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ompl::multilevel::BundleSpaceGraph::Configuration Class Reference

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::Statestate {nullptr}
 
ompl::control::Controlcontrol {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}
 
Configurationparent {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()

void * ompl::multilevel::BundleSpaceGraph::Configuration::getPDFElement ( )
inline

Definition at line 116 of file BundleSpaceGraph.h.

◆ setPDFElement()

void ompl::multilevel::BundleSpaceGraph::Configuration::setPDFElement ( void * element_)
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: