A structure holding and managing all data connected to the tree used in the ADDIRRT* algorithm. More...

#include <RobotComponents/components/MotionPlanning/Tasks/AdaptiveDynamicDomainInformedRRTStar/Tree.h>

Classes
struct	NodeType
	Represents a node of thr rrt. More...

Public Types
using	ConfigType = VectorXf
	The type of configurations.

using	PendingUpdateLookuptableConstIterator
	Const iterator for the PendingUpdateLookuptable.

using	PendingUpdateLookuptableIterator = typename PendingUpdateLookuptableType::iterator
	Iterator for the PendingUpdateLookuptable.

using	PendingUpdateLookuptableType
	Lookuptable for pending updates.

Public Member Functions
void	addGoalReached (const NodeId &goal, float costToGoToGoal)
	Adds a node to the list of nodes that can reach the goal configuration.

NodeId	addNode (ConfigType cfg, const NodeId &parent, float fromParentCost)
	Adds a node to the tree.

void	addPendingUpdate (const Update &u)
	Adds a new update to the list of pending updates.

void	applyPendingUpdates ()
	Applies all pending updates.

template<class LockType, class RemoteUpdateGetter>
void	applyPendingUpdates (LockType &&treeLock, RemoteUpdateGetter getRemoteUpdate)
	The same as applyPendingUpdates(LockType, RemoteUpdateGetter, UpdateConsumer) but uses an noop as updateConsumer This overload is needed since the defaultparameter does not work.

template<class LockType, class RemoteUpdateGetter, class UpdateConsumer>
void	applyPendingUpdates (LockType &&treeLock, RemoteUpdateGetter getRemoteUpdate, UpdateConsumer updateConsumer=[](Update &&) {})
	Applies all pending updates.

void	applyUpdate (const Update &u)
	Applies the given update.

NodeType &	at (const NodeId &id)

const NodeType &	at (const NodeId &id) const

NodeType &	at (std::size_t index)

const NodeType &	at (std::size_t index) const

bool	canApplyUpdate (const Update &u)

void	decreaseRadius (const NodeId &id)
	Decreases a node's radius.

const Ice::LongSeq &	getAppliedUpdateIds () const

float	getBestCost () const

PathWithCost	getBestPath () const

const Update &	getCurrentUpdate () const

Ice::Long	getCurrentUpdateId () const

FullIceTree	getIceTree () const

NodeId	getIdOfIndex (std::size_t index) const

std::vector< std::pair< NodeId, float > >	getKNearestNeighboursAndDistances (const ConfigType &cfg, std::size_t k)

const std::deque< Update > &	getLocalUpdates () const

std::pair< NodeId, float >	getNearestNeighbourAndDistance (const ConfigType &cfg)

NodeId	getNextNodeIdFor (std::size_t workerId)

NodeType &	getNode (const NodeId &id)

const NodeType &	getNode (const NodeId &id) const

const std::deque< std::deque< NodeType > > &	getNodes () const

float	getNthPathCost (std::size_t n) const

NodeIdList	getNthPathIds (std::size_t n) const

PathWithCost	getNthPathWithCost (std::size_t n) const

std::size_t	getPathCount () const

const Update &	getPendingUpdate (std::size_t workerId, std::size_t updateId) const

Ice::Long	getPreviousUpdateId () const

bool	hasAppliedUpdate (std::size_t workerId, Ice::Long updateId)

bool	hasGoalNode (const NodeId &nodeId) const

bool	hasPendingUpdate (std::size_t workerId, std::size_t updateId) const

void	increaseRadius (const NodeId &id)
	Increases a node's radius.

void	increaseWorkerCountTo (std::size_t count)
	Increases the storage of all data structures to be appropriate for count workers.

void	init (const FullIceTree &iceTree, AdaptiveDynamicDomainParameters newaddParams, std::size_t newWorkerId)
	Initailizes the tree from the given tree.

template<class LockType, class RemoteUpdateGetter, class UpdateConsumer>
void	prepareUpdate (Ice::LongSeq dependetOnUpdateIds, LockType &&treeLock, RemoteUpdateGetter getRemoteUpdate, UpdateConsumer updateConsumer)
	Prepares an update by applying all dependet on updates.

void	sendCurrentUpdate (TreeUpdateInterfacePrx &prx)
	Sends the current update to the given proxy.

void	setNodeParent (const NodeId &child, const NodeId &newParent, float fromParentCost)
	Sets the parent node of child to parent.

std::size_t	size () const

	Tree ()=default
	Default ctor.

	Tree (const VectorXf &startCfg)
	Creates a tree that can be used to analyze and apply updates.

Static Public Attributes
static const NodeId	ROOT_ID {0, 0}
	The root node's id.

Protected Member Functions
void	applyGoalReachedUpdates (const GoalInfoList newGoalNodes)
	Applies multiple goal reached updates to the tree.

void	applyNodeCreationUpdate (const NodeCreationUpdate &u, std::size_t workerId)
	Applies a node creation update to the tree.

template<class LockType, class RemoteUpdateGetter, class UpdateConsumer>
void	applyPendingUpdate (std::size_t updateIndex, LockType &&treeLock, RemoteUpdateGetter getRemoteUpdate, UpdateConsumer updateConsumer)
	Applies one pending update from the list of pending updates.

void	applyRadiusUpdate (const RadiusUpdate &u)
	Applies a radius update to the tree.

void	applyRewireUpdate (const RewireUpdate &rewireUpdate)
	Applies a rewire update to the tree.

void	createNewGoalReachedUpdate (const NodeId &goal, float costToGoToGoal)
	Adds a new goal reached update to the current update.

void	createNewNodeCreationUpdate (const ConfigType &cfg, const NodeId &parent, float fromParentCost)
	Adds a new node creation update to the current update.

void	createNewRadiusUpdate (const NodeId &id, bool increaseRadius)
	Adds a new radius update to the current update.

void	createNewRewireUpdate (const NodeId &child, const NodeId &newParent, float fromParentCost)
	Adds a new node creation update to the current update.

void	doAddGoalReached (const NodeId &goal, float costToGoToGoal)
	Adds a node to the list of nodes that can reach the goal configuration.

NodeId	doAddNode (ConfigType cfg, const NodeId &parent, float fromParentCost, std::size_t workerId)
	Adds a node to the tree.

void	doDecreaseRadius (const NodeId &id)
	Decreases a node's radius.

void	doIncreaseRadius (const NodeId &id)
	Increases a node's radius.

void	doSetNodeParent (const NodeId &child, const NodeId &newParent, float fromParentCost, bool updateFromStartCost=true)
	Sets the parent node of child to parent.

PendingUpdateLookuptableIterator	findPendingUpdate (std::size_t workerId, std::size_t updateId)

PendingUpdateLookuptableConstIterator	findPendingUpdate (std::size_t workerId, std::size_t updateId) const

std::deque< GoalInfo >::const_iterator	getBestCostIt () const

Update &	getCurrentUpdateNonConst ()

VectorXfSeq	getPathTo (NodeId id) const

void	prepareNextUpdate ()
	Prepares the next update.

void	pushCosts (const NodeId &root)
	Updates fromStartCosts for all children from root.

Protected Attributes
AdaptiveDynamicDomainParameters	addParams
	The parameters of adaptive dynamic domain)

Ice::LongSeq	appliedUpdateIds
	List of ids of applied updates.

std::deque< GoalInfo >	goalNodes
	List of nodes able to reach the goal configuration.

std::deque< Update >	localUpdates
	Updates created by this tree.

std::size_t	nodeCount
	The number of nodes in the rrt.

std::deque< std::deque< NodeType > >	nodes
	Holds all nodes.

std::deque< Update >	pendingUpdates
	Updates to apply to the tree.

PendingUpdateLookuptableType	pendingUpdatesLookupTable
	Speeds up lookup for available updates.

std::size_t	workerId
	The worker id of this trees owner.

Detailed Description

A structure holding and managing all data connected to the tree used in the ADDIRRT* algorithm.

Function overview: [public ] applyXYZUpdate(XYZUpdate u): applies an existing update u to the tree [protected] createNewXYZUpdate(...) : creates a new update and adds it to the tree's current update [public ] addNode/{in,de}creaseRadius/setNodeParent/addGoalReached: modifies the tree (through do functions) and adds the corresponding update to the local tree [protected] doXYZ: performs the actual modification of the tree

Member Typedef Documentation

◆ ConfigType

using ConfigType = VectorXf

The type of configurations.

◆ PendingUpdateLookuptableConstIterator

using PendingUpdateLookuptableConstIterator

Initial value:

typename PendingUpdateLookuptableType::const_iterator

Const iterator for the PendingUpdateLookuptable.

◆ PendingUpdateLookuptableIterator

using PendingUpdateLookuptableIterator = typename PendingUpdateLookuptableType::iterator

Iterator for the PendingUpdateLookuptable.

◆ PendingUpdateLookuptableType

using PendingUpdateLookuptableType

Initial value:

std::unordered_map<std::pair<std::size_t, std::size_t>, std::size_t>

Lookuptable for pending updates.

Constructor & Destructor Documentation

◆ Tree() [1/2]

Tree ( )

default

Default ctor.

◆ Tree() [2/2]

Tree ( const VectorXf & startCfg )

Creates a tree that can be used to analyze and apply updates.

Other operations are undefined.

Parameters

startCfg The start config.

Member Function Documentation

◆ addGoalReached()

void addGoalReached	(	const NodeId &	goal,
		float	costToGoToGoal )

inline

Adds a node to the list of nodes that can reach the goal configuration.

(creates an appropriate update)

Parameters

goal	The node to add.
costToGoToGoal	The cost to reach the gol configuration from the given node.

◆ addNode()

NodeId addNode	(	ConfigType	cfg,
		const NodeId &	parent,
		float	fromParentCost )

Adds a node to the tree.

(creates an appropriate update)

Parameters

cfg	The node's configuration.
parent	The node's parent.
fromParentCost	The cost of the edge (node, parent)

Returns: The new node's id.

◆ addPendingUpdate()

void addPendingUpdate ( const Update & u )

Adds a new update to the list of pending updates.

Parameters

u	The update.

◆ applyGoalReachedUpdates()

void applyGoalReachedUpdates ( const GoalInfoList newGoalNodes )

inlineprotected

Applies multiple goal reached updates to the tree.

Parameters

newGoalNodes The new nodes that can reach the goal configuration.

◆ applyNodeCreationUpdate()

void applyNodeCreationUpdate	(	const NodeCreationUpdate &	u,
		std::size_t	workerId )

inlineprotected

Applies a node creation update to the tree.

Parameters

u	The update.
workerId	The updates source worker.

◆ applyPendingUpdate()

template<class LockType, class RemoteUpdateGetter, class UpdateConsumer>

void applyPendingUpdate	(	std::size_t	updateIndex,
		LockType &&	treeLock,
		RemoteUpdateGetter	getRemoteUpdate,
		UpdateConsumer	updateConsumer )

inlineprotected

Applies one pending update from the list of pending updates.

Parameters

updateIndex	The pending update's index.
treeLock	The lock used to protect the update structures. It will be unlocked when getting a remote update.
getRemoteUpdate	Function used to request a missing update.
updateConsumer	Function used to consume updates after they were added. (will be moved to the consumer)

◆ applyPendingUpdates() [1/3]

void applyPendingUpdates ( )

inline

Applies all pending updates.

Updates are not consumes. If a required update is missing this methode will fail. (no update getter is providet). This function is not thread save! Use it only in a serial/protected environment.

◆ applyPendingUpdates() [2/3]

template<class LockType, class RemoteUpdateGetter>

void applyPendingUpdates	(	LockType &&	treeLock,
		RemoteUpdateGetter	getRemoteUpdate )

inline

The same as applyPendingUpdates(LockType, RemoteUpdateGetter, UpdateConsumer) but uses an noop as updateConsumer This overload is needed since the defaultparameter does not work.

Parameters

getRemoteUpdate Function used to request a missing update.

See also: Tree::applyPendingUpdates

◆ applyPendingUpdates() [3/3]

template<class LockType, class RemoteUpdateGetter, class UpdateConsumer>

void applyPendingUpdates	(	LockType &&	treeLock,
		RemoteUpdateGetter	getRemoteUpdate,
		UpdateConsumer	updateConsumer = [](Update&&) {} )

inline

Applies all pending updates.

Parameters

treeLock	The lock used to protect the update structures. It will be unlocked when getting a remote update.
getRemoteUpdate	Function used to request a missing update.
updateConsumer	Function used to consume updates after they were added. (will be moved to the consumer)

◆ applyRadiusUpdate()

void applyRadiusUpdate ( const RadiusUpdate & u )

protected

Applies a radius update to the tree.

Parameters

u	The update.

◆ applyRewireUpdate()

void applyRewireUpdate ( const RewireUpdate & rewireUpdate )

protected

Applies a rewire update to the tree.

Parameters

rewireUpdate The update.

◆ applyUpdate()

void applyUpdate ( const Update & u )

Applies the given update.

Parameters

u	The update.

◆ at() [1/4]

NodeType & at ( const NodeId & id )

inline

Parameters

id	The node's id.

Returns: The requested node.

◆ at() [2/4]

const NodeType & at ( const NodeId & id ) const

inline

Parameters

id	The node's id.

Returns: The requested node. (const)

◆ at() [3/4]

NodeType & at ( std::size_t index )

inline

Parameters

index The node's index.

Returns: The requested node.

◆ at() [4/4]

const NodeType & at ( std::size_t index ) const

inline

Parameters

index The node's index.

Returns: The requested node. (const)

◆ canApplyUpdate()

bool canApplyUpdate ( const Update & u )

Parameters

u	The update.

Returns: Whether the given update can be applied.

◆ createNewGoalReachedUpdate()

void createNewGoalReachedUpdate	(	const NodeId &	goal,
		float	costToGoToGoal )

inlineprotected

Adds a new goal reached update to the current update.

Parameters

goal	The node that can reach the goal configuration.
costToGoToGoal	The cost to reach the goal configuration from the given node)

◆ createNewNodeCreationUpdate()

void createNewNodeCreationUpdate	(	const ConfigType &	cfg,
		const NodeId &	parent,
		float	fromParentCost )

inlineprotected

Adds a new node creation update to the current update.

Parameters

cfg	The new node's configuration.
parent	The new node's parent node.
fromParentCost	The cost of the edge (node, parent)

◆ createNewRadiusUpdate()

void createNewRadiusUpdate	(	const NodeId &	id,
		bool	increaseRadius )

inlineprotected

Adds a new radius update to the current update.

Parameters

id	The node's id.
increaseRadius	Whether the node's radius increases.

◆ createNewRewireUpdate()

void createNewRewireUpdate	(	const NodeId &	child,
		const NodeId &	newParent,
		float	fromParentCost )

inlineprotected

Adds a new node creation update to the current update.

Parameters

child	The rewired child node.
newParent	The new parent node.
fromParentCost	The cost of the edge (child, new parent)

◆ decreaseRadius()

void decreaseRadius ( const NodeId & id )

inline

Decreases a node's radius.

(creates an appropriate update)

Parameters

id The node.

◆ doAddGoalReached()

void doAddGoalReached	(	const NodeId &	goal,
		float	costToGoToGoal )

inlineprotected

Adds a node to the list of nodes that can reach the goal configuration.

Parameters

goal	The node to add.
costToGoToGoal	The cost to reach the gol configuration from the given node.

◆ doAddNode()

NodeId doAddNode	(	ConfigType	cfg,
		const NodeId &	parent,
		float	fromParentCost,
		std::size_t	workerId )

protected

Adds a node to the tree.

Parameters

cfg	The node's configuration.
parent	The node's parent.
fromParentCost	The cost of the edge (node, parent)
workerId	The worker creating this node.

Returns: The new node's id.

◆ doDecreaseRadius()

void doDecreaseRadius ( const NodeId & id )

protected

Decreases a node's radius.

Parameters

id The node.

◆ doIncreaseRadius()

void doIncreaseRadius ( const NodeId & id )

inlineprotected

Increases a node's radius.

Parameters

id The node.

◆ doSetNodeParent()

void doSetNodeParent	(	const NodeId &	child,
		const NodeId &	newParent,
		float	fromParentCost,
		bool	updateFromStartCost = true )

protected

Sets the parent node of child to parent.

(costs are updated)

Parameters

child	The cild node.
newParent	The new parent node.
fromParentCost	The cost of the edge (child, new parent)
updateFromStartCost	Whether to update the costs of the subtree beneath cild.

◆ findPendingUpdate() [1/2]

PendingUpdateLookuptableIterator findPendingUpdate	(	std::size_t	workerId,
		std::size_t	updateId )

inlineprotected

Parameters

workerId	The update's worker.
updateId	The update's sub id.

Returns: An iterator tho the pending update. (If it does not exist to end.)

◆ findPendingUpdate() [2/2]

PendingUpdateLookuptableConstIterator findPendingUpdate	(	std::size_t	workerId,
		std::size_t	updateId ) const

inlineprotected

Parameters

workerId	The update's worker.
updateId	The update's sub id.

Returns: An iterator tho the pending update. (If it does not exist to end.) (const version)

◆ getAppliedUpdateIds()

const Ice::LongSeq & getAppliedUpdateIds ( ) const

inline

Returns: List of ids of applied updates.

◆ getBestCost()

float getBestCost ( ) const

Returns: The cost of the shortest solution.

◆ getBestCostIt()

std::deque< GoalInfo >::const_iterator getBestCostIt ( ) const

inlineprotected

Returns: An iterator to the node that can reach the goal configuration and results in the lowest path cost. (end if no path was found)

◆ getBestPath()

PathWithCost getBestPath ( ) const

Returns: The path with the lowest cost.

◆ getCurrentUpdate()

const Update & getCurrentUpdate ( ) const

inline

Returns: The currently constructed update.

◆ getCurrentUpdateId()

Ice::Long getCurrentUpdateId ( ) const

inline

Returns: The update sub id of the current update. (The one currently constructed, not the last send)

◆ getCurrentUpdateNonConst()

Update & getCurrentUpdateNonConst ( )

inlineprotected

Returns: The currently constructed update. (non const version for internal use)

◆ getIceTree()

FullIceTree getIceTree ( ) const

Returns: The current RRT with all updates applied. (used to transmitt it through ice.)

◆ getIdOfIndex()

NodeId getIdOfIndex ( std::size_t index ) const

Parameters

index The index.

Returns: The id corresponding to the given node index.

◆ getKNearestNeighboursAndDistances()

std::vector< std::pair< NodeId, float > > getKNearestNeighboursAndDistances	(	const ConfigType &	cfg,
		std::size_t	k )

Parameters

cfg	The configuration.
k	The number of neighbours.

Returns: The k nearest neighbours of and their distance to the given configuration.

◆ getLocalUpdates()

const std::deque< Update > & getLocalUpdates ( ) const

inline

Returns: Returns all updates send by this tree.

◆ getNearestNeighbourAndDistance()

std::pair< NodeId, float > getNearestNeighbourAndDistance ( const ConfigType & cfg )

inline

Parameters

cfg	The configuration.

Returns: The nearest neighbour of and its distance to the given configuration.

◆ getNextNodeIdFor()

NodeId getNextNodeIdFor ( std::size_t workerId )

inline

Parameters

workerId The worker's id.

Returns: The next node id for the given worker.

◆ getNode() [1/2]

Tree::NodeType & getNode ( const NodeId & id )

Parameters

id	The node's id.

Returns: The requested node.

◆ getNode() [2/2]

const Tree::NodeType & getNode ( const NodeId & id ) const

Parameters

id	The node's id.

Returns: The requested node. (const)

◆ getNodes()

const std::deque< std::deque< NodeType > > & getNodes ( ) const

inline

Returns: All nodes.

◆ getNthPathCost()

float getNthPathCost ( std::size_t n ) const

inline

Parameters

n	The paths index.

Returns: The cost of the given path.

◆ getNthPathIds()

NodeIdList getNthPathIds ( std::size_t n ) const

Parameters

n	The path's index.

Returns: The node ids of nodes contained by the given path.

◆ getNthPathWithCost()

PathWithCost getNthPathWithCost ( std::size_t n ) const

Parameters

n N

Returns: The nth path.

◆ getPathCount()

std::size_t getPathCount ( ) const

inline

Returns: The number of paths found.

◆ getPathTo()

VectorXfSeq getPathTo ( NodeId id ) const

protected

Parameters

id	The node's id.

Returns: Returns a path to the requested node.

◆ getPendingUpdate()

const Update & getPendingUpdate	(	std::size_t	workerId,
		std::size_t	updateId ) const

inline

Parameters

workerId	The update's worker id.
updateId	The update's sub id.

Returns: Returns the requested update from the list of pending updates.

◆ getPreviousUpdateId()

Ice::Long getPreviousUpdateId ( ) const

inline

Returns: The update sub id of the last send update.

◆ hasAppliedUpdate()

bool hasAppliedUpdate	(	std::size_t	workerId,
		Ice::Long	updateId )

inline

Parameters

workerId	The update's worker id.
updateId	The update's sub id.

Returns: Whether the given update was applied.

◆ hasGoalNode()

bool hasGoalNode ( const NodeId & nodeId ) const

inline

Parameters

nodeId The node to check.

Returns: Whether the given node is a node in the list of nodes able to reach the goal configuration.

◆ hasPendingUpdate()

bool hasPendingUpdate	(	std::size_t	workerId,
		std::size_t	updateId ) const

inline

Parameters

workerId	The update's worker id.
updateId	The update's sub id.

Returns: Whether the given update is in the list of pending updates.

◆ increaseRadius()

void increaseRadius ( const NodeId & id )

inline

Increases a node's radius.

(creates an appropriate update)

Parameters

id The node.

◆ increaseWorkerCountTo()

void increaseWorkerCountTo ( std::size_t count )

Increases the storage of all data structures to be appropriate for count workers.

Parameters

count The number of workers.

◆ init()

void init	(	const FullIceTree &	iceTree,
		AdaptiveDynamicDomainParameters	newaddParams,
		std::size_t	newWorkerId )

Initailizes the tree from the given tree.

Parameters

iceTree	The tree to use as initial state.
newaddParams	The new adaptive dynamic domain parameters.
newWorkerId	The owner's worker id.

◆ prepareNextUpdate()

void prepareNextUpdate ( )

protected

Prepares the next update.

(the update to be send)

◆ prepareUpdate()

template<class LockType, class RemoteUpdateGetter, class UpdateConsumer>

void prepareUpdate	(	Ice::LongSeq	dependetOnUpdateIds,
		LockType &&	treeLock,
		RemoteUpdateGetter	getRemoteUpdate,
		UpdateConsumer	updateConsumer )

inline

Prepares an update by applying all dependet on updates.

Parameters

dependetOnUpdateIds	The ids of dependet on updates.
treeLock	The lock used to protect the update structures. It will be unlocked when getting a remote update.
getRemoteUpdate	Function used to request a missing update.
updateConsumer	Function used to consume updates after they were added. (will be moved to the consumer)

◆ pushCosts()

void pushCosts ( const NodeId & root )

protected

Updates fromStartCosts for all children from root.

Parameters

root	The root node for the cost update.

◆ sendCurrentUpdate()

void sendCurrentUpdate ( TreeUpdateInterfacePrx & prx )

Sends the current update to the given proxy.

A new update is prepared afterwards.

Parameters

prx	The proxy to send the update to.

◆ setNodeParent()

void setNodeParent	(	const NodeId &	child,
		const NodeId &	newParent,
		float	fromParentCost )

inline

Sets the parent node of child to parent.

(costs are updated) (creates an appropriate update)

Parameters

child	The cild node.
newParent	The new parent node.
fromParentCost	The cost of the edge (child, new parent)

◆ size()

std::size_t size ( ) const

inline

Returns: The number of nodes in the tree.

Member Data Documentation

◆ addParams

AdaptiveDynamicDomainParameters addParams

protected

The parameters of adaptive dynamic domain)

◆ appliedUpdateIds

Ice::LongSeq appliedUpdateIds

protected

List of ids of applied updates.

◆ goalNodes

std::deque<GoalInfo> goalNodes

protected

List of nodes able to reach the goal configuration.

◆ localUpdates

std::deque<Update> localUpdates

protected

Updates created by this tree.

◆ nodeCount

std::size_t nodeCount

protected

The number of nodes in the rrt.

◆ nodes

std::deque<std::deque<NodeType> > nodes

protected

Holds all nodes.

The node nodes[i][j] is the jth node created by worker i.

◆ pendingUpdates

std::deque<Update> pendingUpdates

protected

Updates to apply to the tree.

◆ pendingUpdatesLookupTable

PendingUpdateLookuptableType pendingUpdatesLookupTable

protected

Speeds up lookup for available updates.

(O(log(n)) instead of O(n))

maps from UpdateId to the corresponding index in the pendingUpdates vector

◆ ROOT_ID

const NodeId ROOT_ID {0, 0}

static

The root node's id.

◆ workerId

std::size_t workerId

protected

The worker id of this trees owner.

(only used for sending updates and skipping updates send by this tree)

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

RobotComponents/components/MotionPlanning/Tasks/AdaptiveDynamicDomainInformedRRTStar/Tree.h
RobotComponents/components/MotionPlanning/Tasks/AdaptiveDynamicDomainInformedRRTStar/Tree.cpp

Classes

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConfigType

◆ PendingUpdateLookuptableConstIterator

◆ PendingUpdateLookuptableIterator

◆ PendingUpdateLookuptableType

Constructor & Destructor Documentation

◆ Tree() [1/2]

◆ Tree() [2/2]

Member Function Documentation

◆ addGoalReached()

◆ addNode()

◆ addPendingUpdate()

◆ applyGoalReachedUpdates()

◆ applyNodeCreationUpdate()

◆ applyPendingUpdate()

◆ applyPendingUpdates() [1/3]

◆ applyPendingUpdates() [2/3]

◆ applyPendingUpdates() [3/3]

◆ applyRadiusUpdate()

◆ applyRewireUpdate()

◆ applyUpdate()

◆ at() [1/4]

◆ at() [2/4]

◆ at() [3/4]

◆ at() [4/4]

◆ canApplyUpdate()

◆ createNewGoalReachedUpdate()

◆ createNewNodeCreationUpdate()

◆ createNewRadiusUpdate()

◆ createNewRewireUpdate()

◆ decreaseRadius()

◆ doAddGoalReached()

◆ doAddNode()

◆ doDecreaseRadius()

◆ doIncreaseRadius()

◆ doSetNodeParent()

◆ findPendingUpdate() [1/2]

◆ findPendingUpdate() [2/2]

◆ getAppliedUpdateIds()

◆ getBestCost()

◆ getBestCostIt()

◆ getBestPath()

◆ getCurrentUpdate()

◆ getCurrentUpdateId()

◆ getCurrentUpdateNonConst()

◆ getIceTree()

◆ getIdOfIndex()

◆ getKNearestNeighboursAndDistances()

◆ getLocalUpdates()

◆ getNearestNeighbourAndDistance()

◆ getNextNodeIdFor()

◆ getNode() [1/2]

◆ getNode() [2/2]

◆ getNodes()

◆ getNthPathCost()

◆ getNthPathIds()

◆ getNthPathWithCost()

◆ getPathCount()

◆ getPathTo()

◆ getPendingUpdate()

◆ getPreviousUpdateId()

◆ hasAppliedUpdate()

◆ hasGoalNode()

◆ hasPendingUpdate()

◆ increaseRadius()

◆ increaseWorkerCountTo()

◆ init()

◆ prepareNextUpdate()

◆ prepareUpdate()

◆ pushCosts()

◆ sendCurrentUpdate()

◆ setNodeParent()

◆ size()