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. More...

using	PendingUpdateLookuptableConstIterator = typename PendingUpdateLookuptableType::const_iterator
	Const iterator for the PendingUpdateLookuptable. More...

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

using	PendingUpdateLookuptableType = std::unordered_map< std::pair< std::size_t, std::size_t >, std::size_t >
	Lookuptable for pending updates. More...

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

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

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

void	applyPendingUpdates ()
	Applies all pending updates. More...

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. More...

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

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

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. More...

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. More...

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

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

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. More...

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

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

std::size_t	size () const

	Tree ()=default
	Default ctor. More...

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

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

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

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

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. More...

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

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

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

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

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

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

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

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

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

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

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

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. More...

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

Protected Attributes
AdaptiveDynamicDomainParameters	addParams
	The parameters of adaptive dynamic domain) More...

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

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

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

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

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

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

PendingUpdateLookuptableType	pendingUpdatesLookupTable
	Speeds up lookup for available updates. More...

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

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

Definition at line 49 of file Tree.h.

Member Typedef Documentation

◆ ConfigType

using ConfigType = VectorXf

The type of configurations.

Definition at line 56 of file Tree.h.

◆ PendingUpdateLookuptableConstIterator

using PendingUpdateLookuptableConstIterator = typename PendingUpdateLookuptableType::const_iterator

Const iterator for the PendingUpdateLookuptable.

Definition at line 102 of file Tree.h.

◆ PendingUpdateLookuptableIterator

using PendingUpdateLookuptableIterator = typename PendingUpdateLookuptableType::iterator

Iterator for the PendingUpdateLookuptable.

Definition at line 97 of file Tree.h.

◆ PendingUpdateLookuptableType

using PendingUpdateLookuptableType = std::unordered_map<std::pair<std::size_t, std::size_t>, std::size_t>

Lookuptable for pending updates.

Definition at line 93 of file Tree.h.

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.

Definition at line 38 of file Tree.cpp.

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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.

Definition at line 582 of file Tree.h.

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◆ 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.

Definition at line 235 of file Tree.cpp.

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◆ addPendingUpdate()

void addPendingUpdate ( const Update & u )

Adds a new update to the list of pending updates.

Parameters

u	The update.

Definition at line 502 of file Tree.cpp.

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◆ 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.

Definition at line 337 of file Tree.h.

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◆ 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.

Definition at line 321 of file Tree.h.

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◆ applyPendingUpdate()

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)

Definition at line 407 of file Tree.h.

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◆ 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.

Definition at line 206 of file Tree.h.

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◆ applyPendingUpdates() [2/3]

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

Definition at line 230 of file Tree.h.

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◆ applyPendingUpdates() [3/3]

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)

Definition at line 244 of file Tree.h.

◆ applyRadiusUpdate()

void applyRadiusUpdate ( const RadiusUpdate & u )

protected

Applies a radius update to the tree.

Parameters

u	The update.

Definition at line 191 of file Tree.cpp.

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◆ applyRewireUpdate()

void applyRewireUpdate ( const RewireUpdate & rewireUpdate )

protected

Applies a rewire update to the tree.

Parameters

rewireUpdate The update.

Definition at line 204 of file Tree.cpp.

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◆ applyUpdate()

void applyUpdate ( const Update & u )

Applies the given update.

Parameters

u	The update.

Definition at line 139 of file Tree.cpp.

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◆ at() [1/4]

NodeType& at ( const NodeId & id )

inline

Parameters

id	The node's id.

Returns: The requested node.

Definition at line 704 of file Tree.h.

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◆ at() [2/4]

const NodeType& at ( const NodeId & id ) const

inline

Parameters

id	The node's id.

Returns: The requested node. (const)

Definition at line 714 of file Tree.h.

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◆ at() [3/4]

NodeType& at ( std::size_t index )

inline

Parameters

index The node's index.

Returns: The requested node.

Definition at line 724 of file Tree.h.

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◆ at() [4/4]

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

inline

Parameters

index The node's index.

Returns: The requested node. (const)

Definition at line 734 of file Tree.h.

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◆ canApplyUpdate()

bool canApplyUpdate ( const Update & u )

Parameters

u	The update.

Returns: Whether the given update can be applied.

Definition at line 123 of file Tree.cpp.

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◆ 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)

Definition at line 392 of file Tree.h.

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◆ 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)

Definition at line 365 of file Tree.h.

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◆ 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.

Definition at line 353 of file Tree.h.

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◆ 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)

Definition at line 380 of file Tree.h.

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◆ decreaseRadius()

void decreaseRadius ( const NodeId & id )

inline

Decreases a node's radius.

(creates an appropriate update)

Parameters

id The node.

Definition at line 559 of file Tree.h.

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◆ 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.

Definition at line 639 of file Tree.h.

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◆ 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.

Definition at line 258 of file Tree.cpp.

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◆ doDecreaseRadius()

void doDecreaseRadius ( const NodeId & id )

protected

Decreases a node's radius.

Parameters

id The node.

Definition at line 302 of file Tree.cpp.

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◆ doIncreaseRadius()

void doIncreaseRadius ( const NodeId & id )

inlineprotected

Increases a node's radius.

Parameters

id The node.

Definition at line 628 of file Tree.h.

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◆ 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.

Definition at line 281 of file Tree.cpp.

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◆ 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.)

Definition at line 514 of file Tree.h.

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◆ 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)

Definition at line 525 of file Tree.h.

◆ getAppliedUpdateIds()

const Ice::LongSeq& getAppliedUpdateIds ( ) const

inline

Returns: List of ids of applied updates.

Definition at line 845 of file Tree.h.

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◆ getBestCost()

float getBestCost ( ) const

Returns: The cost of the shortest solution.

Definition at line 406 of file Tree.cpp.

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◆ 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)

Definition at line 749 of file Tree.h.

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◆ getBestPath()

PathWithCost getBestPath ( ) const

Returns: The path with the lowest cost.

Definition at line 416 of file Tree.cpp.

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◆ getCurrentUpdate()

const Update& getCurrentUpdate ( ) const

inline

Returns: The currently constructed update.

Definition at line 294 of file Tree.h.

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◆ getCurrentUpdateId()

Ice::Long getCurrentUpdateId ( ) const

inline

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

Definition at line 274 of file Tree.h.

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◆ getCurrentUpdateNonConst()

Update& getCurrentUpdateNonConst ( )

inlineprotected

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

Definition at line 304 of file Tree.h.

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◆ getIceTree()

FullIceTree getIceTree ( ) const

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

Definition at line 475 of file Tree.cpp.

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◆ getIdOfIndex()

NodeId getIdOfIndex ( std::size_t index ) const

Parameters

index The index.

Returns: The id corresponding to the given node index.

Definition at line 378 of file Tree.cpp.

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◆ 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.

Definition at line 317 of file Tree.cpp.

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◆ getLocalUpdates()

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

inline

Returns: Returns all updates send by this tree.

Definition at line 160 of file Tree.h.

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◆ 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.

Definition at line 659 of file Tree.h.

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◆ getNextNodeIdFor()

NodeId getNextNodeIdFor ( std::size_t workerId )

inline

Parameters

workerId The worker's id.

Returns: The next node id for the given worker.

Definition at line 829 of file Tree.h.

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◆ getNode() [1/2]

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

Parameters

id	The node's id.

Returns: The requested node.

Definition at line 358 of file Tree.cpp.

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◆ getNode() [2/2]

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

Parameters

id	The node's id.

Returns: The requested node. (const)

Definition at line 368 of file Tree.cpp.

◆ getNodes()

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

inline

Returns: All nodes.

Definition at line 679 of file Tree.h.

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◆ getNthPathCost()

float getNthPathCost ( std::size_t n ) const

inline

Parameters

n	The paths index.

Returns: The cost of the given path.

Definition at line 799 of file Tree.h.

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◆ 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.

Definition at line 435 of file Tree.cpp.

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◆ getNthPathWithCost()

PathWithCost getNthPathWithCost ( std::size_t n ) const

Parameters

n N

Returns: The nth path.

Definition at line 426 of file Tree.cpp.

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◆ getPathCount()

std::size_t getPathCount ( ) const

inline

Returns: The number of paths found.

Definition at line 789 of file Tree.h.

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◆ getPathTo()

VectorXfSeq getPathTo ( NodeId id ) const

protected

Parameters

id	The node's id.

Returns: Returns a path to the requested node.

Definition at line 456 of file Tree.cpp.

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◆ 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.

Definition at line 194 of file Tree.h.

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◆ getPreviousUpdateId()

Ice::Long getPreviousUpdateId ( ) const

inline

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

Definition at line 285 of file Tree.h.

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◆ 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.

Definition at line 171 of file Tree.h.

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◆ 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.

Definition at line 778 of file Tree.h.

◆ 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.

Definition at line 183 of file Tree.h.

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◆ increaseRadius()

void increaseRadius ( const NodeId & id )

inline

Increases a node's radius.

(creates an appropriate update)

Parameters

id The node.

Definition at line 570 of file Tree.h.

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◆ 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.

Definition at line 108 of file Tree.cpp.

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◆ 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.

Definition at line 54 of file Tree.cpp.

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◆ prepareNextUpdate()

void prepareNextUpdate ( )

protected

Prepares the next update.

(the update to be send)

Definition at line 226 of file Tree.cpp.

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◆ prepareUpdate()

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)

Definition at line 461 of file Tree.h.

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◆ pushCosts()

void pushCosts ( const NodeId & root )

protected

Updates fromStartCosts for all children from root.

Parameters

root	The root node for the cost update.

Definition at line 247 of file Tree.cpp.

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◆ 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.

Definition at line 178 of file Tree.cpp.

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◆ 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)

Definition at line 548 of file Tree.h.

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◆ size()

std::size_t size ( ) const

inline

Returns: The number of nodes in the tree.

Definition at line 694 of file Tree.h.

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Member Data Documentation

◆ addParams

AdaptiveDynamicDomainParameters addParams

protected

The parameters of adaptive dynamic domain)

Definition at line 876 of file Tree.h.

◆ appliedUpdateIds

Ice::LongSeq appliedUpdateIds

protected

List of ids of applied updates.

Definition at line 854 of file Tree.h.

◆ goalNodes

std::deque<GoalInfo> goalNodes

protected

List of nodes able to reach the goal configuration.

Definition at line 871 of file Tree.h.

◆ localUpdates

std::deque<Update> localUpdates

protected

Updates created by this tree.

Definition at line 861 of file Tree.h.

◆ nodeCount

std::size_t nodeCount

protected

The number of nodes in the rrt.

Definition at line 885 of file Tree.h.

◆ nodes

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

protected

Holds all nodes.

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

Definition at line 867 of file Tree.h.

◆ pendingUpdates

std::deque<Update> pendingUpdates

protected

Updates to apply to the tree.

Definition at line 890 of file Tree.h.

◆ 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

Definition at line 897 of file Tree.h.

◆ ROOT_ID

const NodeId ROOT_ID {0, 0}

static

The root node's id.

Definition at line 839 of file Tree.h.

◆ 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)

Definition at line 881 of file Tree.h.

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()