batching_pomp::batching::SingleBatching< Graph, VStateMap, StateCon, EDistance > Class Template Reference

Derived class of BatchingManager that implements a single batch search. More...

#include <SingleBatching.hpp>

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

Public Member Functions
	SingleBatching (const ompl::base::StateSpacePtr _space, VStateMap _stateMap, EDistance _distanceMap, std::string _roadmapFileName, Graph &_fullRoadmap, Graph &_currentRoadmap)
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::SingleBatching< Graph, VStateMap, StateCon, EDistance >

Derived class of BatchingManager that implements a single batch search.

Implements the case where there is a single, reasonably sized roadmap that will be searched by POMP, without any batching. This is to allow a common framework to run POMP on a single roadmap.

Member Function Documentation

nextBatch()

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

void batching_pomp::batching::SingleBatching< 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/SingleBatching.hpp