Detailed Description

template<class MOVE_TYPE>
class mrpt::nav::TMoveTree< MOVE_TYPE >

This class contains motions and motions tree structures for the hybrid navigation algorithm.

Usage:

Note: : this class inheredit mrpt::graphs::CDirectedTree, please refer to inheritance for detail about generic tree methods

initialize a motions tree using .initializeMoveTree()
addEdge (from, to)
add here more instructions

About the algorithm:

Changes history

06/MAR/2014: Creation (MB)

Definition at line 36 of file TMotions.h.

#include <mrpt/nav/planners/TMotions.h>

Inheritance diagram for mrpt::nav::TMoveTree< MOVE_TYPE >:

[legend]

Public Types
typedef std::list< TEdgeInfo >	TListEdges

typedef std::map< TNodeID, TListEdges >	TMapNode2ListEdges

Public Member Functions
bool	initializeMoveTree ()
	Initialize variables and the list of edges for the tree. More...

void	setReverse (bool _reverse)
	this allow the user to set the reverse mode in the tree - false as default More...

void	addEdge (const MOVE_TYPE &parent_, const MOVE_TYPE &new_motion)
	addEdge (from, to) have to be implemented in the following way: IN-> from MOVE_TYPE parent_ to MOVE_TYPE new_motion More...

TNodeID	searchIDinTree (const MOVE_TYPE &mov)
	return the Node_ID of a specific motion. More...

TNodeID	getNearestMove (const MOVE_TYPE &TMove_)
	return the TEdgeInfo of the nearest neighbor to a specific motion. More...

Utilities
void	clear ()
	Empty all edge data and set "root" to INVALID_NODEID. More...

void	visitDepthFirst (const TNodeID root, Visitor &user_visitor, const size_t root_depth_level=0) const
	Depth-first visit of all children nodes of a given root (itself excluded from the visit), invoking a user-provided function for each node/edge. More...

void	visitBreadthFirst (const TNodeID root, Visitor &user_visitor, const size_t root_depth_level=0) const
	Breadth-first visit of all children nodes of a given root (itself excluded from the visit), invoking a user-provided function for each node/edge. More...

std::string	getAsTextDescription () const
	Return a text representation of the tree spanned in a depth-first view, as in this example: More...

Public Attributes
mrpt::utils::TNodeID	id_child
	child id will change according to the parent level More...

bool	reverse_
	flag for forward of backward tree exploration - default = false i.e. forward More...

bool	treeInitialized
	flag for checking if the tree is correctly initialized More...

TMoveTree::TListEdges	my_list_of_edges
	structure for the list of edges More...

Data
TNodeID	root
	The root of the tree. More...

TMapNode2ListEdges	edges_to_children
	The edges of each node. More...

Static Public Attributes
static const mrpt::utils::TNodeID	id_root = 0
	set ID of the root node always 0 More...

Member Typedef Documentation

typedef std::list<TEdgeInfo> mrpt::graphs::CDirectedTree< MOVE_TYPE >::TListEdges

inherited

Definition at line 63 of file CDirectedTree.h.

typedef std::map<TNodeID,TListEdges> mrpt::graphs::CDirectedTree< MOVE_TYPE >::TMapNode2ListEdges

inherited

Definition at line 64 of file CDirectedTree.h.

Member Function Documentation

template<class MOVE_TYPE >

void mrpt::nav::TMoveTree< MOVE_TYPE >::addEdge	(	const MOVE_TYPE &	parent_,
		const MOVE_TYPE &	new_motion
	)

inline

addEdge (from, to) have to be implemented in the following way: IN-> from MOVE_TYPE parent_ to MOVE_TYPE new_motion

inside this method a search method have to be called to find the TNodeID of parent_ (tree_depth_level) then new_motion will be added at the next level of parent_

Note: please call initializeMoveTree first

Definition at line 78 of file TMotions.h.

References ASSERTMSG_, and mrpt::nav::TMoveTree< MOVE_TYPE >::searchIDinTree().

void mrpt::graphs::CDirectedTree< MOVE_TYPE >::clear ( void )

inlineinherited

Empty all edge data and set "root" to INVALID_NODEID.

Definition at line 76 of file CDirectedTree.h.

References INVALID_NODEID.

std::string mrpt::graphs::CDirectedTree< MOVE_TYPE >::getAsTextDescription ( ) const

inlineinherited

Return a text representation of the tree spanned in a depth-first view, as in this example:

0
 -> 1
 -> 2
     -> 4
     -> 5
 -> 3

Definition at line 129 of file CDirectedTree.h.

References mrpt::graphs::CDirectedTree< TYPE_EDGES >::TEdgeInfo::id, mrpt::graphs::CDirectedTree< TYPE_EDGES >::TEdgeInfo::reverse, and mrpt::graphs::CDirectedTree< TYPE_EDGES >::visitDepthFirst().

template<class MOVE_TYPE >

TNodeID mrpt::nav::TMoveTree< MOVE_TYPE >::getNearestMove ( const MOVE_TYPE & TMove_ )

inline

return the TEdgeInfo of the nearest neighbor to a specific motion.

Note: : is this better to go into CDirectedTree.h ?

Definition at line 105 of file TMotions.h.

References MRPT_TODO.

template<class MOVE_TYPE >

bool mrpt::nav::TMoveTree< MOVE_TYPE >::initializeMoveTree ( )

inline

Initialize variables and the list of edges for the tree.

DOESN'T COMPILE with [id_root], why?

< just initialize the id_child as the first after the root

Definition at line 50 of file TMotions.h.

References mrpt::graphs::CDirectedTree< MOVE_TYPE >::edges_to_children, and mrpt::nav::TMoveTree< MOVE_TYPE >::treeInitialized.

template<class MOVE_TYPE >

TNodeID mrpt::nav::TMoveTree< MOVE_TYPE >::searchIDinTree ( const MOVE_TYPE & mov )

inline

return the Node_ID of a specific motion.

Note: : Node_ID corresponds to the depth of the tree for a specific edge

Definition at line 93 of file TMotions.h.

References mrpt::nav::TMoveTree< MOVE_TYPE >::id_child, and MRPT_TODO.

Referenced by mrpt::nav::TMoveTree< MOVE_TYPE >::addEdge().

template<class MOVE_TYPE >

void mrpt::nav::TMoveTree< MOVE_TYPE >::setReverse ( bool _reverse )

inline

this allow the user to set the reverse mode in the tree - false as default

Definition at line 66 of file TMotions.h.

void mrpt::graphs::CDirectedTree< MOVE_TYPE >::visitBreadthFirst	(	const TNodeID	root,
		Visitor &	user_visitor,
		const size_t	root_depth_level = `0`
	)		const