class sblTree

Defines the tree structure for the sblPlanner roadmaps. This class is responsible of maintain the record of all nodes added so far as well as to keep a representation of the sampled C-space in order to choose a node to expand according to the density of nodes.

Public Methods

[more] sblTree ()
[more]void setGridSize (int a=10, int b=10)
[more]void setDOFS (int dof0=0, int dof1=1)
[more]int getNodeToExpand ()
[more]void addTosblBins (const sblMilestone& m)
[more]void delFromsblBins (const sblMilestone& m)
[more]int choosesblBin ()
[more]bool hasNodesIn (int bin)
[more]int getNodeFromsblBin (int bin)
[more]double getRatio ()
[more]int getClosestNode (const sblMilestone& m, const vector<sblMilestone>& x)
[more]int getsblBinIndex (const sblMilestone& m)
[more]int getSize ()
[more]void printsblBins ()
[more]double getDelta ()
[more]int getDIVS ()
[more]void rebuildTree (sblTree& t, const vector<sblMilestone>& theNodes)


Documentation

Defines the tree structure for the sblPlanner roadmaps. This class is responsible of maintain the record of all nodes added so far as well as to keep a representation of the sampled C-space in order to choose a node to expand according to the density of nodes.
o sblTree()

ovoid setGridSize(int a=10, int b=10)
Sets the Grid size to which the tree nodes are to hashed

ovoid setDOFS(int dof0=0, int dof1=1)
Sets the 2 DOF's for sblBin Construction

oint getNodeToExpand()
Probabilistically chooses a node to expand from the Tree

ovoid addTosblBins(const sblMilestone& m)
Adds a tree node to a Tree sblBin

ovoid delFromsblBins(const sblMilestone& m)
Delete a tree node from the tree sblBins

oint choosesblBin()
Picks a sblBin

obool hasNodesIn(int bin)
Checks if a node is in a particular sblBin or not

oint getNodeFromsblBin(int bin)
Picks a Node from a bin randomly

odouble getRatio()
Returns the ratio of number of sblBins to the number of nodes in tree

oint getClosestNode(const sblMilestone& m, const vector<sblMilestone>& x)
Finds the closest node in a sblBin to a sblMilestone

oint getsblBinIndex(const sblMilestone& m)
Gets the sblBin id for a sblMilestone to which it would be hashed

oint getSize()
Returns Tree size

ovoid printsblBins()
Prints the sizes of all the sblBins

odouble getDelta()
Returns DELTA: grid precision

oint getDIVS()
Returns DIVS: number of grid divisions

ovoid rebuildTree(sblTree& t, const vector<sblMilestone>& theNodes)
Rebuilds a tree as per new grid parameters


This class has no child classes.

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