nav2_smac_planner::AnalyticExpansion< NodeT > Class Template Reference

Collaboration diagram for nav2_smac_planner::AnalyticExpansion< NodeT >:

Classes
struct	AnalyticExpansionNode

Public Types
typedef NodeT *	NodePtr
typedef NodeT::Coordinates	Coordinates
typedef std::function< bool(const unsigned int &, NodeT *&)>	NodeGetter
typedef std::vector< AnalyticExpansionNode >	AnalyticExpansionNodes

Public Member Functions
	AnalyticExpansion (const MotionModel &motion_model, const SearchInfo &search_info, const bool &traverse_unknown, const unsigned int &dim_3_size)
	Constructor for analytic expansion object.
void	setCollisionChecker (GridCollisionChecker *collision_checker)
	Sets the collision checker and costmap to use in expansion validation. More...
NodePtr	tryAnalyticExpansion (const NodePtr &current_node, const NodePtr &goal_node, const NodeGetter &getter, int &iterations, int &best_cost)
	Attempt an analytic path completion. More...
AnalyticExpansionNodes	getAnalyticPath (const NodePtr &node, const NodePtr &goal, const NodeGetter &getter)
	Perform an analytic path expansion to the goal. More...
NodePtr	setAnalyticPath (const NodePtr &node, const NodePtr &goal, const AnalyticExpansionNodes &expanded_nodes)
	Takes final analytic expansion and appends to current expanded node. More...
void	cleanNode (const NodePtr &nodes)
	Takes an expanded nodes to clean up, if necessary, of any state information that may be poluting it from a prior search iteration. More...
void	cleanNode (const NodePtr &node)
AnalyticExpansion< Node2D >::AnalyticExpansionNodes	getAnalyticPath (const NodePtr &node, const NodePtr &goal, const NodeGetter &node_getter)
AnalyticExpansion< Node2D >::NodePtr	setAnalyticPath (const NodePtr &node, const NodePtr &goal_node, const AnalyticExpansionNodes &expanded_nodes)
AnalyticExpansion< Node2D >::NodePtr	tryAnalyticExpansion (const NodePtr &current_node, const NodePtr &goal_node, const NodeGetter &getter, int &analytic_iterations, int &closest_distance)

Protected Attributes
MotionModel	_motion_model
SearchInfo	_search_info
bool	_traverse_unknown
unsigned int	_dim_3_size
GridCollisionChecker *	_collision_checker
std::list< std::unique_ptr< NodeT > >	_detached_nodes

Detailed Description

template<typename NodeT>
class nav2_smac_planner::AnalyticExpansion< NodeT >

Definition at line 33 of file analytic_expansion.hpp.

Member Function Documentation

cleanNode()

template<typename NodeT >

void nav2_smac_planner::AnalyticExpansion< NodeT >::cleanNode

(

const NodePtr &

nodes

)

Takes an expanded nodes to clean up, if necessary, of any state information that may be poluting it from a prior search iteration.

Parameters

expanded_nodes

Expanded node to clean up from search

Definition at line 250 of file analytic_expansion.cpp.

getAnalyticPath()

template<typename NodeT >

AnalyticExpansion< NodeT >::AnalyticExpansionNodes nav2_smac_planner::AnalyticExpansion< NodeT >::getAnalyticPath	(	const NodePtr &	node,
		const NodePtr &	goal,
		const NodeGetter &	getter
	)

Perform an analytic path expansion to the goal.

Parameters

node	The node to start the analytic path from
goal	The goal node to plan to
getter	The function object that gets valid nodes from the graph

Returns

A set of analytically expanded nodes to the goal from current node, if possible

Definition at line 120 of file analytic_expansion.cpp.

setAnalyticPath()

template<typename NodeT >

AnalyticExpansion< NodeT >::NodePtr nav2_smac_planner::AnalyticExpansion< NodeT >::setAnalyticPath	(	const NodePtr &	node,
		const NodePtr &	goal,
		const AnalyticExpansionNodes &	expanded_nodes
	)

Takes final analytic expansion and appends to current expanded node.

Parameters

node	The node to start the analytic path from
goal	The goal node to plan to
expanded_nodes	Expanded nodes to append to end of current search path

Returns

Node pointer to goal node if successful, else return nullptr

Definition at line 213 of file analytic_expansion.cpp.

setCollisionChecker()

template<typename NodeT >

void nav2_smac_planner::AnalyticExpansion< NodeT >::setCollisionChecker

(

GridCollisionChecker *

collision_checker

)

Sets the collision checker and costmap to use in expansion validation.

Parameters

collision_checker

Collision checker to use

Definition at line 43 of file analytic_expansion.cpp.

tryAnalyticExpansion()

template<typename NodeT >

AnalyticExpansion< NodeT >::NodePtr nav2_smac_planner::AnalyticExpansion< NodeT >::tryAnalyticExpansion	(	const NodePtr &	current_node,
		const NodePtr &	goal_node,
		const NodeGetter &	getter,
		int &	iterations,
		int &	best_cost
	)

Attempt an analytic path completion.

Parameters

node	The node to start the analytic path from
goal	The goal node to plan to
getter	Gets a node at a set of coordinates
iterations	Iterations to run over
best_cost	Best heuristic cost to propertionally expand more closer to the goal

Returns

Node pointer reference to goal node if successful, else return nullptr

Definition at line 50 of file analytic_expansion.cpp.

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

• nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp
• nav2_smac_planner/src/analytic_expansion.cpp