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

Public Member Functions
	VertexBatching (const ompl::base::StateSpacePtr _space, VStateMap _stateMap, std::string _roadmapFileName, Graph &_fullRoadmap, Graph &_currentRoadmap, unsigned int _initNumVertices, double _vertInflFactor)

void	setVertexInflationFactor (double _vertInflFactor)
	Setters and Getters.

double	getVertexInflationFactor () 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

Derived class of BatchingManager that implements Vertex Batching.

Implements Vertex Batching, where batches of vertices are added and the complete subgraph is searched over each time.

Constructor & Destructor Documentation

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

batching_pomp::batching::VertexBatching< Graph, VStateMap, StateCon, EDistance >::VertexBatching	(	const ompl::base::StateSpacePtr	_space,
		VStateMap	_stateMap,
		std::string	_roadmapFileName,
		Graph &	_fullRoadmap,
		Graph &	_currentRoadmap,
		unsigned int	_initNumVertices,
		double	_vertInflFactor
	)

inline

Parameters

[in]	_initNumVertices	The initial number of vertices to begin with
[in]	_vertInflFactor	The factor by which to increase the number of vertices in each batch.

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

void batching_pomp::batching::VertexBatching< 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

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