Node2D implementation for graph. More...

#include <nav2_smac_planner/include/nav2_smac_planner/node_2d.hpp>

Collaboration diagram for nav2_smac_planner::Node2D:

Classes
class	Coordinates
	Node2D implementation of coordinate structure. More...

Public Types
typedef Node2D *	NodePtr

typedef std::unique_ptr< std::vector< Node2D > >	Graph

typedef std::vector< NodePtr >	NodeVector

typedef std::vector< Coordinates >	CoordinateVector

Public Member Functions
	Node2D (const unsigned int index)
	A constructor for nav2_smac_planner::Node2D. More...

	~Node2D ()
	A destructor for nav2_smac_planner::Node2D.

bool	operator== (const Node2D &rhs)
	operator== for comparisons More...

void	reset ()
	Reset method for new search.

float &	getAccumulatedCost ()
	Gets the accumulated cost at this node. More...

void	setAccumulatedCost (const float &cost_in)
	Sets the accumulated cost at this node. More...

float &	getCost ()
	Gets the costmap cost at this node. More...

void	setCost (const float &cost)
	Gets the costmap cost at this node. More...

bool &	wasVisited ()
	Gets if cell has been visited in search. More...

void	visited ()
	Sets if cell has been visited in search.

bool &	isQueued ()
	Gets if cell is currently queued in search. More...

void	queued ()
	Sets if cell is currently queued in search.

unsigned int &	getIndex ()
	Gets cell index. More...

bool	isNodeValid (const bool &traverse_unknown, GridCollisionChecker *collision_checker)
	Check if this node is valid. More...

float	getTraversalCost (const NodePtr &child)
	get traversal cost from this node to child node More...

void	getNeighbors (std::function< bool(const unsigned int &, nav2_smac_planner::Node2D &)> &validity_checker, GridCollisionChecker collision_checker, const bool &traverse_unknown, NodeVector &neighbors)
	Retrieve all valid neighbors of a node. More...

bool	backtracePath (CoordinateVector &path)
	Set the starting pose for planning, as a node index. More...

Static Public Member Functions
static unsigned int	getIndex (const unsigned int &x, const unsigned int &y, const unsigned int &width)
	Get index. More...

static Coordinates	getCoords (const unsigned int &index, const unsigned int &width, const unsigned int &angles)
	Get index. More...

static Coordinates	getCoords (const unsigned int &index)
	Get index. More...

static float	getHeuristicCost (const Coordinates &node_coords, const Coordinates &goal_coordinates, const nav2_costmap_2d::Costmap2D *costmap)
	Get cost of heuristic of node. More...

static void	initMotionModel (const MotionModel &motion_model, unsigned int &size_x, unsigned int &size_y, unsigned int &num_angle_quantization, SearchInfo &search_info)
	Initialize the neighborhood to be used in A* We support 4-connect (VON_NEUMANN) and 8-connect (MOORE) More...

Public Attributes
Node2D *	parent

Static Public Attributes
static float	cost_travel_multiplier = 2.0

static std::vector< int >	_neighbors_grid_offsets

Detailed Description

Node2D implementation for graph.

Definition at line 39 of file node_2d.hpp.

Constructor & Destructor Documentation

◆ Node2D()

nav2_smac_planner::Node2D::Node2D ( const unsigned int index )

explicit

A constructor for nav2_smac_planner::Node2D.

Parameters

index The index of this node for self-reference

Definition at line 28 of file node_2d.cpp.

Member Function Documentation

◆ backtracePath()

bool nav2_smac_planner::Node2D::backtracePath ( CoordinateVector & path )

Set the starting pose for planning, as a node index.

Parameters

path	Reference to a vector of indicies of generated path

Returns: whether the path was able to be backtraced

Definition at line 151 of file node_2d.cpp.

References getCoords(), and getIndex().

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◆ getAccumulatedCost()

float& nav2_smac_planner::Node2D::getAccumulatedCost ( )

inline

Gets the accumulated cost at this node.

Returns: accumulated cost

Definition at line 90 of file node_2d.hpp.

◆ getCoords() [1/2]

static Coordinates nav2_smac_planner::Node2D::getCoords ( const unsigned int & index )

inlinestatic

Get index.

Parameters

Index Index of point

Returns: coordinates of point

Definition at line 216 of file node_2d.hpp.

◆ getCoords() [2/2]

static Coordinates nav2_smac_planner::Node2D::getCoords	(	const unsigned int &	index,
		const unsigned int &	width,
		const unsigned int &	angles
	)

inlinestatic

Get index.

Parameters

Index	Index of point
width	width of costmap
angles	angle bins to use (must be 1 or throws exception)

Returns: coordinates of point

Definition at line 201 of file node_2d.hpp.

Referenced by backtracePath(), getNeighbors(), and getTraversalCost().

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◆ getCost()

float& nav2_smac_planner::Node2D::getCost ( )

inline

Gets the costmap cost at this node.

Returns: costmap cost

Definition at line 108 of file node_2d.hpp.

Referenced by getTraversalCost().

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◆ getHeuristicCost()

float nav2_smac_planner::Node2D::getHeuristicCost	(	const Coordinates &	node_coords,
		const Coordinates &	goal_coordinates,
		const nav2_costmap_2d::Costmap2D *	costmap
	)

static

Get cost of heuristic of node.

Parameters

node	Node index current
node	Node index of new
costmap	Costmap ptr to use

Returns: Heuristic cost between the nodes

Definition at line 82 of file node_2d.cpp.

◆ getIndex() [1/2]

unsigned int& nav2_smac_planner::Node2D::getIndex ( )

inline

Gets cell index.

Returns: Reference to cell index

Definition at line 161 of file node_2d.hpp.

Referenced by backtracePath(), nav2_simple_commander.costmap_2d.PyCostmap2D::getCostXY(), getNeighbors(), getTraversalCost(), and nav2_simple_commander.costmap_2d.PyCostmap2D::setCost().

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◆ getIndex() [2/2]

static unsigned int nav2_smac_planner::Node2D::getIndex	(	const unsigned int &	x,
		const unsigned int &	y,
		const unsigned int &	width
	)

inlinestatic

Get index.

Parameters

x	x coordinate of point to get index of
y	y coordinate of point to get index of
width	width of costmap

Returns: index

Definition at line 188 of file node_2d.hpp.

Referenced by nav2_simple_commander.costmap_2d.PyCostmap2D::getCostXY(), and nav2_simple_commander.costmap_2d.PyCostmap2D::setCost().

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◆ getNeighbors()

void nav2_smac_planner::Node2D::getNeighbors	(	std::function< bool(const unsigned int &, nav2_smac_planner::Node2D *&)> &	validity_checker,
		GridCollisionChecker *	collision_checker,
		const bool &	traverse_unknown,
		NodeVector &	neighbors
	)

Retrieve all valid neighbors of a node.

Parameters

validity_checker	Functor for state validity checking
collision_checker	Collision checker to use
traverse_unknown	If unknown costs are valid to traverse
neighbors	Vector of neighbors to be filled

Definition at line 111 of file node_2d.cpp.

References getCoords(), getIndex(), isNodeValid(), and wasVisited().

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◆ getTraversalCost()

float nav2_smac_planner::Node2D::getTraversalCost ( const NodePtr & child )

get traversal cost from this node to child node

Parameters

child Node pointer to this node's child

Returns: traversal cost

Definition at line 64 of file node_2d.cpp.

References getCoords(), getCost(), and getIndex().

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◆ initMotionModel()

void nav2_smac_planner::Node2D::initMotionModel	(	const MotionModel &	motion_model,
		unsigned int &	size_x,
		unsigned int &	size_y,
		unsigned int &	num_angle_quantization,
		SearchInfo &	search_info
	)

static

Initialize the neighborhood to be used in A* We support 4-connect (VON_NEUMANN) and 8-connect (MOORE)

Parameters

neighborhood	The desired neighborhood type
x_size_uint	The total x size to find neighbors
y_size	The total y size to find neighbors
num_angle_quantization	Number of quantizations, must be 0
search_info	Search parameters, unused by 2D node

Definition at line 94 of file node_2d.cpp.

◆ isNodeValid()

bool nav2_smac_planner::Node2D::isNodeValid	(	const bool &	traverse_unknown,
		GridCollisionChecker *	collision_checker
	)

Check if this node is valid.

Parameters

traverse_unknown	If we can explore unknown nodes on the graph
collision_checker	Pointer to collision checker object

Returns: whether this node is valid and collision free

Definition at line 52 of file node_2d.cpp.

References nav2_smac_planner::GridCollisionChecker::getCost(), and nav2_smac_planner::GridCollisionChecker::inCollision().

Referenced by getNeighbors().

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◆ isQueued()

bool& nav2_smac_planner::Node2D::isQueued ( )

inline

Gets if cell is currently queued in search.

Parameters

If	cell was queued

Definition at line 144 of file node_2d.hpp.

◆ operator==()

bool nav2_smac_planner::Node2D::operator== ( const Node2D & rhs )

inline

operator== for comparisons

Parameters

Node2D right hand side node reference

Returns: If cell indicies are equal

Definition at line 77 of file node_2d.hpp.

◆ setAccumulatedCost()

void nav2_smac_planner::Node2D::setAccumulatedCost ( const float & cost_in )

inline

Sets the accumulated cost at this node.

Parameters

reference to accumulated cost

Definition at line 99 of file node_2d.hpp.

◆ setCost()

void nav2_smac_planner::Node2D::setCost ( const float & cost )

inline

Gets the costmap cost at this node.

Returns: costmap cost

Definition at line 117 of file node_2d.hpp.

◆ wasVisited()

bool& nav2_smac_planner::Node2D::wasVisited ( )

inline

Gets if cell has been visited in search.

Parameters

If	cell was visited

Definition at line 126 of file node_2d.hpp.

Referenced by getNeighbors().

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

nav2_smac_planner/include/nav2_smac_planner/node_2d.hpp
nav2_smac_planner/src/node_2d.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Node2D()

Member Function Documentation

◆ backtracePath()

◆ getAccumulatedCost()

◆ getCoords() [1/2]

◆ getCoords() [2/2]

◆ getCost()

◆ getHeuristicCost()

◆ getIndex() [1/2]

◆ getIndex() [2/2]

◆ getNeighbors()

◆ getTraversalCost()

◆ initMotionModel()

◆ isNodeValid()

◆ isQueued()

◆ operator==()

◆ setAccumulatedCost()

◆ setCost()

◆ wasVisited()