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| GridGraph (double length, std::vector< double > orig, std::vector< double > end, std::vector< uint > degrees, p3d_graph *g, Robot *r, LocalpathFactory *pathFactory, SamplingAPI *sampler, double maxDist=P3D_HUGE) |
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| GridGraph (const char *filename, p3d_graph *g, Robot *r, LocalpathFactory *pathFactory, SamplingAPI *sampler, double maxDist=P3D_HUGE) |
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void | initSampler () |
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void | writeGrid (const char *filename) |
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bool | withinBounds (std::vector< double > point) |
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int | coords_to_n (Configuration &q) |
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std::vector< double > | n_to_coords (int n) |
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void | sampleGrid (int tries) |
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int | markCubeFree (Configuration &q) |
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void | sampleUnderThreshold (std::vector< Node * > &newNodes, double max_neighbours, int max_tries, uint max_nodes, int tries) |
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void | sampleIso (std::vector< Node * > &newNodes, uint n_per_cube, int tries) |
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bool | terminationCube (Cube &c, double max_neighbours, int max_tries, uint max_nodes) |
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bool | terminationCondition (double max_neighbours, int max_tries, uint max_nodes) |
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Node * | insertNode (shared_ptr< Configuration > q) |
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| Graph (Robot *R, graph *ptGraph) |
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| Graph (Robot *R) |
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| Graph (graph *G) |
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| | Graph (const Graph &G) |
| | Graph copy constructor : be sure that the connected componants are updated. More...
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| bool | isGraphChanged () |
| | return the value of the Change flag More...
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| graph * | getGraphStruct () const |
| | Creates a p3d_graph from Boost Graph. More...
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| void | setGraph (graph *G) |
| | stocke la structure p3d_graph More...
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| Robot * | getRobot () const |
| | obtient le Robot pour lequel le Graph est créé More...
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void | setRobot (Robot *R) |
| | sets the Robot of the Graph
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| std::map< node *, Node * > | getNodesTable () |
| | obtient la table des noeuds du Graph More...
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| unsigned int | getNumberOfNodes () |
| | obtient le nombre de Node dans le Graph More...
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| std::vector< Node * > | getNodes () const |
| | obtient le vecteur des Node du Graph More...
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std::vector< Node * > | getSortedNodes () const |
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std::vector< Node * > | getNotTrajNodes () const |
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Node * | getNode (unsigned int i) const |
| | Get Node ith node in Graph.
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| unsigned int | getNumberOfEdges () const |
| | obtient le nombre de Node dans le Graph More...
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| std::vector< Edge * > | getEdges () const |
| | obtient le vecteur des Edge du Graph More...
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std::vector< Edge * > | getEdges (std::tr1::shared_ptr< Configuration > q, bool from=false) |
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std::vector< Edge * > | getEdges (Node *nq, bool from=false) |
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Edge * | getEdge (unsigned int i) const |
| | Returns the ith edge.
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unsigned int | getNumberOfCompco () const |
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| ConnectedComponent * | getConnectedComponent (int ith) const |
| | Get Compco. More...
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std::vector< ConnectedComponent * > | getConnectedComponents () const |
| | Get Compcos.
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| Node * | getNode (node *N) |
| | obtient le Node correspondant au p3d_node More...
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| Node * | getLastNode () |
| | obtient le dernier Node ajouté au Graph More...
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| std::string | getName () |
| | obtient le nom du Graph More...
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void | setName () |
| | modifie le nom du Graph; un nom standard est alors mis
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| void | setName (std::string Name) |
| | modifie le nom du Graph More...
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| bool | equal (Graph *G) |
| | teste si deux Graph sont égaux en comparant leur listNode More...
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| bool | equalName (Graph *G) |
| | teste si deux Graph ont le même nom More...
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| bool | isInGraph (Node *N) |
| | vérifie si un node est dans le Graph More...
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| Edge * | isEdgeInGraph (Node *N1, Node *N2) |
| | Looks if two Node make an edge in the Graph. More...
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| Node * | searchConf (Configuration &q) |
| | Gets the node that corresponds to a configuration. More...
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| void | createCompco (Node *node) |
| | New Compco. More...
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| Node * | insertNode (Node *node) |
| | insert un Node dans le Graph More...
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| Node * | insertExtremalNode (Node *node) |
| | insert un Node de type ISOLATE More...
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void | addNode (Node *node) |
| | Add the given node to the storing structure of the graph (without creating any link).
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| Node * | insertNode (Node *expansionNode, LocalPath &path) |
| | Link a Configuration to a Node for the RRT Planner. More...
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| Node * | insertConfigurationAsNode (std::tr1::shared_ptr< Configuration > q, Node *from, double step) |
| | Link a Configuration to a Node for the RRT Planner. More...
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| void | sortEdges () |
| | trie les Edges en fonction de leur longueur More...
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void | updateSortedNodes (Node *node) |
| | trie les Nodes en fonction de leur distance à la position du robot via la trajectoire courante
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Node * | getRandomNodeNearTraj () |
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void | updateSepareNodes (Node *n) |
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void | separateNodes () |
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std::map< double, Node * > | getNodesOnTraj (Node *near, bool neighbour=false) |
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std::vector< Node * > | getKNodesOnTraj (Node *near, uint k) |
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void | sortNodes (double init=-1) |
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| Edge * | addEdge (Node *source, Node *target, bool compute_length=true, double length=0., bool compute_cost=true, double cost=0.) |
| | ajoute un Edge au Graph More...
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| Edge * | addEdge (Node *source, Node *target, localPathPtr_t path) |
| | Add an edge to the graph, going from the given source to the given target. More...
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| void | addEdges (Node *N1, Node *N2, bool computeLength=true, double length=0., bool computeCost=true, double cost=0.) |
| | ajoute deux Edge au Graph More...
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| void | addEdges (Node *N1, Node *N2, localPathPtr_t path) |
| | Add two opposite edges between the nodes N1 and N2. More...
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| void | addOrientedEdge (Node *N1, Node *N2, localPathPtr_t path) |
| | Add the oriented edge N1->N2. More...
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| void | removeEdge (Edge *E) |
| | Remove edge. More...
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| void | removeEdges (Node *N1, Node *N2) |
| | Remove the edges between the nodes N1 and N2. More...
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| void | sortNodesByDist (Node *N) |
| | Sort nodes against one given node. More...
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| void | sortNodesByDist (confPtr_t q) |
| | Sort nodes against one given configuration. More...
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| void | addNode (Node *N, double maxDist) |
| | ajoute un Node s'il est à moins d'une distance max du Graph More...
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| void | addNodes (std::vector< Node * > N, double maxDist) |
| | ajoute des Node s'ils sont à moins d'une distance max du Graph More...
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void | removeNode (Node *node) |
| | Remove the given node from the graph.
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| bool | linkNode (Node *N) |
| | lie un Node au Graph More...
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| bool | linkNodeCompMultisol (Node *N, ConnectedComponent *compPt) |
| | Links a node to a compco with multisol. More...
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| bool | linkNodeWithoutDist (Node *N) |
| | Lie un node au Graph sans prendre en compte la distance max. More...
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| bool | linkNodeAtDist (Node *N) |
| | Lie un Node au Graph en prenant en compte la distance max. More...
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| bool | linkToAllNodes (Node *N) |
| | lie un Node à tous les autres Nodes visibles More...
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| bool | areNodesLinked (Node *node1, Node *node2, double &dist) |
| | Function that computes if a node is linked to another node. More...
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| bool | linkNodeAndMerge (Node *node1, Node *node2) |
| | Link 2 nodes and merge them. More...
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| void | createRandConfs (int NMAX) |
| | crée des Node à des Configurations aléatoires More...
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| Node * | randomNodeFromComp (Node *comp) |
| | Gets Random node in the connected component. More...
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| bool | connectNodeToCompco (Node *node, Node *compco) |
| | Function that trys to connect a node to a given connected component. More...
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| std::vector< Node * > | KNearestWeightNeighbour (confPtr_t q, int K, double radius, bool weighted, int distConfigChoice) |
| | K Nearest Weighted Neighbors in graph. More...
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std::vector< Node * > | kNearestNeighbours (unsigned k, confPtr_t conf) |
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std::vector< Node * > | neighborsInBall (confPtr_t conf, double radius) |
| | Return the nodes whose configurations are within a ball (in the C-space) having the given radius and centered on the given configuration.
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| Node * | nearestWeightNeighbour (Node *compco, confPtr_t C, bool weighted, int distConfigChoice) |
| | obtient le plus proche voisin d'une composante connexe More...
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| Node * | getCompco (unsigned int ith) |
| | Get Ith Compco. More...
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| std::vector< Node * > | getNodesInTheCompCo (Node *node) |
| | Vector of nodes in the same compco. More...
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| void | addCycles (Node *node, double step) |
| | ajoute des Edges formant des cycles dans le Graph More...
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void | mergeComponents (Node *N1, Node *N2) |
| | Merge the connected components to which N1 and N2 belong.
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| int | mergeComp (Node *CompCo1, Node *CompCo2, double DistNodes, bool compute_edge_cost) |
| | merge deux composantes connexes More...
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int | rebuildCompcoFromBoostGraph () |
| | Rebuild the connected component using the strongly connected component algo from the BGL.
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| void | mergeCheck () |
| | teste si des composantes connexes doivent être merger et le fait le cas échéant More...
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| void | removeCompco (ConnectedComponent *CompCo) |
| | Delete the compco. More...
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bool | checkConnectedComponents () |
| | Check C and C++ Connected Components.
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| void | recomputeCost () |
| | Recompute the Graph cost (Edges and Nodes) More...
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| bool | checkAllEdgesValid () |
| | Recompute All Edges Valid. More...
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API::Trajectory * | extractBestTrajSoFar (confPtr_t qi, confPtr_t qf) |
| | Extract best traj from qi that is closest to q_f.
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std::pair< bool, std::vector
< Node * > > | extractBestNodePathSoFar (confPtr_t qi, confPtr_t qf) |
| | Extract best vector of nodes from qi that is closest to q_f. More...
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| API::Trajectory * | extractTreeShortestPath (Node *initN, Node *endN) |
| | Return a trajectory (i.e. the shortest path) from initN to endN, using parenthood in a tree. More...
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std::vector< double > | computeDijkstraShortestPaths (Node *n) |
| | Compute the lengths of all the shortest paths having for source the node n, using Dijkstra.
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std::vector< double > | computeDijkstraShortestPaths (Node *n, std::map< double, Node * > to) |
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std::vector< Node * > | extractAStarShortestNodePaths (Node *initN, Node *endN) |
| | Return the shortest path (as a list of nodes) from initN to endN, using A*.
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std::vector< Node * > | extractAStarShortestNodePaths (std::vector< Node * > passingBy) |
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std::vector< Node * > | extractAStarShortestNodePaths (confPtr_t initC, confPtr_t endC) |
| | Return the shortest path (as a list of nodes) from initC to endC, using A*.
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| API::Trajectory * | extractAStarShortestPath (Node *initN, Node *endN) |
| | Return a trajectory (i.e. the shortest path) from initN to endN, using A*. More...
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| API::Trajectory * | extractAStarShortestPath (confPtr_t initC, confPtr_t endC) |
| | Return a trajectory (i.e. the shortest path) from initC to endC, using A*. More...
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double | getAStarShortestPathLength (confPtr_t initC, confPtr_t endC) |
| | Return the lenght of the shortest path (using A*) in the graph between initC and endC Return P3D_HUDGE if no such path exists.
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API::Trajectory * | extractBestTraj (confPtr_t qi, confPtr_t qf) |
| | Extract best traj.
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| void | initMotionPlanning (node *start, node *goal) |
| | Init Motion planning problem. More...
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BGL_Vertex | findVertexDescriptor (Node *N) |
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BGL_Edge | findEdgeDescriptor (Edge *E) |
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void | saveBGLGraphToDotFile (const std::string &filename) |
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BGL_Graph & | get_BGL_Graph () |
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void | draw () |
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void | resetConnections () |
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void | unflagAll () |
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unsigned int | getNbScc () |
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std::vector< std::vector< Node * > > | getStronglyConnectedComponents () |
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std::vector< double > | sortSCC (unsigned int id, Node *N1, bool forward) |
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| void | addScc (Node *node) |
| | Adds the singleton {node} to the list of the strongly connected components. More...
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bool | areSccConnected (unsigned int i, unsigned int j) |
| | Returns true if in the transitive closure of the graph of the strongly connected components, the strongly connected component (scc) of index i is connected to the scc j.
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| void | connectScc (unsigned int i, unsigned int j) |
| | Adds an edge in the transitive closure of the graph of the strongly connected components from strongly connected component (scc) of index i to connected to the scc j. More...
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| bool | mergeScc (unsigned int i, unsigned int j) |
| | Merges strongly connected component (scc) of index i with scc of idex j. More...
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Public Member Functions inherited from Graph
1.8.6