Collaboration diagram for nav2_smac_planner::AnalyticExpansion< NodeT >:

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Classes
struct	AnalyticExpansionNode

struct	AnalyticExpansionNodes
	Analytic expansion nodes and associated metadata. More...

Public Types
typedef NodeT *	NodePtr

typedef std::vector< NodePtr >	NodeVector

typedef NodeT::Coordinates	Coordinates

typedef std::function< bool(const uint64_t &, NodeT *&)>	NodeGetter

typedef NodeT::CoordinateVector	CoordinateVector

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 NodeVector &coarse_check_goals, const NodeVector &fine_check_goals, const CoordinateVector &goals_coords, const NodeGetter &getter, int &iterations, int &closest_distance)
	Attempt an analytic path completion. More...

AnalyticExpansionNodes	getAnalyticPath (const NodePtr &node, const NodePtr &goal, const NodeGetter &getter, const ompl::base::StateSpacePtr &state_space)
	Perform an analytic path expansion to the goal. More...

float	refineAnalyticPath (NodePtr &node, const NodePtr &goal_node, const NodeGetter &getter, AnalyticExpansionNodes &analytic_nodes)
	Refined analytic path from the current node 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...

int	countDirectionChanges (const ompl::base::ReedsSheppStateSpace::ReedsSheppPath &path)
	Counts the number of direction changes in a Reeds-Shepp path. More...

void	cleanNode (const NodePtr &nodes)
	Takes an expanded nodes to clean up, if necessary, of any state information that may be polluting it from a prior search iteration. More...

void	cleanNode (const NodePtr &node)

AnalyticExpansion< Node2D >::AnalyticExpansionNodes	getAnalyticPath (const NodePtr &, const NodePtr &, const NodeGetter &, const ompl::base::StateSpacePtr &)

float	refineAnalyticPath (NodePtr &, const NodePtr &, const NodeGetter &, AnalyticExpansionNodes &)

AnalyticExpansion< Node2D >::NodePtr	setAnalyticPath (const NodePtr &, const NodePtr &, const AnalyticExpansionNodes &)

AnalyticExpansion< Node2D >::NodePtr	tryAnalyticExpansion (const NodePtr &, const NodeVector &, const NodeVector &, const CoordinateVector &, const NodeGetter &, int &, int &)

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 38 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 polluting it from a prior search iteration.

Parameters

expanded_nodes Expanded node to clean up from search

Definition at line 441 of file analytic_expansion.cpp.

◆ countDirectionChanges()

template<typename NodeT >

int nav2_smac_planner::AnalyticExpansion< NodeT >::countDirectionChanges ( const ompl::base::ReedsSheppStateSpace::ReedsSheppPath & path )

Counts the number of direction changes in a Reeds-Shepp path.

Parameters

path	The Reeds-Shepp path to count direction changes in

Returns: The number of direction changes in the path

Definition at line 146 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,
		const ompl::base::StateSpacePtr &	state_space
	)

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
state_space	State space to use for computing analytic expansions

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

Definition at line 168 of file analytic_expansion.cpp.

◆ refineAnalyticPath()

template<typename NodeT >

float nav2_smac_planner::AnalyticExpansion< NodeT >::refineAnalyticPath	(	NodePtr &	node,
		const NodePtr &	goal_node,
		const NodeGetter &	getter,
		AnalyticExpansionNodes &	analytic_nodes
	)

Refined analytic path from the current node to the goal.

Parameters

node	The node to start the analytic path from. Node head may change as a result of refinement
goal_node	The goal node to plan to
getter	The function object that gets valid nodes from the graph
analytic_nodes	The set of analytic nodes to refine

Returns: The score of the refined path

Definition at line 305 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 404 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 39 of file analytic_expansion.cpp.

◆ tryAnalyticExpansion()

template<typename NodeT >

AnalyticExpansion< NodeT >::NodePtr nav2_smac_planner::AnalyticExpansion< NodeT >::tryAnalyticExpansion	(	const NodePtr &	current_node,
		const NodeVector &	coarse_check_goals,
		const NodeVector &	fine_check_goals,
		const CoordinateVector &	goals_coords,
		const NodeGetter &	getter,
		int &	iterations,
		int &	closest_distance
	)

Attempt an analytic path completion.

Parameters

node	The node to start the analytic path from
coarse_check_goals	Coarse list of goals nodes to plan to
fine_check_goals	Fine list of goals nodes to plan to
goals_coords	vector of goal coordinates to plan to
getter	Gets a node at a set of coordinates
iterations	Iterations to run over
closest_distance	Closest distance to goal

Returns: Node pointer reference to goal node with the best score out of the goals node if successful, else return nullptr

Definition at line 46 of file analytic_expansion.cpp.

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

Classes

Public Types

Public Member Functions

Protected Attributes

Detailed Description

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

Member Function Documentation

◆ cleanNode()

◆ countDirectionChanges()

◆ getAnalyticPath()

◆ refineAnalyticPath()

◆ setAnalyticPath()

◆ setCollisionChecker()

◆ tryAnalyticExpansion()

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