Derived class of BatchingManager that implements Edge Batching. More...

#include <EdgeBatching.hpp>

Inherits batching_pomp::batching::BatchingManager< Graph, VStateMap, StateCon, EDistance >.

Public Member Functions
	EdgeBatching (const ompl::base::StateSpacePtr _space, VStateMap _stateMap, std::string _roadmapFileName, Graph &_fullRoadmap, Graph &_currentRoadmap, double _radiusInflFactor, std::function< double(unsigned int)> _initRadiusFn, double _maxRadius)

void	setRadiusInflationFactor (unsigned int _radiusInflFactor)
	Setters and Getters.

double	getRadiusInflationFactor () const

void	setInitRadius (double _initRadius)

double	getInitRadius () const

void	setMaxRadius (double _maxRadius)

double	getMaxRadius () const

void	updateWithNewSolutionCost (double _newSolnCost) override
	Overriden methods.

void	nextBatch (const std::function< bool(const ompl::base::State *)> &_pruneFunction, ompl::NearestNeighbors< Vertex > &_vertexNN) override

Public Member Functions inherited from batching_pomp::batching::BatchingManager< Graph, VStateMap, StateCon, EDistance >
	BatchingManager (const ompl::base::StateSpacePtr _space, VStateMap _stateMap, std::string _roadmapFileName, Graph &_fullRoadmap, Graph &_currentRoadmap)

	BatchingManager (const ompl::base::StateSpacePtr _space, VStateMap _stateMap, EDistance _distanceMap, std::string _roadmapFileName, Graph &_fullRoadmap, Graph &_currentRoadmap)

unsigned int	getNumBatches () const

unsigned int	getNumVertices () const

bool	isExhausted () const

double	getCurrentRadius () const

const ompl::base::State *	getVertexState (const Vertex &v) const

void	pruneVertices (const std::function< bool(const ompl::base::State *)> &_pruneFunction, ompl::NearestNeighbors< Vertex > &_vertexNN)

Additional Inherited Members
Protected Attributes inherited from batching_pomp::batching::BatchingManager< Graph, VStateMap, StateCon, EDistance >
Graph &	mFullRoadmap
	The entire roadmap that will be used for planning.

Graph &	mCurrentRoadmap
	The roadmap currently being searched by the planner.

unsigned int	mNumBatches
	The number of batches added till now.

unsigned int	mNumVertices
	The number of vertices in the entire roadmap.

bool	mExhausted
	The flag that maintains whether the complete roadmap has been fully searched or not.

double	mCurrRadius
	The radius of connectivity for the current batch.

Detailed Description

template<class Graph, class VStateMap, class StateCon, class EDistance>
class batching_pomp::batching::EdgeBatching< Graph, VStateMap, StateCon, EDistance >

Derived class of BatchingManager that implements Edge Batching.

Implements Edge Batching, where all vertices are considered and batches of edges are added based on an increasing radius of connectivity.

Constructor & Destructor Documentation

◆ EdgeBatching()

template<class Graph , class VStateMap , class StateCon , class EDistance >

batching_pomp::batching::EdgeBatching< Graph, VStateMap, StateCon, EDistance >::EdgeBatching	(	const ompl::base::StateSpacePtr	_space,
		VStateMap	_stateMap,
		std::string	_roadmapFileName,
		Graph &	_fullRoadmap,
		Graph &	_currentRoadmap,
		double	_radiusInflFactor,
		std::function< double(unsigned int)>	_initRadiusFn,
		double	_maxRadius
	)

inline

Parameters

[in]	_radiusInflFactor	The value by which to increase the radius for each new batch
[in]	_initRadiusFn	The function which generates the initial radius based on the number of vertices
[in]	_maxRadius	The maximum meaningful radius for edge batching. It is a function of the space bounds and the current solution quality.

Member Function Documentation

◆ nextBatch()

template<class Graph , class VStateMap , class StateCon , class EDistance >

void batching_pomp::batching::EdgeBatching< Graph, VStateMap, StateCon, EDistance >::nextBatch	(	const std::function< bool(const ompl::base::State *)> &	_pruneFunction,
		ompl::NearestNeighbors< Vertex > &	_vertexNN
	)

inlineoverridevirtual

Generate the next batch and update the current roadmap with it

Parameters

[in]	_pruneFunction	The rejection sampling checker for new samples
[in]	_vertexNN	The nearest neighbour manager for roadmap vertices that is updated with the latest batch of samples

Implements batching_pomp::batching::BatchingManager< Graph, VStateMap, StateCon, EDistance >.

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

include/batching_pomp/batching/EdgeBatching.hpp

Public Member Functions