Representation of a simple grid. More...

#include <Grid.h>

Inheritance diagram for ompl::Grid< _T >:

Classes
struct	Cell
	Definition of a cell in this grid. More...

struct	EqualCoordPtr
	Equality operator for coordinate pointers. More...

struct	HashFunCoordPtr
	Hash function for coordinates. More...

struct	SortComponents
	Helper to sort components by size. More...

Public Types
typedef std::vector< int >	Coord
	Definition of a coordinate within this grid.

typedef std::vector< Cell * >	CellArray
	The datatype for arrays of cells.

typedef CoordHash::const_iterator	iterator
	We only allow const iterators.

Public Member Functions
	Grid (unsigned int dimension)
	The constructor takes the dimension of the grid as argument.

virtual	~Grid (void)
	Destructor.

virtual void	clear (void)
	Clear all cells in the grid.

unsigned int	getDimension (void) const
	Return the dimension of the grid.

void	setDimension (unsigned int dimension)

bool	has (const Coord &coord) const
	Check if a cell exists at the specified coordinate.

Cell *	getCell (const Coord &coord) const
	Get the cell at a specified coordinate.

void	neighbors (const Cell *cell, CellArray &list) const
	Get the list of neighbors for a given cell.

void	neighbors (const Coord &coord, CellArray &list) const
	Get the list of neighbors for a given coordinate.

void	neighbors (Coord &coord, CellArray &list) const
	Get the list of neighbors for a given coordinate.

std::vector< std::vector< Cell * > >	components (void) const
	Get the connected components formed by the cells in this grid (based on neighboring relation)

virtual Cell *	createCell (const Coord &coord, CellArray *nbh=NULL)

virtual bool	remove (Cell *cell)

virtual void	add (Cell *cell)
	Add an instantiated cell to the grid.

virtual void	destroyCell (Cell *cell) const
	Clear the memory occupied by a cell; do not call this function unless remove() was called first.

void	getContent (std::vector< _T > &content) const
	Get the data stored in the cells we are aware of.

void	getCoordinates (std::vector< Coord * > &coords) const
	Get the set of coordinates where there are cells.

void	getCells (CellArray &cells) const
	Get the set of instantiated cells in the grid.

void	printCoord (Coord &coord, std::ostream &out=std::cout) const
	Print the value of a coordinate to a stream.

bool	empty (void) const
	Check if the grid is empty.

unsigned int	size (void) const
	Check the size of the grid.

virtual void	status (std::ostream &out=std::cout) const
	Print information about the data in this grid structure.

iterator	begin (void) const
	Return the begin() iterator for the grid.

iterator	end (void) const
	Return the end() iterator for the grid.

Protected Types
typedef boost::unordered_map < Coord , Cell , HashFunCoordPtr, EqualCoordPtr >	CoordHash
	Define the datatype for the used hash structure.

Protected Member Functions
void	freeMemory (void)
	Free the allocated memory.

Protected Attributes
unsigned int	dimension_
	The dimension of the grid.

unsigned int	maxNeighbors_
	The maximum number of neighbors a cell can have (2 * dimension)

CoordHash	hash_
	The hash holding the cells.

Detailed Description

template<typename _T>
class ompl::Grid< _T >

Representation of a simple grid.

Definition at line 51 of file Grid.h.

Member Function Documentation

template<typename _T>

virtual Cell* ompl::Grid< _T >::createCell	(	const Coord &	coord,
		CellArray *	nbh = `NULL`
	)

inlinevirtual

Instantiate a new cell at given coordinates; optionally Return the list of future neighbors. Note: this call only creates the cell, but does not add it to the grid. It however updates the neighbor count for neighboring cells

Reimplemented in ompl::GridB< _T, LessThanExternal, LessThanInternal >, ompl::GridB< CellData *, OrderCellsByImportance >, and ompl::GridN< _T >.

Definition at line 226 of file Grid.h.

template<typename _T>

virtual bool ompl::Grid< _T >::remove ( Cell * cell)

inlinevirtual

Remove a cell from the grid. If the cell has not been Added to the grid, only update the neighbor list

Reimplemented in ompl::GridN< _T >.

Definition at line 237 of file Grid.h.

template<typename _T>

void ompl::Grid< _T >::setDimension ( unsigned int dimension)

inline

Update the dimension of the grid; this should not be done unless the grid is empty

Definition at line 107 of file Grid.h.

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

src/ompl/datastructures/Grid.h

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

template<typename _T> class ompl::Grid< _T >

Member Function Documentation

template<typename _T>
class ompl::Grid< _T >