selfdriving: mpp::MotionPrimitivesTree< NODE_TYPE_DATA, EDGE_TYPE > Class Template Reference

selfdriving

#include <mpp/data/MotionPrimitivesTree.h>

Inheritance diagram for mpp::MotionPrimitivesTree< NODE_TYPE_DATA, EDGE_TYPE >:

Classes
struct	map_traits_map_as_deque

struct	node_t

Public Types
using	base_t = mrpt::graphs::CDirectedTree< EDGE_TYPE >

using	edge_t = EDGE_TYPE

using	edge_sequence_t = std::list< edge_t * >

using	node_map_t = std::map< TNodeID, node_t >

using	path_t = std::list< node_t >

Public Member Functions
void	insert_node_and_edge (const TNodeID parentId, const TNodeID newChildId, const NODE_TYPE_DATA &newChildNodeData, const EDGE_TYPE &newEdgeData)

void	update_node_and_edge (const TNodeID parentId, const TNodeID childId, const EDGE_TYPE &newEdgeData)

void	rewire_node_parent (const TNodeID nodeId, const EDGE_TYPE &newEdgeFromParent)

const EDGE_TYPE &	edge_to_parent (const TNodeID nodeId) const

void	insert_root_node (const TNodeID node_id, const NODE_TYPE_DATA &node_data)

TNodeID	next_free_node_ID () const

const node_map_t &	nodes () const

NODE_TYPE_DATA &	node_state (const TNodeID nodeId)

std::tuple< path_t, edge_sequence_t >	backtrack_path (const TNodeID target_node) const

Private Attributes
node_map_t	nodes_

Detailed Description

template<class NODE_TYPE_DATA, class EDGE_TYPE>
class mpp::MotionPrimitivesTree< NODE_TYPE_DATA, EDGE_TYPE >

A tree with nodes being vehicle poses, and edges potential valid motion primitives between them.

This class provides storage for the nodes, and RRT* construction helper methods.

See base class mrpt::graphs::CDirectedTree for the API to access edges.

Changes history:

06/MAR/2014: Creation (MB)
21/JAN/2015: Refactoring (JLBC)
2020-2021: Adapted to TPS-RRT* (JLBC)

Member Typedef Documentation

◆ base_t

template<class NODE_TYPE_DATA, class EDGE_TYPE>

using mpp::MotionPrimitivesTree< NODE_TYPE_DATA, EDGE_TYPE >::base_t = mrpt::graphs::CDirectedTree<EDGE_TYPE>

◆ edge_sequence_t

template<class NODE_TYPE_DATA, class EDGE_TYPE>

using mpp::MotionPrimitivesTree< NODE_TYPE_DATA, EDGE_TYPE >::edge_sequence_t = std::list<edge_t*>

◆ edge_t

template<class NODE_TYPE_DATA, class EDGE_TYPE>

using mpp::MotionPrimitivesTree< NODE_TYPE_DATA, EDGE_TYPE >::edge_t = EDGE_TYPE

◆ node_map_t

template<class NODE_TYPE_DATA, class EDGE_TYPE>

using mpp::MotionPrimitivesTree< NODE_TYPE_DATA, EDGE_TYPE >::node_map_t = std::map<TNodeID, node_t>

Map: TNode_ID => Node info

◆ path_t

template<class NODE_TYPE_DATA, class EDGE_TYPE>

using mpp::MotionPrimitivesTree< NODE_TYPE_DATA, EDGE_TYPE >::path_t = std::list<node_t>

A topological path up-tree.

Note: We use std::list since we need a container with push_front().

Member Function Documentation

◆ backtrack_path()

template<class NODE_TYPE_DATA, class EDGE_TYPE>

std::tuple<path_t, edge_sequence_t> mpp::MotionPrimitivesTree< NODE_TYPE_DATA, EDGE_TYPE >::backtrack_path ( const TNodeID target_node ) const

inline

Builds the path (sequence of nodes, with info about next edge) up-tree from a target_node towards the root

path_t nodes are ordered in the direction ROOT -> start_node
ed

◆ edge_to_parent()

template<class NODE_TYPE_DATA, class EDGE_TYPE>

const EDGE_TYPE& mpp::MotionPrimitivesTree< NODE_TYPE_DATA, EDGE_TYPE >::edge_to_parent ( const TNodeID nodeId ) const

inline

◆ insert_node_and_edge()

template<class NODE_TYPE_DATA, class EDGE_TYPE>

void mpp::MotionPrimitivesTree< NODE_TYPE_DATA, EDGE_TYPE >::insert_node_and_edge	(	const TNodeID	parentId,
		const TNodeID	newChildId,
		const NODE_TYPE_DATA &	newChildNodeData,
		const EDGE_TYPE &	newEdgeData
	)

inline

◆ insert_root_node()

template<class NODE_TYPE_DATA, class EDGE_TYPE>

void mpp::MotionPrimitivesTree< NODE_TYPE_DATA, EDGE_TYPE >::insert_root_node	(	const TNodeID	node_id,
		const NODE_TYPE_DATA &	node_data
	)

inline

Insert a node without edges (should be used only for a tree root node)

◆ next_free_node_ID()

template<class NODE_TYPE_DATA, class EDGE_TYPE>

TNodeID mpp::MotionPrimitivesTree< NODE_TYPE_DATA, EDGE_TYPE >::next_free_node_ID ( ) const

inline

◆ node_state()

template<class NODE_TYPE_DATA, class EDGE_TYPE>

NODE_TYPE_DATA& mpp::MotionPrimitivesTree< NODE_TYPE_DATA, EDGE_TYPE >::node_state ( const TNodeID nodeId )

inline

Write-access to node data (use with caution)

◆ nodes()

template<class NODE_TYPE_DATA, class EDGE_TYPE>

const node_map_t& mpp::MotionPrimitivesTree< NODE_TYPE_DATA, EDGE_TYPE >::nodes ( ) const

inline

read-only access to nodes.

See also: insert_node_and_edge, insert_node

◆ rewire_node_parent()

template<class NODE_TYPE_DATA, class EDGE_TYPE>

void mpp::MotionPrimitivesTree< NODE_TYPE_DATA, EDGE_TYPE >::rewire_node_parent	(	const TNodeID	nodeId,
		const EDGE_TYPE &	newEdgeFromParent
	)

inline

◆ update_node_and_edge()

template<class NODE_TYPE_DATA, class EDGE_TYPE>

void mpp::MotionPrimitivesTree< NODE_TYPE_DATA, EDGE_TYPE >::update_node_and_edge	(	const TNodeID	parentId,
		const TNodeID	childId,
		const EDGE_TYPE &	newEdgeData
	)

inline

Member Data Documentation

◆ nodes_

template<class NODE_TYPE_DATA, class EDGE_TYPE>

node_map_t mpp::MotionPrimitivesTree< NODE_TYPE_DATA, EDGE_TYPE >::nodes_

private

Info per node

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

/home/docs/checkouts/readthedocs.org/user_builds/selfdriving/checkouts/latest/mrpt_path_planning/include/mpp/data/MotionPrimitivesTree.h