LocalObstacleMapType< MPTraits > Class Template Reference

Public Member Functions
Construction
	LocalObstacleMapType (StatClass *const _stats)
Accessors
const VertexSet &	Get (const VID &_vid) const
template<typename ContainerType >
const VertexSet	Get (const ContainerType &_c) const
const VertexSet &	Inverse (const VID &_vid) const
template<typename ContainerType >
const VertexSet	Inverse (const ContainerType &_c) const
Addition
Add a new obstacle configuration to the local obstacle map of a given free node. Parameters _obst The new obstacle node to add. _free The free node to add it to.
void	Add (const VID &_obst, const VID &_free)
template<typename ContainerType >
void	Add (const ContainerType &_obst, const VID &_free)
template<typename ContainerType >
void	Add (const VID &_obst, const ContainerType &_free)
template<typename ContainerType >
void	Add (const ContainerType &_obst, const ContainerType &_free)
Deletion
Delete an obstacle configuration from one or more local obstacle maps. Parameters _obst The obstacle VID(s) to delete, or INVALID_VID to delete all. _free The free VID(s) to delete from, or INVALID_VID to delete from all nodes.
void	Delete (const VID &_obst=INVALID_VID, const VID &_free=INVALID_VID)
template<typename ContainerType >
void	Delete (const VID &_obst, const ContainerType &_free)
template<typename ContainerType >
void	Delete (const ContainerType &_obst, const VID &_free=INVALID_VID)
template<typename ContainerType >
void	Delete (const ContainerType &_obst, const ContainerType &_free)

Public Types
Motion Planning Types
typedef MPTraits::RoadmapType	RoadmapType
typedef RoadmapType::VID	VID
Local Types
typedef std::unordered_set< VID >	VertexSet
typedef std::unordered_map< VID, VertexSet >	MapType

Detailed Description

template<typename MPTraits>
class LocalObstacleMapType< MPTraits >

Maintains an associative mapping between free and obstacle configurations to avoid running a neighborhood finder on the obstacle map (which is typically huge).

Member Function Documentation

Get() [1/2]

template<typename MPTraits >

const LocalObstacleMapType< MPTraits >::VertexSet & LocalObstacleMapType< MPTraits >::Get

(

const VID &

_vid

)

const

Get the local obstacle map for a given free vertex.

Parameters

_vid	A free vertex.

Returns

The local obstacle map for _vid.

Get() [2/2]

template<typename MPTraits >

template<typename ContainerType >

const LocalObstacleMapType< MPTraits >::VertexSet LocalObstacleMapType< MPTraits >::Get

(

const ContainerType &

_c

)

const

Get the aggregate local obstacle map for a set of free vertices.

Parameters

_c	A container of free vertices.

Returns

The aggregate local obstacle map for all vertices in _c.

Inverse() [1/2]

template<typename MPTraits >

const LocalObstacleMapType< MPTraits >::VertexSet & LocalObstacleMapType< MPTraits >::Inverse

(

const VID &

_vid

)

const

Get the inverse local obstacle map for a given obstacle vertex.

Parameters

_vid	An obstacle vertex.

Returns

The inverse obstacle map for _vid.

Inverse() [2/2]

template<typename MPTraits >

template<typename ContainerType >

const LocalObstacleMapType< MPTraits >::VertexSet LocalObstacleMapType< MPTraits >::Inverse

(

const ContainerType &

_c

)

const

Get the aggregate inverse local obstacle map for a set of obstacle vertices.

Parameters

_c	A set of obstacle vertices.

Returns

The aggregate inverse obstacle map for all vertices in _c.

---

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

• LocalObstacleMap.h