#include <hpp/core/roadmap.hh>

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

NodePtr_t	addNode (ConfigurationIn_t config)

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

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

Nodes_t	nearestNodes (ConfigurationIn_t configuration, size_type k)

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

NodeVector_t	nodesWithinBall (ConfigurationIn_t configuration, const ConnectedComponentPtr_t &connectedComponent, value_type maxDistance)

NodePtr_t	addNodeAndEdges (const NodePtr_t from, ConfigurationIn_t to, const PathPtr_t path)

NodePtr_t	addNodeAndEdge (const NodePtr_t from, ConfigurationIn_t to, const PathPtr_t path)

NodePtr_t	addNodeAndEdge (ConfigurationIn_t from, const NodePtr_t to, const PathPtr_t path)

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)

void	merge (const RoadmapPtr_t &other)
	Add the nodes and edges of a roadmap into this one. More...

void	insertPathVector (const PathVectorPtr_t &path, bool backAndForth)

NodePtr_t	addGoalNode (ConfigurationIn_t config)

void	resetGoalNodes ()

void	initNode (ConfigurationIn_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

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)

	Roadmap ()

void	addConnectedComponent (const NodePtr_t &node)

virtual void	push_node (const NodePtr_t &n)

virtual void	impl_addEdge (const EdgePtr_t &e)

virtual NodePtr_t	createNode (ConfigurationIn_t configuration) const

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() [1/2]

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

protected

Constructor

Parameters

distance distance function for nearest neighbor computations

◆ Roadmap() [2/2]

hpp::core::Roadmap::Roadmap ( )

inlineprotected

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()

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

Add an edge between two nodes.

◆ 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 ( ConfigurationIn_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()

NodePtr_t hpp::core::Roadmap::addNode ( ConfigurationIn_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.

◆ addNodeAndEdge() [1/2]

NodePtr_t hpp::core::Roadmap::addNodeAndEdge	(	ConfigurationIn_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.

◆ addNodeAndEdge() [2/2]

NodePtr_t hpp::core::Roadmap::addNodeAndEdge	(	const NodePtr_t	from,
		ConfigurationIn_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.

◆ addNodeAndEdges()

NodePtr_t hpp::core::Roadmap::addNodeAndEdges	(	const NodePtr_t	from,
		ConfigurationIn_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 ( ConfigurationIn_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

◆ impl_addEdge()

virtual void hpp::core::Roadmap::impl_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.

}

hpp::core::EdgePtr_t
Edge * EdgePtr_t
Definition: fwd.hh:144

◆ init()

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

protected

Store weak pointer to itself.

◆ initNode() [1/2]

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

inline

◆ initNode() [2/2]

void hpp::core::Roadmap::initNode ( ConfigurationIn_t config )

inline

◆ insertPathVector()

void hpp::core::Roadmap::insertPathVector	(	const PathVectorPtr_t &	path,
		bool	backAndForth
	)

Add a PathVector instance in the roadmap Waypoints are inserted as nodes, each elementary path is inserted as an edge

Parameters

backAndForth whether to insert the reverse path as well.

◆ merge()

void hpp::core::Roadmap::merge ( const RoadmapPtr_t & other )

Add the nodes and edges of a roadmap into this one.

◆ 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() [1/2]

NodePtr_t hpp::core::Roadmap::nearestNode	(	ConfigurationIn_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() [2/2]

NodePtr_t hpp::core::Roadmap::nearestNode	(	ConfigurationIn_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.

◆ nearestNodes() [1/2]

Nodes_t hpp::core::Roadmap::nearestNodes	(	ConfigurationIn_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() [2/2]

Nodes_t hpp::core::Roadmap::nearestNodes	(	ConfigurationIn_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

◆ nodes()

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

inline

◆ nodesWithinBall()

NodeVector_t hpp::core::Roadmap::nodesWithinBall	(	ConfigurationIn_t	configuration,
		const ConnectedComponentPtr_t &	connectedComponent,
		value_type	maxDistance
	)

Neighbor search.

Returns: all the nodes closer than maxDistance to configuration within connectedComponent.

◆ 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"

◆ resetGoalNodes()

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

inline

The documentation for this class was generated from the following file:

include/hpp/core/roadmap.hh

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~Roadmap()

◆ Roadmap() [1/2]

◆ Roadmap() [2/2]

Member Function Documentation

◆ addConnectedComponent()

◆ addEdge()

◆ addEdges()

◆ addGoalNode()

◆ addNode()

◆ addNodeAndEdge() [1/2]

◆ addNodeAndEdge() [2/2]

◆ addNodeAndEdges()

◆ clear()

◆ connectedComponents()

◆ create()

◆ createNode()

◆ distance()

◆ edges()

◆ goalNodes()

◆ impl_addEdge()

◆ init()

◆ initNode() [1/2]

◆ initNode() [2/2]

◆ insertPathVector()

◆ merge()

◆ nearestNeighbor() [1/2]

◆ nearestNeighbor() [2/2]

◆ nearestNode() [1/2]

◆ nearestNode() [2/2]

◆ nearestNodes() [1/2]

◆ nearestNodes() [2/2]

◆ nodes()

◆ nodesWithinBall()

◆ pathExists()

◆ print()

◆ push_node()

◆ resetGoalNodes()