LocalObstacleMap Class Reference

#include <LocalObstacleMap.h>

Public Types
Motion Planning Types
typedef GenericStateGraph< Cfg, DefaultWeight< Cfg > >	RoadmapType
typedef size_t	VID
Local Types
typedef std::unordered_set< VID >	VertexSet
typedef std::unordered_map< VID, VertexSet >	MapType

Public Member Functions
Construction
	LocalObstacleMap (StatClass *const _stats)
Accessors
const VertexSet &	Get (const VID &_vid) const
template<typename ContainerType >
const VertexSet	Get (const ContainerType &_c) const
const VertexSet &	Inverse (const VID &_vid) const
template<typename ContainerType >
const VertexSet	Inverse (const ContainerType &_c) const
Addition
Add a new obstacle configuration to the local obstacle map of a given free node. Parameters _obst The new obstacle node to add. _free The free node to add it to.
void	Add (const VID &_obst, const VID &_free)
template<typename ContainerType >
void	Add (const ContainerType &_obst, const VID &_free)
template<typename ContainerType >
void	Add (const VID &_obst, const ContainerType &_free)
template<typename ContainerType >
void	Add (const ContainerType &_obst, const ContainerType &_free)
Deletion
Delete an obstacle configuration from one or more local obstacle maps. Parameters _obst The obstacle VID(s) to delete, or INVALID_VID to delete all. _free The free VID(s) to delete from, or INVALID_VID to delete from all nodes.
void	Delete (const VID &_obst=INVALID_VID, const VID &_free=INVALID_VID)
template<typename ContainerType >
void	Delete (const VID &_obst, const ContainerType &_free)
template<typename ContainerType >
void	Delete (const ContainerType &_obst, const VID &_free=INVALID_VID)
template<typename ContainerType >
void	Delete (const ContainerType &_obst, const ContainerType &_free)

Detailed Description

Maintains an associative mapping between free and obstacle configurations to avoid running a neighborhood finder on the obstacle map (which is typically huge).

Member Typedef Documentation

MapType

typedef std::unordered_map<VID, VertexSet> LocalObstacleMap::MapType

RoadmapType

typedef GenericStateGraph<Cfg, DefaultWeight<Cfg> > LocalObstacleMap::RoadmapType

VertexSet

typedef std::unordered_set<VID> LocalObstacleMap::VertexSet

VID

typedef size_t LocalObstacleMap::VID

Constructor & Destructor Documentation

LocalObstacleMap()

LocalObstacleMap::LocalObstacleMap

(

StatClass *const

_stats

)

Member Function Documentation

Add() [1/4]

template<typename ContainerType >

void LocalObstacleMap::Add	(	const ContainerType &	_obst,
		const ContainerType &	_free
	)

Add() [2/4]

template<typename ContainerType >

void LocalObstacleMap::Add	(	const ContainerType &	_obst,
		const VID &	_free
	)

Add() [3/4]

template<typename ContainerType >

void LocalObstacleMap::Add	(	const VID &	_obst,
		const ContainerType &	_free
	)

Add() [4/4]

void LocalObstacleMap::Add	(	const VID &	_obst,
		const VID &	_free
	)

Delete() [1/4]

template<typename ContainerType >

void LocalObstacleMap::Delete	(	const ContainerType &	_obst,
		const ContainerType &	_free
	)

Delete() [2/4]

template<typename ContainerType >

void LocalObstacleMap::Delete	(	const ContainerType &	_obst,
		const VID &	_free = INVALID_VID
	)

Delete() [3/4]

template<typename ContainerType >

void LocalObstacleMap::Delete	(	const VID &	_obst,
		const ContainerType &	_free
	)

Delete() [4/4]

void LocalObstacleMap::Delete	(	const VID &	_obst = INVALID_VID,
		const VID &	_free = INVALID_VID
	)

Get() [1/2]

template<typename ContainerType >

const LocalObstacleMap::VertexSet LocalObstacleMap::Get

(

const ContainerType &

_c

)

const

Get the aggregate local obstacle map for a set of free vertices.

Parameters

_c	A container of free vertices.

Returns

The aggregate local obstacle map for all vertices in _c.

Get() [2/2]

const LocalObstacleMap::VertexSet & LocalObstacleMap::Get

(

const VID &

_vid

)

const

Get the local obstacle map for a given free vertex.

Parameters

_vid	A free vertex.

Returns

The local obstacle map for _vid.

Inverse() [1/2]

template<typename ContainerType >

const LocalObstacleMap::VertexSet LocalObstacleMap::Inverse

(

const ContainerType &

_c

)

const

Get the aggregate inverse local obstacle map for a set of obstacle vertices.

Parameters

_c	A set of obstacle vertices.

Returns

The aggregate inverse obstacle map for all vertices in _c.

Inverse() [2/2]

const LocalObstacleMap::VertexSet & LocalObstacleMap::Inverse

(

const VID &

_vid

)

const

Get the inverse local obstacle map for a given obstacle vertex.

Parameters

_vid	An obstacle vertex.

Returns

The inverse obstacle map for _vid.

---

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

• /opt/actions-runner/_work/open-ppl/open-ppl/src/ConfigurationSpace/LocalObstacleMap.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/ConfigurationSpace/LocalObstacleMap.cpp