Roadmap built by random path planning methods Nodes are configurations, paths are collision-free paths. More...

#include <hpp/core/roadmap.hh>

Public Member Functions
virtual void	clear ()
	Clear the roadmap by deleting nodes and edges. More...

NodePtr_t	addNode (const ConfigurationPtr_t &config)
	Add a node with given configuration. More...

NodePtr_t	addNode (const Configuration_t &config)

NodePtr_t	nearestNode (const Configuration_t &configuration, value_type &minDistance, bool reverse=false)
	Get nearest node to a configuration in the roadmap. More...

NodePtr_t	nearestNode (const ConfigurationPtr_t &configuration, value_type &minDistance, bool reverse=false)

NodePtr_t	nearestNode (const Configuration_t &configuration, const ConnectedComponentPtr_t &connectedComponent, value_type &minDistance, bool reverse=false)
	Get nearest node to a configuration in a connected component. More...

NodePtr_t	nearestNode (const ConfigurationPtr_t &configuration, const ConnectedComponentPtr_t &connectedComponent, value_type &minDistance, bool reverse=false)

Nodes_t	nearestNodes (const Configuration_t &configuration, size_type k)
	Get nearest node to a configuration in the roadmap. More...

Nodes_t	nearestNodes (const ConfigurationPtr_t &configuration, size_type k)

Nodes_t	nearestNodes (const Configuration_t &configuration, const ConnectedComponentPtr_t &connectedComponent, size_type k)
	Get nearest node to a configuration in a connected component. More...

Nodes_t	nearestNodes (const ConfigurationPtr_t &configuration, const ConnectedComponentPtr_t &connectedComponent, size_type k)

NodePtr_t	addNodeAndEdges (const NodePtr_t from, const ConfigurationPtr_t &to, const PathPtr_t path)
	Add a node and two edges. More...

NodePtr_t	addNodeAndEdge (const NodePtr_t from, const ConfigurationPtr_t &to, const PathPtr_t path)
	Add a node and one edge. More...

NodePtr_t	addNodeAndEdge (const ConfigurationPtr_t &from, const NodePtr_t to, const PathPtr_t path)
	Add a node and one edge. More...

EdgePtr_t	addEdge (const NodePtr_t &n1, const NodePtr_t &n2, const PathPtr_t &path)
	Add an edge between two nodes. More...

void	addEdges (const NodePtr_t from, const NodePtr_t &to, const PathPtr_t &path)
	Add two edges between two nodes. More...

NodePtr_t	addGoalNode (const ConfigurationPtr_t &config)
	Add a goal configuration. More...

void	resetGoalNodes ()

void	initNode (const ConfigurationPtr_t &config)

virtual	~Roadmap ()

bool	pathExists () const
	Check that a path exists between the initial node and one goal node. More...

const Nodes_t &	nodes () const

const Edges_t &	edges () const

NodePtr_t	initNode () const

const NodeVector_t &	goalNodes () const

const ConnectedComponents_t &	connectedComponents () const
	Get list of connected component of the roadmap. More...

NearestNeighborPtr_t	nearestNeighbor ()
	Get nearestNeighbor object. More...

void	nearestNeighbor (NearestNeighborPtr_t nearestNeighbor)
	Set new NearestNeighbor (roadmap must be empty) More...

std::ostream &	print (std::ostream &os) const
	Print roadmap in a stream. More...

Distance used for nearest neighbor search
Get distance function
const DistancePtr_t &	distance () const

Static Public Member Functions
static RoadmapPtr_t	create (const DistancePtr_t &distance, const DevicePtr_t &robot)
	Return shared pointer to new instance. More...

Protected Member Functions
	Roadmap (const DistancePtr_t &distance, const DevicePtr_t &robot)
	Constructor. More...

void	addConnectedComponent (const NodePtr_t &node)
	Add a new connected component in the roadmap. More...

virtual void	push_node (const NodePtr_t &n)
	Give child class the opportunity to get the event "A node has been added to the roadmap". More...

virtual void	addEdge (const EdgePtr_t &e)
	Give child class the opportunity to get the event "An edge has been added to the roadmap". More...

virtual NodePtr_t	createNode (const ConfigurationPtr_t &configuration) const
	Node factory Reimplement the function if you want to create an instance of a child class of Node. More...

void	init (RoadmapWkPtr_t weak)
	Store weak pointer to itself. More...

Detailed Description

Roadmap built by random path planning methods Nodes are configurations, paths are collision-free paths.

Constructor & Destructor Documentation

◆ ~Roadmap()

virtual hpp::core::Roadmap::~Roadmap ( )

virtual

◆ Roadmap()

hpp::core::Roadmap::Roadmap	(	const DistancePtr_t &	distance,
		const DevicePtr_t &	robot
	)

protected

Constructor.

Parameters

distance distance function for nearest neighbor computations

Member Function Documentation

◆ addConnectedComponent()

void hpp::core::Roadmap::addConnectedComponent ( const NodePtr_t & node )

protected

Add a new connected component in the roadmap.

Parameters

node	node pointing to the connected component.

Note: The node is added in the connected component.

◆ addEdge() [1/2]

EdgePtr_t hpp::core::Roadmap::addEdge	(	const NodePtr_t &	n1,
		const NodePtr_t &	n2,
		const PathPtr_t &	path
	)

Add an edge between two nodes.

◆ addEdge() [2/2]

virtual void hpp::core::Roadmap::addEdge ( const EdgePtr_t & e )

protectedvirtual

Give child class the opportunity to get the event "An edge has been added to the roadmap".

Note: you must always call the parent implementation first
void YourRoadmap::push_edge(const EdgePtr_t e) {
Roadmap::push_edge(e);
// Your code here.
}

◆ addEdges()

void hpp::core::Roadmap::addEdges	(	const NodePtr_t	from,
		const NodePtr_t &	to,
		const PathPtr_t &	path
	)

Add two edges between two nodes.

Parameters

from	first node
to	second node
path	path going from `from` to `to`. the reverse edge is added with the reverse path.

◆ addGoalNode()

NodePtr_t hpp::core::Roadmap::addGoalNode ( const ConfigurationPtr_t & config )

Add a goal configuration.

Parameters

config configuration If configuration is already in the roadmap, tag corresponding node as goal node. Otherwise create a new node.

◆ addNode() [1/2]

NodePtr_t hpp::core::Roadmap::addNode ( const ConfigurationPtr_t & config )

Add a node with given configuration.

Parameters

config configuration

If configuration is alread in the roadmap, return the node containing the configuration. Otherwise, create a new node and a new connected component with this node.

◆ addNode() [2/2]

NodePtr_t hpp::core::Roadmap::addNode ( const Configuration_t & config )

inline

◆ addNodeAndEdge() [1/2]

NodePtr_t hpp::core::Roadmap::addNodeAndEdge	(	const NodePtr_t	from,
		const ConfigurationPtr_t &	to,
		const PathPtr_t	path
	)

Add a node and one edge.

Parameters

from	node from which the edge starts,
to	configuration to which the edge stops
path	path between both configurations

Returns: node containing configuration to. Add the oriented edge (from -> to)

Note: this function simplifies the management of connected components since it adds the new node in the connected component of from.

◆ addNodeAndEdge() [2/2]

NodePtr_t hpp::core::Roadmap::addNodeAndEdge	(	const ConfigurationPtr_t &	from,
		const NodePtr_t	to,
		const PathPtr_t	path
	)

Add a node and one edge.

Parameters

from	configuration from which the edge starts,
to	node to which the edge stops
path	path between both configurations

Returns: node containing configuration from. Add the oriented edge (from -> to)

Note: this function simplifies the management of connected components since it adds the new node in the connected component of to.

◆ addNodeAndEdges()

NodePtr_t hpp::core::Roadmap::addNodeAndEdges	(	const NodePtr_t	from,
		const ConfigurationPtr_t &	to,
		const PathPtr_t	path
	)

Add a node and two edges.

Parameters

from	node from which the edge starts,
to	configuration to which the edge stops
path	path between both configurations

Returns: node containing configuration to. Add the symmetric edge with reverse path.

Note: this function simplifies the management of connected components since it adds the new node in the connected component of from.

◆ clear()

virtual void hpp::core::Roadmap::clear ( )

virtual

Clear the roadmap by deleting nodes and edges.

◆ connectedComponents()

const ConnectedComponents_t& hpp::core::Roadmap::connectedComponents ( ) const

Get list of connected component of the roadmap.

◆ create()

static RoadmapPtr_t hpp::core::Roadmap::create	(	const DistancePtr_t &	distance,
		const DevicePtr_t &	robot
	)

static

Return shared pointer to new instance.

◆ createNode()

virtual NodePtr_t hpp::core::Roadmap::createNode ( const ConfigurationPtr_t & configuration ) const

protectedvirtual

Node factory Reimplement the function if you want to create an instance of a child class of Node.

◆ distance()

const DistancePtr_t& hpp::core::Roadmap::distance ( ) const

◆ edges()

const Edges_t& hpp::core::Roadmap::edges ( ) const

inline

◆ goalNodes()

const NodeVector_t& hpp::core::Roadmap::goalNodes ( ) const

inline

◆ init()

void hpp::core::Roadmap::init ( RoadmapWkPtr_t weak )

protected

Store weak pointer to itself.

◆ initNode() [1/2]

void hpp::core::Roadmap::initNode ( const ConfigurationPtr_t & config )

inline

◆ initNode() [2/2]

NodePtr_t hpp::core::Roadmap::initNode ( ) const

inline

◆ nearestNeighbor() [1/2]

NearestNeighborPtr_t hpp::core::Roadmap::nearestNeighbor ( )

Get nearestNeighbor object.

◆ nearestNeighbor() [2/2]

void hpp::core::Roadmap::nearestNeighbor ( NearestNeighborPtr_t nearestNeighbor )

Set new NearestNeighbor (roadmap must be empty)

◆ nearestNode() [1/4]

NodePtr_t hpp::core::Roadmap::nearestNode	(	const Configuration_t &	configuration,
		value_type &	minDistance,
		bool	reverse = `false`
	)

Get nearest node to a configuration in the roadmap.

Parameters

configuration	configuration
reverse	if true, compute distance from given configuration to nodes in roadmap, if false from nodes in roadmap to given configuration

Return values

distance to the nearest node.

◆ nearestNode() [2/4]

NodePtr_t hpp::core::Roadmap::nearestNode	(	const ConfigurationPtr_t &	configuration,
		value_type &	minDistance,
		bool	reverse = `false`
	)

inline

◆ nearestNode() [3/4]

NodePtr_t hpp::core::Roadmap::nearestNode	(	const Configuration_t &	configuration,
		const ConnectedComponentPtr_t &	connectedComponent,
		value_type &	minDistance,
		bool	reverse = `false`
	)

Get nearest node to a configuration in a connected component.

Parameters

configuration	configuration
connectedComponent	the connected component
reverse	if true, compute distance from given configuration to nodes in roadmap, if false from nodes in roadmap to given configuration

Return values

distance to the nearest node.

◆ nearestNode() [4/4]

NodePtr_t hpp::core::Roadmap::nearestNode	(	const ConfigurationPtr_t &	configuration,
		const ConnectedComponentPtr_t &	connectedComponent,
		value_type &	minDistance,
		bool	reverse = `false`
	)

inline

◆ nearestNodes() [1/4]

Nodes_t hpp::core::Roadmap::nearestNodes	(	const Configuration_t &	configuration,
		size_type	k
	)

Get nearest node to a configuration in the roadmap.

Parameters

configuration	configuration
k	number of nearest nodes to return if false from nodes in roadmap to given configuration

Returns: k nearest nodes

◆ nearestNodes() [2/4]

Nodes_t hpp::core::Roadmap::nearestNodes	(	const ConfigurationPtr_t &	configuration,
		size_type	k
	)

inline

◆ nearestNodes() [3/4]

Nodes_t hpp::core::Roadmap::nearestNodes	(	const Configuration_t &	configuration,
		const ConnectedComponentPtr_t &	connectedComponent,
		size_type	k
	)

Get nearest node to a configuration in a connected component.

Parameters

configuration	configuration
connectedComponent	the connected component
k	number of nearest nodes to return if false from nodes in roadmap to given configuration

Returns: k nearest nodes in the connected component

◆ nearestNodes() [4/4]

Nodes_t hpp::core::Roadmap::nearestNodes	(	const ConfigurationPtr_t &	configuration,
		const ConnectedComponentPtr_t &	connectedComponent,
		size_type	k
	)

inline

◆ nodes()

const Nodes_t& hpp::core::Roadmap::nodes ( ) const

inline

◆ pathExists()

bool hpp::core::Roadmap::pathExists ( ) const

Check that a path exists between the initial node and one goal node.

◆ print()

std::ostream& hpp::core::Roadmap::print ( std::ostream & os ) const

Print roadmap in a stream.

◆ push_node()

virtual void hpp::core::Roadmap::push_node ( const NodePtr_t & n )

inlineprotectedvirtual

Give child class the opportunity to get the event "A node has been added to the roadmap".

References hpp::core::operator<<().

◆ resetGoalNodes()

void hpp::core::Roadmap::resetGoalNodes ( )

inline

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~Roadmap()

◆ Roadmap()

Member Function Documentation

◆ addConnectedComponent()

◆ addEdge() [1/2]

◆ addEdge() [2/2]

◆ addEdges()

◆ addGoalNode()

◆ addNode() [1/2]

◆ addNode() [2/2]

◆ addNodeAndEdge() [1/2]

◆ addNodeAndEdge() [2/2]

◆ addNodeAndEdges()

◆ clear()

◆ connectedComponents()

◆ create()

◆ createNode()

◆ distance()

◆ edges()

◆ goalNodes()

◆ init()

◆ initNode() [1/2]

◆ initNode() [2/2]

◆ nearestNeighbor() [1/2]

◆ nearestNeighbor() [2/2]

◆ nearestNode() [1/4]

◆ nearestNode() [2/4]

◆ nearestNode() [3/4]

◆ nearestNode() [4/4]

◆ nearestNodes() [1/4]

◆ nearestNodes() [2/4]

◆ nearestNodes() [3/4]

◆ nearestNodes() [4/4]

◆ nodes()

◆ pathExists()

◆ print()

◆ push_node()

◆ resetGoalNodes()