertex.
Definition: BITstar.h:119
Main namespace. Contains everything in this library.
Definition: ConstrainedSpaceInformation.h:53