hpp::core::Roadmap Class Reference

#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)
NodePtr_t	addNode (const Configuration_t &config)
NodePtr_t	nearestNode (const Configuration_t &configuration, value_type &minDistance, bool reverse=false)
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)
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)
Nodes_t	nearestNodes (const ConfigurationPtr_t &configuration, size_type k)
Nodes_t	nearestNodes (const Configuration_t &configuration, const ConnectedComponentPtr_t &connectedComponent, size_type k)
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)
NodePtr_t	addNodeAndEdge (const NodePtr_t from, const ConfigurationPtr_t &to, const PathPtr_t path)
NodePtr_t	addNodeAndEdge (const ConfigurationPtr_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)
NodePtr_t	addGoalNode (const ConfigurationPtr_t &config)
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
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)
void	addConnectedComponent (const NodePtr_t &node)
virtual void	push_node (const NodePtr_t &n)
virtual void	addEdge (const EdgePtr_t &e)
virtual NodePtr_t	createNode (const ConfigurationPtr_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()

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"

resetGoalNodes()

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

inline

---

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

• include/hpp/core/roadmap.hh