ImplicitGraphOfConvexSetsFromExplicit Class Reference

Detailed Description

Provides an implicit GCS interface given an explicit GCS.

Vertices and edges are cloned into the implicit GCS as they are expanded.

#include <drake/geometry/optimization/implicit_graph_of_convex_sets.h>

Public Member Functions
	ImplicitGraphOfConvexSetsFromExplicit (const GraphOfConvexSets &gcs)
	Constructs an implicit GCS from an explicit GCS.
virtual	~ImplicitGraphOfConvexSetsFromExplicit ()
GraphOfConvexSets::Vertex *	ImplicitVertexFromExplicit (const GraphOfConvexSets::Vertex &v_explicit)
	Looks up the implicit vertex corresponding to v.
Does not allow copy, move, or assignment
	ImplicitGraphOfConvexSetsFromExplicit (const ImplicitGraphOfConvexSetsFromExplicit &)=delete
ImplicitGraphOfConvexSetsFromExplicit &	operator= (const ImplicitGraphOfConvexSetsFromExplicit &)=delete
	ImplicitGraphOfConvexSetsFromExplicit (ImplicitGraphOfConvexSetsFromExplicit &&)=delete
ImplicitGraphOfConvexSetsFromExplicit &	operator= (ImplicitGraphOfConvexSetsFromExplicit &&)=delete
Public Member Functions inherited from ImplicitGraphOfConvexSets
virtual	~ImplicitGraphOfConvexSets ()
std::vector< GraphOfConvexSets::Edge * >	Successors (GraphOfConvexSets::Vertex *v)
	Returns the outgoing edges from v, which defines the "successors" of v in the common notation of implicit graph search.
void	ExpandRecursively (GraphOfConvexSets::Vertex *v, int max_successor_calls=1000)
	Makes repeated recursive calls to Successors() until no new vertices will be added to the graph, or max_successor_calls has been reached.
const GraphOfConvexSets &	gcs () const
	ImplicitGraphOfConvexSets (const ImplicitGraphOfConvexSets &)=delete
ImplicitGraphOfConvexSets &	operator= (const ImplicitGraphOfConvexSets &)=delete
	ImplicitGraphOfConvexSets (ImplicitGraphOfConvexSets &&)=delete
ImplicitGraphOfConvexSets &	operator= (ImplicitGraphOfConvexSets &&)=delete

Protected Member Functions
void	Expand (GraphOfConvexSets::Vertex *) override
	Expands a vertex v by adding its outgoing edges (and the vertices that they point to) to the mutable_gcs(), calling mutable_gcs().AddVertex() and mutable_gcs().AddEdge() as needed.
Protected Member Functions inherited from ImplicitGraphOfConvexSets
	ImplicitGraphOfConvexSets ()
	Constructs the (empty) implicit GCS.
GraphOfConvexSets &	mutable_gcs ()

Constructor & Destructor Documentation

ImplicitGraphOfConvexSetsFromExplicit() [1/3]

ImplicitGraphOfConvexSetsFromExplicit ( const ImplicitGraphOfConvexSetsFromExplicit & )

delete

ImplicitGraphOfConvexSetsFromExplicit() [2/3]

ImplicitGraphOfConvexSetsFromExplicit ( ImplicitGraphOfConvexSetsFromExplicit && )

delete

ImplicitGraphOfConvexSetsFromExplicit() [3/3]

ImplicitGraphOfConvexSetsFromExplicit ( const GraphOfConvexSets & gcs )

explicit

Constructs an implicit GCS from an explicit GCS.

gcs must remain valid for the lifetime of this object.

~ImplicitGraphOfConvexSetsFromExplicit()

virtual ~ImplicitGraphOfConvexSetsFromExplicit ( )

virtual

Member Function Documentation

Expand()

void Expand ( GraphOfConvexSets::Vertex * v )

overrideprotectedvirtual

Expands a vertex v by adding its outgoing edges (and the vertices that they point to) to the mutable_gcs(), calling mutable_gcs().AddVertex() and mutable_gcs().AddEdge() as needed.

Due to a caching mechanism, implementations can assume that Expand(v) will only be called once for each v.

Implements ImplicitGraphOfConvexSets.

ImplicitVertexFromExplicit()

GraphOfConvexSets::Vertex * ImplicitVertexFromExplicit

(

const GraphOfConvexSets::Vertex &

v_explicit

)

Looks up the implicit vertex corresponding to v.

If v is not already in the implicit GCS, it is added.

Exceptions

std::exception

if v is not registered with the explicit GCS passed in the constructor.

operator=() [1/2]

ImplicitGraphOfConvexSetsFromExplicit & operator= ( const ImplicitGraphOfConvexSetsFromExplicit & )

delete

operator=() [2/2]

ImplicitGraphOfConvexSetsFromExplicit & operator= ( ImplicitGraphOfConvexSetsFromExplicit && )

delete

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

• drake/geometry/optimization/implicit_graph_of_convex_sets.h