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<title>OMPL: ompl::GridN< _T > Class Template Reference</title>
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<li class="navelem"><a class="el" href="namespaceompl.html">ompl</a> </li>
<li class="navelem"><a class="el" href="classompl_1_1GridN.html">GridN</a> </li>
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<div class="title">ompl::GridN< _T > Class Template Reference</div> </div>
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<!-- doxytag: class="ompl::GridN" --><!-- doxytag: inherits="ompl::Grid" -->
<p>Representation of a grid where cells keep track of how many neighbors they have.
<a href="classompl_1_1GridN.html#details">More...</a></p>
<p><code>#include <<a class="el" href="GridN_8h_source.html">GridN.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::GridN< _T >:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1GridN__inherit__graph.png" border="0" usemap="#ompl_1_1GridN_3_01__T_01_4_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1GridN_3_01__T_01_4_inherit__map" id="ompl_1_1GridN_3_01__T_01_4_inherit__map">
<area shape="rect" id="node5" href="classompl_1_1GridB.html" title="This class defines a grid that keeps track of its boundary: it distinguishes between interior and ext..." alt="" coords="5,160,136,189"/><area shape="rect" id="node2" href="classompl_1_1Grid.html" title="Representation of a simple grid." alt="" coords="11,5,131,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1GridN-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structompl_1_1GridN_1_1Cell.html">Cell</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Definition of a cell in this grid. <a href="structompl_1_1GridN_1_1Cell.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa26d52609e9a958a0dee1c774d817f34"></a><!-- doxytag: member="ompl::GridN::BaseCell" ref="aa26d52609e9a958a0dee1c774d817f34" args="" -->
typedef <a class="el" href="classompl_1_1Grid.html">Grid</a>< _T >::<a class="el" href="structompl_1_1Grid_1_1Cell.html">Cell</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#aa26d52609e9a958a0dee1c774d817f34">BaseCell</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Datatype for cell in base class. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4b26a5015ed43cb79442a1d7041ca877"></a><!-- doxytag: member="ompl::GridN::BaseCellArray" ref="a4b26a5015ed43cb79442a1d7041ca877" args="" -->
typedef <a class="el" href="classompl_1_1Grid.html">Grid</a>< _T >::<a class="el" href="classompl_1_1Grid.html#a75eda082fd346c84697130d347c1eb2f">CellArray</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#a4b26a5015ed43cb79442a1d7041ca877">BaseCellArray</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Datatype for array of cells in base class. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae15a0d9d76a01bc9f98afbed8ce23342"></a><!-- doxytag: member="ompl::GridN::Coord" ref="ae15a0d9d76a01bc9f98afbed8ce23342" args="" -->
typedef <a class="el" href="classompl_1_1Grid.html">Grid</a>< _T >::<a class="el" href="classompl_1_1GridN.html#ae15a0d9d76a01bc9f98afbed8ce23342">Coord</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#ae15a0d9d76a01bc9f98afbed8ce23342">Coord</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Datatype for cell coordinates. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a44c57859eaebc6bdc3c9c453662ac252"></a><!-- doxytag: member="ompl::GridN::CellArray" ref="a44c57859eaebc6bdc3c9c453662ac252" args="" -->
typedef std::vector< <a class="el" href="structompl_1_1Grid_1_1Cell.html">Cell</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#a44c57859eaebc6bdc3c9c453662ac252">CellArray</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The datatype for arrays of cells. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a19056d56c0b54dd8ef2c3c9d483f1211"></a><!-- doxytag: member="ompl::GridN::GridN" ref="a19056d56c0b54dd8ef2c3c9d483f1211" args="(unsigned int dimension)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#a19056d56c0b54dd8ef2c3c9d483f1211">GridN</a> (unsigned int dimension)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The constructor takes the dimension of the grid as argument. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#a8f301e691e48294e1e216d1c7971aa9d">setDimension</a> (unsigned int dimension)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#ae69767d44f200c28b21683ac76d1624d">setBounds</a> (const <a class="el" href="classompl_1_1GridN.html#ae15a0d9d76a01bc9f98afbed8ce23342">Coord</a> &low, const <a class="el" href="classompl_1_1GridN.html#ae15a0d9d76a01bc9f98afbed8ce23342">Coord</a> &up)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#ae5d42e023d6aa00ac1d479dad46d7144">setInteriorCellNeighborLimit</a> (unsigned int count)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a55b24fea201c89c9dab91c8624cec4e5"></a><!-- doxytag: member="ompl::GridN::getCell" ref="a55b24fea201c89c9dab91c8624cec4e5" args="(const Coord &coord) const " -->
<a class="el" href="structompl_1_1Grid_1_1Cell.html">Cell</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#a55b24fea201c89c9dab91c8624cec4e5">getCell</a> (const <a class="el" href="classompl_1_1GridN.html#ae15a0d9d76a01bc9f98afbed8ce23342">Coord</a> &coord) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the cell at a specified coordinate. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adfe8ed73a5dc1ce935e9abf51d91682b"></a><!-- doxytag: member="ompl::GridN::neighbors" ref="adfe8ed73a5dc1ce935e9abf51d91682b" args="(const Cell *cell, CellArray &list) const " -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#adfe8ed73a5dc1ce935e9abf51d91682b">neighbors</a> (const <a class="el" href="structompl_1_1Grid_1_1Cell.html">Cell</a> *cell, <a class="el" href="classompl_1_1Grid.html#a75eda082fd346c84697130d347c1eb2f">CellArray</a> &list) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the list of neighbors for a given cell. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1ba55b0907ff580f04447d58af044de0"></a><!-- doxytag: member="ompl::GridN::neighbors" ref="a1ba55b0907ff580f04447d58af044de0" args="(const Coord &coord, CellArray &list) const " -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#a1ba55b0907ff580f04447d58af044de0">neighbors</a> (const <a class="el" href="classompl_1_1GridN.html#ae15a0d9d76a01bc9f98afbed8ce23342">Coord</a> &coord, <a class="el" href="classompl_1_1Grid.html#a75eda082fd346c84697130d347c1eb2f">CellArray</a> &list) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the list of neighbors for a given coordinate. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6833ae9f28a7b57275faee82437255d9"></a><!-- doxytag: member="ompl::GridN::neighbors" ref="a6833ae9f28a7b57275faee82437255d9" args="(Coord &coord, CellArray &list) const " -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#a6833ae9f28a7b57275faee82437255d9">neighbors</a> (<a class="el" href="classompl_1_1GridN.html#ae15a0d9d76a01bc9f98afbed8ce23342">Coord</a> &coord, <a class="el" href="classompl_1_1Grid.html#a75eda082fd346c84697130d347c1eb2f">CellArray</a> &list) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the list of neighbors for a given coordinate. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structompl_1_1Grid_1_1Cell.html">BaseCell</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#a5e226b31313bbb3887cc5a7be02a17a2">createCell</a> (const <a class="el" href="classompl_1_1GridN.html#ae15a0d9d76a01bc9f98afbed8ce23342">Coord</a> &coord, <a class="el" href="classompl_1_1GridN.html#a4b26a5015ed43cb79442a1d7041ca877">BaseCellArray</a> *nbh=NULL)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#abafef2aa6c3f2e6c35ef1a82f10f97c8">remove</a> (<a class="el" href="structompl_1_1Grid_1_1Cell.html">BaseCell</a> *cell)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1bc2efb9f3533a98381ee2e12da28117"></a><!-- doxytag: member="ompl::GridN::getCells" ref="a1bc2efb9f3533a98381ee2e12da28117" args="(CellArray &cells) const " -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#a1bc2efb9f3533a98381ee2e12da28117">getCells</a> (<a class="el" href="classompl_1_1Grid.html#a75eda082fd346c84697130d347c1eb2f">CellArray</a> &cells) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the set of instantiated cells in the grid. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab065311737237a3731d41e0cbc4e1b76"></a><!-- doxytag: member="ompl::GridN::numberOfBoundaryDimensions" ref="ab065311737237a3731d41e0cbc4e1b76" args="(const Coord &coord) const " -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#ab065311737237a3731d41e0cbc4e1b76">numberOfBoundaryDimensions</a> (const <a class="el" href="classompl_1_1GridN.html#ae15a0d9d76a01bc9f98afbed8ce23342">Coord</a> &coord) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute how many sides of a coordinate touch the boundaries of the grid. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ace239cb56364f32748d8c4a66ec8b31f"></a><!-- doxytag: member="ompl::GridN::hasBounds_" ref="ace239cb56364f32748d8c4a66ec8b31f" args="" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#ace239cb56364f32748d8c4a66ec8b31f">hasBounds_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Flag indicating whether bounds are in effect for this grid. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acdf65b3cd4603c5d25597e62064751d8"></a><!-- doxytag: member="ompl::GridN::lowBound_" ref="acdf65b3cd4603c5d25597e62064751d8" args="" -->
<a class="el" href="classompl_1_1GridN.html#ae15a0d9d76a01bc9f98afbed8ce23342">Coord</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#acdf65b3cd4603c5d25597e62064751d8">lowBound_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If bounds are set, this defines the lower corner cell. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a422a9ee23538f070a2d9704e2ca70ead"></a><!-- doxytag: member="ompl::GridN::upBound_" ref="a422a9ee23538f070a2d9704e2ca70ead" args="" -->
<a class="el" href="classompl_1_1GridN.html#ae15a0d9d76a01bc9f98afbed8ce23342">Coord</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#a422a9ee23538f070a2d9704e2ca70ead">upBound_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If bounds are set, this defines the upper corner cell. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#a035b9527b8cfd98a6e4f4d7472e668a1">interiorCellNeighborsLimit_</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1GridN.html#a1e9cc38ff1df4dca6c9969f73dcad61e">overrideCellNeighborsLimit_</a></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><h3>template<typename _T><br/>
class ompl::GridN< _T ></h3>
<p>Representation of a grid where cells keep track of how many neighbors they have. </p>
<p>Definition at line <a class="el" href="GridN_8h_source.html#l00047">47</a> of file <a class="el" href="GridN_8h_source.html">GridN.h</a>.</p>
</div><hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a5e226b31313bbb3887cc5a7be02a17a2"></a><!-- doxytag: member="ompl::GridN::createCell" ref="a5e226b31313bbb3887cc5a7be02a17a2" args="(const Coord &coord, BaseCellArray *nbh=NULL)" -->
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template<typename _T> </div>
<table class="memname">
<tr>
<td class="memname">virtual <a class="el" href="structompl_1_1Grid_1_1Cell.html">BaseCell</a>* <a class="el" href="classompl_1_1GridN.html">ompl::GridN</a>< _T >::createCell </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classompl_1_1GridN.html#ae15a0d9d76a01bc9f98afbed8ce23342">Coord</a> & </td>
<td class="paramname"><em>coord</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classompl_1_1GridN.html#a4b26a5015ed43cb79442a1d7041ca877">BaseCellArray</a> * </td>
<td class="paramname"><em>nbh</em> = <code>NULL</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Instantiate a new cell at given coordinates; Optionally return the list of future neighbors. Note: this call only creates the cell, but does not add it to the grid. It however updates the neighbor count for neighboring cells </p>
<p>Definition at line <a class="el" href="GridN_8h_source.html#l00166">166</a> of file <a class="el" href="GridN_8h_source.html">GridN.h</a>.</p>
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<a class="anchor" id="abafef2aa6c3f2e6c35ef1a82f10f97c8"></a><!-- doxytag: member="ompl::GridN::remove" ref="abafef2aa6c3f2e6c35ef1a82f10f97c8" args="(BaseCell *cell)" -->
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<td class="memname">virtual bool <a class="el" href="classompl_1_1GridN.html">ompl::GridN</a>< _T >::remove </td>
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<td class="paramtype"><a class="el" href="structompl_1_1Grid_1_1Cell.html">BaseCell</a> * </td>
<td class="paramname"><em>cell</em></td><td>)</td>
<td><code> [inline, virtual]</code></td>
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<p>Remove a cell from the grid. If the cell has not been Added to the grid, only update the neighbor list </p>
<p>Reimplemented from <a class="el" href="classompl_1_1Grid.html#a72386f9ffd43e98d25aa38b224541564">ompl::Grid< _T ></a>.</p>
<p>Reimplemented in <a class="el" href="classompl_1_1GridB.html#a35d8377f870c0e03fca9f2839d863165">ompl::GridB< _T, LessThanExternal, LessThanInternal ></a>.</p>
<p>Definition at line <a class="el" href="GridN_8h_source.html#l00194">194</a> of file <a class="el" href="GridN_8h_source.html">GridN.h</a>.</p>
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<a class="anchor" id="ae69767d44f200c28b21683ac76d1624d"></a><!-- doxytag: member="ompl::GridN::setBounds" ref="ae69767d44f200c28b21683ac76d1624d" args="(const Coord &low, const Coord &up)" -->
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<td class="memname">void <a class="el" href="classompl_1_1GridN.html">ompl::GridN</a>< _T >::setBounds </td>
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<td class="paramtype">const <a class="el" href="classompl_1_1GridN.html#ae15a0d9d76a01bc9f98afbed8ce23342">Coord</a> & </td>
<td class="paramname"><em>low</em>, </td>
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<td class="paramtype">const <a class="el" href="classompl_1_1GridN.html#ae15a0d9d76a01bc9f98afbed8ce23342">Coord</a> & </td>
<td class="paramname"><em>up</em> </td>
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<td></td><td><code> [inline]</code></td>
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<p>If bounds for the grid need to be considered, we can set them here. When the number of neighbors are counted, whether the Space is bounded matters, in the sense that if a cell is on the boundary, we know some of its neighbors cannot exist. In order to allow such a cell to reflect the fact it has Achieved its maximal number of neighbors, the boundary is counted as the number of neighbors it prevents from existing. </p>
<p>Definition at line <a class="el" href="GridN_8h_source.html#l00115">115</a> of file <a class="el" href="GridN_8h_source.html">GridN.h</a>.</p>
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<a class="anchor" id="a8f301e691e48294e1e216d1c7971aa9d"></a><!-- doxytag: member="ompl::GridN::setDimension" ref="a8f301e691e48294e1e216d1c7971aa9d" args="(unsigned int dimension)" -->
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<td class="paramtype">unsigned int </td>
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<p>Update the dimension of the grid; this should not be done unless the grid is empty </p>
<p>Reimplemented from <a class="el" href="classompl_1_1Grid.html#a118373bcfe70886449d94782b0a7c783">ompl::Grid< _T ></a>.</p>
<p>Definition at line <a class="el" href="GridN_8h_source.html#l00097">97</a> of file <a class="el" href="GridN_8h_source.html">GridN.h</a>.</p>
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<a class="anchor" id="ae5d42e023d6aa00ac1d479dad46d7144"></a><!-- doxytag: member="ompl::GridN::setInteriorCellNeighborLimit" ref="ae5d42e023d6aa00ac1d479dad46d7144" args="(unsigned int count)" -->
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<td class="memname">void <a class="el" href="classompl_1_1GridN.html">ompl::GridN</a>< _T >::setInteriorCellNeighborLimit </td>
<td>(</td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>count</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Set the limit of neighboring cells to determine when a cell becomes interior by default, this is 2 * dimension of grid </p>
<p>Definition at line <a class="el" href="GridN_8h_source.html#l00124">124</a> of file <a class="el" href="GridN_8h_source.html">GridN.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a035b9527b8cfd98a6e4f4d7472e668a1"></a><!-- doxytag: member="ompl::GridN::interiorCellNeighborsLimit_" ref="a035b9527b8cfd98a6e4f4d7472e668a1" args="" -->
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<td class="memname">unsigned int <a class="el" href="classompl_1_1GridN.html">ompl::GridN</a>< _T >::<a class="el" href="classompl_1_1GridN.html#a035b9527b8cfd98a6e4f4d7472e668a1">interiorCellNeighborsLimit_</a><code> [protected]</code></td>
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<p>By default, cells are considered on the border if 2n neighbors are created, for a space of dimension n. this value is overridden and set in this member variable </p>
<p>Definition at line <a class="el" href="GridN_8h_source.html#l00253">253</a> of file <a class="el" href="GridN_8h_source.html">GridN.h</a>.</p>
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<a class="anchor" id="a1e9cc38ff1df4dca6c9969f73dcad61e"></a><!-- doxytag: member="ompl::GridN::overrideCellNeighborsLimit_" ref="a1e9cc38ff1df4dca6c9969f73dcad61e" args="" -->
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<td class="memname">bool <a class="el" href="classompl_1_1GridN.html">ompl::GridN</a>< _T >::<a class="el" href="classompl_1_1GridN.html#a1e9cc38ff1df4dca6c9969f73dcad61e">overrideCellNeighborsLimit_</a><code> [protected]</code></td>
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<p>Flag indicating whether the neighbor count used to determine whether a cell is on the border or not </p>
<p>Definition at line <a class="el" href="GridN_8h_source.html#l00257">257</a> of file <a class="el" href="GridN_8h_source.html">GridN.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>src/ompl/datastructures/<a class="el" href="GridN_8h_source.html">GridN.h</a></li>
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