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 uint64_t 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	setPose (const Coordinates &pose_in)
	setting continuous coordinate search poses (in partial-cells) 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.

uint64_t	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 uint64_t &, 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 uint64_t	getIndex (const unsigned int &x, const unsigned int &y, const unsigned int &width)
	Get index. More...

static Coordinates	getCoords (const uint64_t &index, const unsigned int &width, const unsigned int &angles)
	Get index. More...

static Coordinates	getCoords (const uint64_t &index)
	Get index. More...

static float	getHeuristicCost (const Coordinates &node_coords, const CoordinateVector &goals_coords)
	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

Coordinates	pose

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 35 of file node_2d.hpp.

Constructor & Destructor Documentation

◆ Node2D()

nav2_smac_planner::Node2D::Node2D ( const uint64_t 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 indices of generated path

Returns: whether the path was able to be backtraced

Definition at line 155 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 105 of file node_2d.hpp.

◆ getCoords() [1/2]

static Coordinates nav2_smac_planner::Node2D::getCoords ( const uint64_t & index )

inlinestatic

Get index.

Parameters

Index Index of point

Returns: coordinates of point

Definition at line 232 of file node_2d.hpp.

◆ getCoords() [2/2]

static Coordinates nav2_smac_planner::Node2D::getCoords	(	const uint64_t &	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 217 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 123 of file node_2d.hpp.

Referenced by getTraversalCost().

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◆ getHeuristicCost()

float nav2_smac_planner::Node2D::getHeuristicCost	(	const Coordinates &	node_coords,
		const CoordinateVector &	goals_coords
	)

static

Get cost of heuristic of node.

Parameters

node	Node index current
node	Node index of new

Returns: Heuristic cost between the nodes

Definition at line 86 of file node_2d.cpp.

◆ getIndex() [1/2]

uint64_t nav2_smac_planner::Node2D::getIndex ( )

inline

Gets cell index.

Returns: Reference to cell index

Definition at line 176 of file node_2d.hpp.

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

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◆ getIndex() [2/2]

static uint64_t 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 203 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 uint64_t &, 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 114 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 68 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 97 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 54 of file node_2d.cpp.

References nav2_smac_planner::GridCollisionChecker::getCost(), getIndex(), 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 159 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 indices are equal

Definition at line 83 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 114 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 132 of file node_2d.hpp.

◆ setPose()

void nav2_smac_planner::Node2D::setPose ( const Coordinates & pose_in )

inline

setting continuous coordinate search poses (in partial-cells)

Parameters

Pose pose

Definition at line 92 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 141 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()

◆ setPose()

◆ wasVisited()