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

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

sblTree()

void setGridSize(int a=10, int b=10)

Sets the Grid size to which the tree nodes are to hashed

void setDOFS(int dof0=0, int dof1=1)

Sets the 2 DOF's for sblBin Construction

int getNodeToExpand()

Probabilistically chooses a node to expand from the Tree

void addTosblBins(const sblMilestone& m)

Adds a tree node to a Tree sblBin

void delFromsblBins(const sblMilestone& m)

Delete a tree node from the tree sblBins

int choosesblBin()

Picks a sblBin

bool hasNodesIn(int bin)

Checks if a node is in a particular sblBin or not

int getNodeFromsblBin(int bin)

Picks a Node from a bin randomly

double getRatio()

Returns the ratio of number of sblBins to the number of nodes in tree

int getClosestNode(const sblMilestone& m, const vector<sblMilestone>& x)

Finds the closest node in a sblBin to a sblMilestone

int getsblBinIndex(const sblMilestone& m)

Gets the sblBin id for a sblMilestone to which it would be hashed

int getSize()

Returns Tree size

void printsblBins()

Prints the sizes of all the sblBins

double getDelta()

Returns DELTA: grid precision

int getDIVS()

Returns DIVS: number of grid divisions

void 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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