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<li class="navelem"><a class="el" href="namespaceompl.html">ompl</a> </li>
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<div class="title">ompl::Grid< _T > Class Template Reference</div> </div>
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<!-- doxytag: class="ompl::Grid" -->
<p>Representation of a simple grid.
<a href="classompl_1_1Grid.html#details">More...</a></p>
<p><code>#include <<a class="el" href="Grid_8h_source.html">Grid.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::Grid< _T >:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1Grid__inherit__graph.png" border="0" usemap="#ompl_1_1Grid_3_01__T_01_4_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1Grid_3_01__T_01_4_inherit__map" id="ompl_1_1Grid_3_01__T_01_4_inherit__map">
<area shape="rect" id="node3" href="classompl_1_1GridN.html" title="Representation of a grid where cells keep track of how many neighbors they have." alt="" coords="5,83,136,112"/><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"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1Grid-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_1Grid_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_1Grid_1_1Cell.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structompl_1_1Grid_1_1EqualCoordPtr.html">EqualCoordPtr</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Equality operator for coordinate pointers. <a href="structompl_1_1Grid_1_1EqualCoordPtr.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structompl_1_1Grid_1_1HashFunCoordPtr.html">HashFunCoordPtr</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Hash function for coordinates. <a href="structompl_1_1Grid_1_1HashFunCoordPtr.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structompl_1_1Grid_1_1SortComponents.html">SortComponents</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Helper to sort components by size. <a href="structompl_1_1Grid_1_1SortComponents.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="ada6a72bd91ec78dd8a0806c00055d917"></a><!-- doxytag: member="ompl::Grid::Coord" ref="ada6a72bd91ec78dd8a0806c00055d917" args="" -->
typedef std::vector< int > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917">Coord</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Definition of a coordinate within this grid. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a75eda082fd346c84697130d347c1eb2f"></a><!-- doxytag: member="ompl::Grid::CellArray" ref="a75eda082fd346c84697130d347c1eb2f" 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_1Grid.html#a75eda082fd346c84697130d347c1eb2f">CellArray</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The datatype for arrays of cells. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac85bc047c9574aea0fb08c1c53701eb9"></a><!-- doxytag: member="ompl::Grid::iterator" ref="ac85bc047c9574aea0fb08c1c53701eb9" args="" -->
typedef CoordHash::const_iterator </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#ac85bc047c9574aea0fb08c1c53701eb9">iterator</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">We only allow const iterators. <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="aa11294d2cb47b1e55bacd101b131d3c1"></a><!-- doxytag: member="ompl::Grid::Grid" ref="aa11294d2cb47b1e55bacd101b131d3c1" args="(unsigned int dimension)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#aa11294d2cb47b1e55bacd101b131d3c1">Grid</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"><a class="anchor" id="a4dafe5d3e463b021ec22bcf89155322a"></a><!-- doxytag: member="ompl::Grid::~Grid" ref="a4dafe5d3e463b021ec22bcf89155322a" args="(void)" -->
virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#a4dafe5d3e463b021ec22bcf89155322a">~Grid</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aeb890199fb3e64669a48ab6c509395c5"></a><!-- doxytag: member="ompl::Grid::clear" ref="aeb890199fb3e64669a48ab6c509395c5" args="(void)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#aeb890199fb3e64669a48ab6c509395c5">clear</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear all cells in the grid. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a94b92e449324dedc4629ba6c8d582a01"></a><!-- doxytag: member="ompl::Grid::getDimension" ref="a94b92e449324dedc4629ba6c8d582a01" args="(void) const " -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#a94b92e449324dedc4629ba6c8d582a01">getDimension</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the dimension of the grid. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#a118373bcfe70886449d94782b0a7c783">setDimension</a> (unsigned int dimension)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac6f884d8fc3c401a3610d7e5659e16b9"></a><!-- doxytag: member="ompl::Grid::has" ref="ac6f884d8fc3c401a3610d7e5659e16b9" args="(const Coord &coord) const " -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#ac6f884d8fc3c401a3610d7e5659e16b9">has</a> (const <a class="el" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917">Coord</a> &coord) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if a cell exists at the specified coordinate. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae563fea4e6a46c741682b6dcbe93ce54"></a><!-- doxytag: member="ompl::Grid::getCell" ref="ae563fea4e6a46c741682b6dcbe93ce54" 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_1Grid.html#ae563fea4e6a46c741682b6dcbe93ce54">getCell</a> (const <a class="el" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917">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="af462d094f175c8c409237802d875aad2"></a><!-- doxytag: member="ompl::Grid::neighbors" ref="af462d094f175c8c409237802d875aad2" args="(const Cell *cell, CellArray &list) const " -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#af462d094f175c8c409237802d875aad2">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="a75d952cdcfbf49f084d7ec1434170fbf"></a><!-- doxytag: member="ompl::Grid::neighbors" ref="a75d952cdcfbf49f084d7ec1434170fbf" args="(const Coord &coord, CellArray &list) const " -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#a75d952cdcfbf49f084d7ec1434170fbf">neighbors</a> (const <a class="el" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917">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="a6a9e29f3d8bb2d337d36f0ba8efb0d45"></a><!-- doxytag: member="ompl::Grid::neighbors" ref="a6a9e29f3d8bb2d337d36f0ba8efb0d45" args="(Coord &coord, CellArray &list) const " -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#a6a9e29f3d8bb2d337d36f0ba8efb0d45">neighbors</a> (<a class="el" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917">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="af399d179e23adb274877aee03ea9aaae"></a><!-- doxytag: member="ompl::Grid::components" ref="af399d179e23adb274877aee03ea9aaae" args="(void) const " -->
std::vector< 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_1Grid.html#af399d179e23adb274877aee03ea9aaae">components</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the connected components formed by the cells in this grid (based on neighboring relation) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structompl_1_1Grid_1_1Cell.html">Cell</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#ad105860f5ce20c533281104b95f3d402">createCell</a> (const <a class="el" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917">Coord</a> &coord, <a class="el" href="classompl_1_1Grid.html#a75eda082fd346c84697130d347c1eb2f">CellArray</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_1Grid.html#a72386f9ffd43e98d25aa38b224541564">remove</a> (<a class="el" href="structompl_1_1Grid_1_1Cell.html">Cell</a> *cell)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac72fa046a57332c7627126e8d84fb1dc"></a><!-- doxytag: member="ompl::Grid::add" ref="ac72fa046a57332c7627126e8d84fb1dc" args="(Cell *cell)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#ac72fa046a57332c7627126e8d84fb1dc">add</a> (<a class="el" href="structompl_1_1Grid_1_1Cell.html">Cell</a> *cell)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add an instantiated cell to the grid. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5876a2ff7b1092fd00fc58fee9ad1829"></a><!-- doxytag: member="ompl::Grid::destroyCell" ref="a5876a2ff7b1092fd00fc58fee9ad1829" args="(Cell *cell) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#a5876a2ff7b1092fd00fc58fee9ad1829">destroyCell</a> (<a class="el" href="structompl_1_1Grid_1_1Cell.html">Cell</a> *cell) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear the memory occupied by a cell; do not call this function unless <a class="el" href="classompl_1_1Grid.html#a72386f9ffd43e98d25aa38b224541564">remove()</a> was called first. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afe4fa2e9e3b6db8d57c69daaeb1be0b7"></a><!-- doxytag: member="ompl::Grid::getContent" ref="afe4fa2e9e3b6db8d57c69daaeb1be0b7" args="(std::vector< _T > &content) const " -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#afe4fa2e9e3b6db8d57c69daaeb1be0b7">getContent</a> (std::vector< _T > &content) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the data stored in the cells we are aware of. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0864cd4aae571bd30003b7ae82dccbd5"></a><!-- doxytag: member="ompl::Grid::getCoordinates" ref="a0864cd4aae571bd30003b7ae82dccbd5" args="(std::vector< Coord * > &coords) const " -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#a0864cd4aae571bd30003b7ae82dccbd5">getCoordinates</a> (std::vector< <a class="el" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917">Coord</a> * > &coords) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the set of coordinates where there are cells. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5606423660b0f121ad2f227030085a9c"></a><!-- doxytag: member="ompl::Grid::getCells" ref="a5606423660b0f121ad2f227030085a9c" args="(CellArray &cells) const " -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#a5606423660b0f121ad2f227030085a9c">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 class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab586680ae4fb05376c91b114d95e1b7b"></a><!-- doxytag: member="ompl::Grid::printCoord" ref="ab586680ae4fb05376c91b114d95e1b7b" args="(Coord &coord, std::ostream &out=std::cout) const " -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#ab586680ae4fb05376c91b114d95e1b7b">printCoord</a> (<a class="el" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917">Coord</a> &coord, std::ostream &out=std::cout) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Print the value of a coordinate to a stream. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af91ee958440919adc378ab2ae3b49fd8"></a><!-- doxytag: member="ompl::Grid::empty" ref="af91ee958440919adc378ab2ae3b49fd8" args="(void) const " -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#af91ee958440919adc378ab2ae3b49fd8">empty</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if the grid is empty. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a94c2dd5667093608a10aa91a46f42dfa"></a><!-- doxytag: member="ompl::Grid::size" ref="a94c2dd5667093608a10aa91a46f42dfa" args="(void) const " -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#a94c2dd5667093608a10aa91a46f42dfa">size</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check the size of the grid. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac38c23cf1a7f5dea01f49e325ad53371"></a><!-- doxytag: member="ompl::Grid::status" ref="ac38c23cf1a7f5dea01f49e325ad53371" args="(std::ostream &out=std::cout) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#ac38c23cf1a7f5dea01f49e325ad53371">status</a> (std::ostream &out=std::cout) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Print information about the data in this grid structure. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad74c5df97cf3d54a1a15eff55596973c"></a><!-- doxytag: member="ompl::Grid::begin" ref="ad74c5df97cf3d54a1a15eff55596973c" args="(void) const " -->
<a class="el" href="classompl_1_1Grid.html#ac85bc047c9574aea0fb08c1c53701eb9">iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#ad74c5df97cf3d54a1a15eff55596973c">begin</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the <a class="el" href="classompl_1_1Grid.html#ad74c5df97cf3d54a1a15eff55596973c" title="Return the begin() iterator for the grid.">begin()</a> iterator for the grid. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac5d360c8fa02bd6ec58aa8cbbc450dd7"></a><!-- doxytag: member="ompl::Grid::end" ref="ac5d360c8fa02bd6ec58aa8cbbc450dd7" args="(void) const " -->
<a class="el" href="classompl_1_1Grid.html#ac85bc047c9574aea0fb08c1c53701eb9">iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#ac5d360c8fa02bd6ec58aa8cbbc450dd7">end</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the <a class="el" href="classompl_1_1Grid.html#ac5d360c8fa02bd6ec58aa8cbbc450dd7" title="Return the end() iterator for the grid.">end()</a> iterator for the grid. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-types"></a>
Protected Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a979747c1db17535f9b4f90d4b9a84b66"></a><!-- doxytag: member="ompl::Grid::CoordHash" ref="a979747c1db17535f9b4f90d4b9a84b66" args="" -->
typedef boost::unordered_map<br class="typebreak"/>
< <a class="el" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917">Coord</a> *, <a class="el" href="structompl_1_1Grid_1_1Cell.html">Cell</a> <br class="typebreak"/>
*, <a class="el" href="structompl_1_1Grid_1_1HashFunCoordPtr.html">HashFunCoordPtr</a>, <br class="typebreak"/>
<a class="el" href="structompl_1_1Grid_1_1EqualCoordPtr.html">EqualCoordPtr</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#a979747c1db17535f9b4f90d4b9a84b66">CoordHash</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Define the datatype for the used hash structure. <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="a9f33efa75e00c9690920cb57b2035c17"></a><!-- doxytag: member="ompl::Grid::freeMemory" ref="a9f33efa75e00c9690920cb57b2035c17" args="(void)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#a9f33efa75e00c9690920cb57b2035c17">freeMemory</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Free the allocated memory. <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="a8dfdf767f8c14a15fddbdb4bc1e993f1"></a><!-- doxytag: member="ompl::Grid::dimension_" ref="a8dfdf767f8c14a15fddbdb4bc1e993f1" args="" -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#a8dfdf767f8c14a15fddbdb4bc1e993f1">dimension_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The dimension of the grid. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a826614263d30ffcc37924cecfef25471"></a><!-- doxytag: member="ompl::Grid::maxNeighbors_" ref="a826614263d30ffcc37924cecfef25471" args="" -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#a826614263d30ffcc37924cecfef25471">maxNeighbors_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The maximum number of neighbors a cell can have (2 * dimension) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afbf8751613b70340e9e287d3bb53650d"></a><!-- doxytag: member="ompl::Grid::hash_" ref="afbf8751613b70340e9e287d3bb53650d" args="" -->
<a class="el" href="classompl_1_1Grid.html#a979747c1db17535f9b4f90d4b9a84b66">CoordHash</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1Grid.html#afbf8751613b70340e9e287d3bb53650d">hash_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The hash holding the cells. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><h3>template<typename _T><br/>
class ompl::Grid< _T ></h3>
<p>Representation of a simple grid. </p>
<p>Definition at line <a class="el" href="Grid_8h_source.html#l00051">51</a> of file <a class="el" href="Grid_8h_source.html">Grid.h</a>.</p>
</div><hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ad105860f5ce20c533281104b95f3d402"></a><!-- doxytag: member="ompl::Grid::createCell" ref="ad105860f5ce20c533281104b95f3d402" args="(const Coord &coord, CellArray *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">Cell</a>* <a class="el" href="classompl_1_1Grid.html">ompl::Grid</a>< _T >::createCell </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917">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_1Grid.html#a75eda082fd346c84697130d347c1eb2f">CellArray</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>Reimplemented in <a class="el" href="classompl_1_1GridB.html#a13473103dede044e44d731b094ea6515">ompl::GridB< _T, LessThanExternal, LessThanInternal ></a>, and <a class="el" href="classompl_1_1GridB.html#a13473103dede044e44d731b094ea6515">ompl::GridB< CellData *, OrderCellsByImportance ></a>.</p>
<p>Definition at line <a class="el" href="Grid_8h_source.html#l00226">226</a> of file <a class="el" href="Grid_8h_source.html">Grid.h</a>.</p>
</div>
</div>
<a class="anchor" id="a72386f9ffd43e98d25aa38b224541564"></a><!-- doxytag: member="ompl::Grid::remove" ref="a72386f9ffd43e98d25aa38b224541564" args="(Cell *cell)" -->
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template<typename _T> </div>
<table class="memname">
<tr>
<td class="memname">virtual bool <a class="el" href="classompl_1_1Grid.html">ompl::Grid</a>< _T >::remove </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structompl_1_1Grid_1_1Cell.html">Cell</a> * </td>
<td class="paramname"><em>cell</em></td><td>)</td>
<td><code> [inline, virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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 in <a class="el" href="classompl_1_1GridB.html#a35d8377f870c0e03fca9f2839d863165">ompl::GridB< _T, LessThanExternal, LessThanInternal ></a>, and <a class="el" href="classompl_1_1GridN.html#abafef2aa6c3f2e6c35ef1a82f10f97c8">ompl::GridN< _T ></a>.</p>
<p>Definition at line <a class="el" href="Grid_8h_source.html#l00237">237</a> of file <a class="el" href="Grid_8h_source.html">Grid.h</a>.</p>
</div>
</div>
<a class="anchor" id="a118373bcfe70886449d94782b0a7c783"></a><!-- doxytag: member="ompl::Grid::setDimension" ref="a118373bcfe70886449d94782b0a7c783" args="(unsigned int dimension)" -->
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template<typename _T> </div>
<table class="memname">
<tr>
<td class="memname">void <a class="el" href="classompl_1_1Grid.html">ompl::Grid</a>< _T >::setDimension </td>
<td>(</td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>dimension</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Update the dimension of the grid; this should not be done unless the grid is empty </p>
<p>Reimplemented in <a class="el" href="classompl_1_1GridN.html#a8f301e691e48294e1e216d1c7971aa9d">ompl::GridN< _T ></a>, and <a class="el" href="classompl_1_1GridN.html#a8f301e691e48294e1e216d1c7971aa9d">ompl::GridN< CellData * ></a>.</p>
<p>Definition at line <a class="el" href="Grid_8h_source.html#l00107">107</a> of file <a class="el" href="Grid_8h_source.html">Grid.h</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li>src/ompl/datastructures/<a class="el" href="Grid_8h_source.html">Grid.h</a></li>
</ul>
</div>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
<div class="gray">Generated on Sun Oct 9 2011 23:04:41 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div>
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