Expansion procedure of the Expansive Space Tree (EST) algorithm. More...

#include <EST.hpp>

Inheritance diagram for ESTExpansion:

Public Member Functions
	ESTExpansion (Graph *graph)
	Constructor.

virtual	~ESTExpansion ()
	Destructor.

Node *	getExpansionNode (std::vector< Node * > &nodes)
	EST Special case. More...

std::tr1::shared_ptr < Configuration >	getExpansionDirection (Node expansionNode, Node toComp)
	EST Special case. More...

Node *	expandProcessEST (Node *expansionNode, std::tr1::shared_ptr< Configuration > directionConfig, unsigned &nbOfNodesAdded)
	EST Special case. More...

void	printAllNodes (std::vector< Node * > &nodes)
	EST.

Public Member Functions inherited from TreeExpansion
	TreeExpansion (Graph *graph)
	Constructor.

virtual	~TreeExpansion ()
	Destructor.

void	expansionSucceeded (Node *node)
	Actions to be done after the expansion attempted from the given node, in case of success.

void	expansionFailed (Node *node)
	Actions to be done after the expansion attempted from the given node, in case of failure.

Public Member Functions inherited from BaseExpansion
	BaseExpansion ()
	Constructor.

	BaseExpansion (Graph *prtGraph)

	~BaseExpansion ()
	Destructor.

void	setGraph (Graph *G)
	Set the graph that is beeing expanded.

Graph *	getGraph ()
	Get the graph that is beeing expanded.

int	getDirectionMethod ()
	Get Node Expansion Method.

void	setDirectionMethod (int directionExpansion)
	Set Expansion node Method.

int	getNodeMethod ()
	Get Node Expansion Method.

void	setNodeMethod (int nodeExpansion)
	Set Expansion node Method.

void	setFromComp (Node *fromComp)
	Set the From Connected Component.

Node *	getFromComp ()
	Get the From Connected Component.

void	setToComp (Node *toComp)
	Set the To Connected Component.

Node *	getToComp ()
	Get the To Connected Component.

double	step ()
	Expansion Step (Delta) More...

double	getDMax ()

double	computeInterpolationFactor (double pathLength)
	Compute the interpolation factor along the path, based on the extension step.

confPtr_t	interpolate (confPtr_t conf, LocalPath *path, double factor)
	Interpolation along the given path.

double	positionAlongPath (LocalPath &path, double param)
	Position on localpath in [0,1].

double	pathDelta (LocalPath &path)
	Return the path parameter that is the closest to step()

LocalPath	getExtensiontPath (std::tr1::shared_ptr< Configuration > qi, std::tr1::shared_ptr< Configuration > qf)
	Computes a localpath parameter used for expansion of at max step() of length. More...

void	expansionFailed (Node &node)
	Function called when a node can not be connected. More...

virtual Node *	addNode (Node currentNode, LocalPath &path, double pathDelta, Node directionNode, unsigned &nbCreatedNodes)
	Adds a node to a connected component. More...

bool	refinementControl (LocalPath &path, double rho, Node &compNode)
	Function that balances the ratio of exploration towards refinement.

bool	nextStep (LocalPath &path, std::tr1::shared_ptr< Configuration > &directionConfig, double &pathDelta, std::tr1::shared_ptr< LocalPath > &newPath, Env::expansionMethod method)
	Returns a valid configuration on the local path.

bool	nextStep (LocalPath &path, Node *directionNode, double &pathDelta, std::tr1::shared_ptr< LocalPath > &newPath, Env::expansionMethod method)
	Returns a valid configuration on the local path.

virtual Node *	getExpansionNode (Node *compNode, confPtr_t direction, int distance)
	Gets the nearest node in the graph. More...

std::tr1::shared_ptr < Configuration >	getExpansionDirection (Node expandComp, Node goalComp, bool samplePassive, Node *&directionNode)

Node *	getLasAddedNode ()
	Return last added node.

void	addConnectibleNode ()

unsigned int	getNbConnectibleNodes ()

Additional Inherited Members
Protected Attributes inherited from BaseExpansion
int	m_ExpansionNodeMethod

int	m_MaxExpandNodeFailure

int	m_kNearestPercent

int	m_ExpansionDirectionMethod

bool	m_IsDirSampleWithRlg

Graph *	m_Graph

Node *	m_last_added_node

Node *	m_fromComp

Node *	m_toComp

unsigned int	_nbConnectibleNodes