Public Member Functions | |
Vertex (const ompl::base::SpaceInformationPtr &spaceInformation, const ompl::base::ProblemDefinitionPtr &problemDefinition, const std::size_t &batchId) | |
Constructs a vertex by sampling a state. | |
virtual | ~Vertex () |
Destructs the vertex. | |
std::size_t | getId () const |
Get the unique id of this vertex. | |
ompl::base::State * | getState () |
Provides write access to the underlying state. | |
ompl::base::State const * | getState () const |
Provides read access to the underlying state. | |
ompl::base::ScopedState | getScopedState () const |
Returns a scoped copy of the underlying state. | |
ompl::base::Cost | getCostToComeFromStart () const |
Returns the cost to come to this vertex from the start. | |
ompl::base::Cost | getCostToComeFromGoal () const |
Returns the cost to come to this vertex from the goal. | |
ompl::base::Cost | getExpandedCostToComeFromGoal () const |
Returns the cost to come to this vertex from the goal when it was expanded. | |
ompl::base::Cost | getCostToGoToGoal () const |
Returns the cost to go heuristic from this vertex. | |
ompl::base::Cost | getEdgeCostFromForwardParent () const |
Returns the edge cost from the forward parent. | |
bool | hasForwardParent () const |
Returns whether this vertex has a parent in the forward search. | |
void | setForwardParent (const std::shared_ptr< Vertex > &vertex, const ompl::base::Cost &edgeCost) |
Sets the parent vertex (in the forward-search tree). | |
void | resetForwardParent () |
Resets the forward parent of the vertex. | |
bool | hasReverseParent () const |
Returns whether this vertex has a parent in the reverse search. | |
void | setReverseParent (const std::shared_ptr< Vertex > &vertex) |
Sets the parent vertex (in the reverse-search tree). | |
void | resetReverseParent () |
Resets the reverse parent of the vertex. | |
std::shared_ptr< Vertex > | getForwardParent () const |
Returns the parent of the vertex (in the forward-search tree). | |
std::shared_ptr< Vertex > | getReverseParent () const |
Returns the parent of the vertex (in the reverse-search tree). | |
void | setForwardEdgeCost (const ompl::base::Cost &cost) |
Sets the cost to come to this vertex. | |
void | setCostToComeFromStart (const ompl::base::Cost &cost) |
Sets the cost to come to this vertex. | |
void | setCostToComeFromGoal (const ompl::base::Cost &cost) |
Sets the cost to come to this vertex from the goal. | |
void | setExpandedCostToComeFromGoal (const ompl::base::Cost &cost) |
Sets the cost to come to this vertex from the goal when it was expanded. | |
void | setCostToGoToGoal (const ompl::base::Cost &cost) |
Sets the cost to go heuristic of this vertex. | |
void | updateCostOfForwardBranch () const |
Updates the cost to the whole branch rooted at this vertex. | |
std::vector< std::weak_ptr< aitstar::Vertex > > | invalidateReverseBranch () |
Recursively invalidates the branch of the reverse tree rooted in this vertex. | |
std::vector< std::weak_ptr< aitstar::Vertex > > | invalidateForwardBranch () |
Recursively invalidates the branch of the forward tree rooted in this vertex. | |
void | addToForwardChildren (const std::shared_ptr< Vertex > &vertex) |
Adds a vertex to this vertex's forward children. | |
void | removeFromForwardChildren (std::size_t vertexId) |
Removes a vertex from this vertex's forward children. | |
std::vector< std::shared_ptr< Vertex > > | getForwardChildren () const |
Returns this vertex's children in the forward search tree. | |
void | addToReverseChildren (const std::shared_ptr< Vertex > &vertex) |
Adds a vertex this vertex's children. | |
void | removeFromReverseChildren (std::size_t vertexId) |
Removes a vertex from this vertex's forward children. | |
std::vector< std::shared_ptr< Vertex > > | getReverseChildren () const |
Returns this vertex's children in the reverse search tree. | |
void | whitelistAsChild (const std::shared_ptr< Vertex > &vertex) const |
Whitelists a child. | |
bool | isWhitelistedAsChild (const std::shared_ptr< Vertex > &vertex) const |
Returns whether a child is whitelisted. | |
void | blacklistAsChild (const std::shared_ptr< Vertex > &vertex) const |
Blacklists a child. | |
bool | isBlacklistedAsChild (const std::shared_ptr< Vertex > &vertex) const |
Returns whether a child is blacklisted. | |
bool | hasCachedNeighbors () const |
Returns whether the vertex knows its nearest neighbors on the current approximation. | |
void | cacheNeighbors (const std::vector< std::shared_ptr< Vertex > > &neighbors) const |
Caches the neighbors for the current approximation. | |
const std::vector< std::shared_ptr< Vertex > > & | getNeighbors () const |
Returns the nearest neighbors, throws if not up to date. | |
void | registerPoppedOutgoingEdgeDuringForwardSearch () |
Registers that a child has been added to this vertex during the current forward search. | |
void | registerExpansionDuringReverseSearch () |
Registers the expansion of this vertex during the current reverse search. | |
void | unregisterExpansionDuringReverseSearch () |
Unregisters the expansion of this vertex during the current reverse search, needed when a reverse branch is invalidated due to a collision detection on an edge. | |
void | registerInsertionIntoQueueDuringReverseSearch () |
Registers the insertion of this vertex into the open queue during the current reverse search. | |
bool | hasHadOutgoingEdgePoppedDuringCurrentForwardSearch () const |
Returns whether the vertex has had an outgoing edge popped during the current forward search. | |
bool | hasBeenExpandedDuringCurrentReverseSearch () const |
Returns whether the vertex has been expanded during the current reverse search. | |
bool | hasBeenInsertedIntoQueueDuringCurrentReverseSearch () const |
Returns whether the vertex has been inserted into the queue during the current reverse search. | |
void | setReverseQueuePointer (typename ompl::BinaryHeap< std::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex > >, std::function< bool(const std::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex > > &, const std::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex > > &)> >::Element *pointer) |
Sets the reverse queue pointer of this vertex. | |
ompl::BinaryHeap< std::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex > >, std::function< bool(conststd::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex > > &, conststd::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex > > &)> >::Element * | getReverseQueuePointer () const |
Returns the reverse queue pointer of this vertex. | |
void | resetReverseQueuePointer () |
Resets the reverse queue pointer. | |
void | addToForwardQueueIncomingLookup (typename ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)> >::Element *pointer) |
Adds an element to the forward queue incoming lookup. | |
void | addToForwardQueueOutgoingLookup (typename ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)> >::Element *pointer) |
Adds an element to the forward queue outgoing lookup. | |
std::vector< ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)> >::Element * > | getForwardQueueIncomingLookup () const |
Returns the forward queue incoming lookup of this vertex. | |
std::vector< ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)> >::Element * > | getForwardQueueOutgoingLookup () const |
Returns the forward queue outgoing lookup of this vertex. | |
void | removeFromForwardQueueIncomingLookup (ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)> >::Element *element) |
Remove an element from the incoming queue lookup. | |
void | removeFromForwardQueueOutgoingLookup (ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)> >::Element *element) |
Remove an element from the outgoing queue lookup. | |
void | resetForwardQueueIncomingLookup () |
Resets the forward queue incoming lookup. | |
void | resetForwardQueueOutgoingLookup () |
Resets the forward queue outgoing lookup. | |
Detailed Description
Constructor & Destructor Documentation
◆ Vertex()
ompl::geometric::aitstar::Vertex::Vertex | ( | const ompl::base::SpaceInformationPtr & | spaceInformation, |
const ompl::base::ProblemDefinitionPtr & | problemDefinition, | ||
const std::size_t & | batchId | ||
) |
Constructs a vertex by sampling a state.
Definition at line 63 of file Vertex.cpp.
◆ ~Vertex()
|
virtual |
Destructs the vertex.
Definition at line 82 of file Vertex.cpp.
Member Function Documentation
◆ addToForwardChildren()
void ompl::geometric::aitstar::Vertex::addToForwardChildren | ( | const std::shared_ptr< Vertex > & | vertex | ) |
Adds a vertex to this vertex's forward children.
Definition at line 279 of file Vertex.cpp.
◆ addToForwardQueueIncomingLookup()
void ompl::geometric::aitstar::Vertex::addToForwardQueueIncomingLookup | ( | typename ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)> >::Element * | pointer | ) |
Adds an element to the forward queue incoming lookup.
Definition at line 471 of file Vertex.cpp.
◆ addToForwardQueueOutgoingLookup()
void ompl::geometric::aitstar::Vertex::addToForwardQueueOutgoingLookup | ( | typename ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)> >::Element * | pointer | ) |
Adds an element to the forward queue outgoing lookup.
Definition at line 478 of file Vertex.cpp.
◆ addToReverseChildren()
void ompl::geometric::aitstar::Vertex::addToReverseChildren | ( | const std::shared_ptr< Vertex > & | vertex | ) |
Adds a vertex this vertex's children.
Definition at line 303 of file Vertex.cpp.
◆ blacklistAsChild()
void ompl::geometric::aitstar::Vertex::blacklistAsChild | ( | const std::shared_ptr< Vertex > & | vertex | ) | const |
Blacklists a child.
Definition at line 344 of file Vertex.cpp.
◆ cacheNeighbors()
void ompl::geometric::aitstar::Vertex::cacheNeighbors | ( | const std::vector< std::shared_ptr< Vertex > > & | neighbors | ) | const |
Caches the neighbors for the current approximation.
Definition at line 366 of file Vertex.cpp.
◆ getCostToComeFromGoal()
ompl::base::Cost ompl::geometric::aitstar::Vertex::getCostToComeFromGoal | ( | ) | const |
Returns the cost to come to this vertex from the goal.
Definition at line 113 of file Vertex.cpp.
◆ getCostToComeFromStart()
ompl::base::Cost ompl::geometric::aitstar::Vertex::getCostToComeFromStart | ( | ) | const |
Returns the cost to come to this vertex from the start.
Definition at line 108 of file Vertex.cpp.
◆ getCostToGoToGoal()
ompl::base::Cost ompl::geometric::aitstar::Vertex::getCostToGoToGoal | ( | ) | const |
Returns the cost to go heuristic from this vertex.
Definition at line 131 of file Vertex.cpp.
◆ getEdgeCostFromForwardParent()
ompl::base::Cost ompl::geometric::aitstar::Vertex::getEdgeCostFromForwardParent | ( | ) | const |
Returns the edge cost from the forward parent.
Definition at line 136 of file Vertex.cpp.
◆ getExpandedCostToComeFromGoal()
ompl::base::Cost ompl::geometric::aitstar::Vertex::getExpandedCostToComeFromGoal | ( | ) | const |
Returns the cost to come to this vertex from the goal when it was expanded.
Definition at line 122 of file Vertex.cpp.
◆ getForwardChildren()
std::vector< std::shared_ptr< Vertex > > ompl::geometric::aitstar::Vertex::getForwardChildren | ( | ) | const |
Returns this vertex's children in the forward search tree.
Definition at line 382 of file Vertex.cpp.
◆ getForwardParent()
std::shared_ptr< Vertex > ompl::geometric::aitstar::Vertex::getForwardParent | ( | ) | const |
Returns the parent of the vertex (in the forward-search tree).
Definition at line 149 of file Vertex.cpp.
◆ getForwardQueueIncomingLookup()
std::vector< ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)> >::Element * > ompl::geometric::aitstar::Vertex::getForwardQueueIncomingLookup | ( | ) | const |
Returns the forward queue incoming lookup of this vertex.
Definition at line 487 of file Vertex.cpp.
◆ getForwardQueueOutgoingLookup()
std::vector< ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)> >::Element * > ompl::geometric::aitstar::Vertex::getForwardQueueOutgoingLookup | ( | ) | const |
Returns the forward queue outgoing lookup of this vertex.
Definition at line 494 of file Vertex.cpp.
◆ getId()
std::size_t ompl::geometric::aitstar::Vertex::getId | ( | ) | const |
Get the unique id of this vertex.
Definition at line 88 of file Vertex.cpp.
◆ getNeighbors()
const std::vector< std::shared_ptr< Vertex > > & ompl::geometric::aitstar::Vertex::getNeighbors | ( | ) | const |
Returns the nearest neighbors, throws if not up to date.
Definition at line 372 of file Vertex.cpp.
◆ getReverseChildren()
std::vector< std::shared_ptr< Vertex > > ompl::geometric::aitstar::Vertex::getReverseChildren | ( | ) | const |
Returns this vertex's children in the reverse search tree.
Definition at line 393 of file Vertex.cpp.
◆ getReverseParent()
std::shared_ptr< Vertex > ompl::geometric::aitstar::Vertex::getReverseParent | ( | ) | const |
Returns the parent of the vertex (in the reverse-search tree).
Definition at line 159 of file Vertex.cpp.
◆ getReverseQueuePointer()
ompl::BinaryHeap< std::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex > >, std::function< bool(conststd::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex > > &, conststd::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex > > &)> >::Element * ompl::geometric::aitstar::Vertex::getReverseQueuePointer | ( | ) | const |
Returns the reverse queue pointer of this vertex.
Definition at line 457 of file Vertex.cpp.
◆ getScopedState()
ompl::base::ScopedState ompl::geometric::aitstar::Vertex::getScopedState | ( | ) | const |
Returns a scoped copy of the underlying state.
Definition at line 103 of file Vertex.cpp.
◆ getState() [1/2]
ompl::base::State * ompl::geometric::aitstar::Vertex::getState | ( | ) |
Provides write access to the underlying state.
Definition at line 93 of file Vertex.cpp.
◆ getState() [2/2]
ompl::base::State const * ompl::geometric::aitstar::Vertex::getState | ( | ) | const |
Provides read access to the underlying state.
Definition at line 98 of file Vertex.cpp.
◆ hasBeenExpandedDuringCurrentReverseSearch()
bool ompl::geometric::aitstar::Vertex::hasBeenExpandedDuringCurrentReverseSearch | ( | ) | const |
Returns whether the vertex has been expanded during the current reverse search.
Definition at line 431 of file Vertex.cpp.
◆ hasBeenInsertedIntoQueueDuringCurrentReverseSearch()
bool ompl::geometric::aitstar::Vertex::hasBeenInsertedIntoQueueDuringCurrentReverseSearch | ( | ) | const |
Returns whether the vertex has been inserted into the queue during the current reverse search.
Definition at line 436 of file Vertex.cpp.
◆ hasCachedNeighbors()
bool ompl::geometric::aitstar::Vertex::hasCachedNeighbors | ( | ) | const |
Returns whether the vertex knows its nearest neighbors on the current approximation.
Definition at line 361 of file Vertex.cpp.
◆ hasForwardParent()
bool ompl::geometric::aitstar::Vertex::hasForwardParent | ( | ) | const |
Returns whether this vertex has a parent in the forward search.
Definition at line 141 of file Vertex.cpp.
◆ hasHadOutgoingEdgePoppedDuringCurrentForwardSearch()
bool ompl::geometric::aitstar::Vertex::hasHadOutgoingEdgePoppedDuringCurrentForwardSearch | ( | ) | const |
Returns whether the vertex has had an outgoing edge popped during the current forward search.
Definition at line 426 of file Vertex.cpp.
◆ hasReverseParent()
bool ompl::geometric::aitstar::Vertex::hasReverseParent | ( | ) | const |
Returns whether this vertex has a parent in the reverse search.
Definition at line 154 of file Vertex.cpp.
◆ invalidateForwardBranch()
std::vector< std::weak_ptr< aitstar::Vertex > > ompl::geometric::aitstar::Vertex::invalidateForwardBranch | ( | ) |
Recursively invalidates the branch of the forward tree rooted in this vertex.
Definition at line 221 of file Vertex.cpp.
◆ invalidateReverseBranch()
std::vector< std::weak_ptr< aitstar::Vertex > > ompl::geometric::aitstar::Vertex::invalidateReverseBranch | ( | ) |
Recursively invalidates the branch of the reverse tree rooted in this vertex.
Definition at line 201 of file Vertex.cpp.
◆ isBlacklistedAsChild()
bool ompl::geometric::aitstar::Vertex::isBlacklistedAsChild | ( | const std::shared_ptr< Vertex > & | vertex | ) | const |
Returns whether a child is blacklisted.
Definition at line 349 of file Vertex.cpp.
◆ isWhitelistedAsChild()
bool ompl::geometric::aitstar::Vertex::isWhitelistedAsChild | ( | const std::shared_ptr< Vertex > & | vertex | ) | const |
Returns whether a child is whitelisted.
Definition at line 332 of file Vertex.cpp.
◆ registerExpansionDuringReverseSearch()
void ompl::geometric::aitstar::Vertex::registerExpansionDuringReverseSearch | ( | ) |
Registers the expansion of this vertex during the current reverse search.
Definition at line 410 of file Vertex.cpp.
◆ registerInsertionIntoQueueDuringReverseSearch()
void ompl::geometric::aitstar::Vertex::registerInsertionIntoQueueDuringReverseSearch | ( | ) |
Registers the insertion of this vertex into the open queue during the current reverse search.
Definition at line 421 of file Vertex.cpp.
◆ registerPoppedOutgoingEdgeDuringForwardSearch()
void ompl::geometric::aitstar::Vertex::registerPoppedOutgoingEdgeDuringForwardSearch | ( | ) |
Registers that a child has been added to this vertex during the current forward search.
Definition at line 405 of file Vertex.cpp.
◆ removeFromForwardChildren()
void ompl::geometric::aitstar::Vertex::removeFromForwardChildren | ( | std::size_t | vertexId | ) |
Removes a vertex from this vertex's forward children.
Definition at line 284 of file Vertex.cpp.
◆ removeFromForwardQueueIncomingLookup()
void ompl::geometric::aitstar::Vertex::removeFromForwardQueueIncomingLookup | ( | ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)> >::Element * | element | ) |
Remove an element from the incoming queue lookup.
Definition at line 499 of file Vertex.cpp.
◆ removeFromForwardQueueOutgoingLookup()
void ompl::geometric::aitstar::Vertex::removeFromForwardQueueOutgoingLookup | ( | ompl::BinaryHeap< aitstar::Edge, std::function< bool(const aitstar::Edge &, const aitstar::Edge &)> >::Element * | element | ) |
Remove an element from the outgoing queue lookup.
Definition at line 507 of file Vertex.cpp.
◆ removeFromReverseChildren()
void ompl::geometric::aitstar::Vertex::removeFromReverseChildren | ( | std::size_t | vertexId | ) |
Removes a vertex from this vertex's forward children.
Definition at line 308 of file Vertex.cpp.
◆ resetForwardParent()
void ompl::geometric::aitstar::Vertex::resetForwardParent | ( | ) |
Resets the forward parent of the vertex.
Definition at line 257 of file Vertex.cpp.
◆ resetForwardQueueIncomingLookup()
void ompl::geometric::aitstar::Vertex::resetForwardQueueIncomingLookup | ( | ) |
Resets the forward queue incoming lookup.
Definition at line 515 of file Vertex.cpp.
◆ resetForwardQueueOutgoingLookup()
void ompl::geometric::aitstar::Vertex::resetForwardQueueOutgoingLookup | ( | ) |
Resets the forward queue outgoing lookup.
Definition at line 520 of file Vertex.cpp.
◆ resetReverseParent()
void ompl::geometric::aitstar::Vertex::resetReverseParent | ( | ) |
Resets the reverse parent of the vertex.
Definition at line 274 of file Vertex.cpp.
◆ resetReverseQueuePointer()
void ompl::geometric::aitstar::Vertex::resetReverseQueuePointer | ( | ) |
Resets the reverse queue pointer.
Definition at line 466 of file Vertex.cpp.
◆ setCostToComeFromGoal()
void ompl::geometric::aitstar::Vertex::setCostToComeFromGoal | ( | const ompl::base::Cost & | cost | ) |
Sets the cost to come to this vertex from the goal.
Definition at line 174 of file Vertex.cpp.
◆ setCostToComeFromStart()
void ompl::geometric::aitstar::Vertex::setCostToComeFromStart | ( | const ompl::base::Cost & | cost | ) |
Sets the cost to come to this vertex.
Definition at line 169 of file Vertex.cpp.
◆ setCostToGoToGoal()
void ompl::geometric::aitstar::Vertex::setCostToGoToGoal | ( | const ompl::base::Cost & | cost | ) |
Sets the cost to go heuristic of this vertex.
Definition at line 185 of file Vertex.cpp.
◆ setExpandedCostToComeFromGoal()
void ompl::geometric::aitstar::Vertex::setExpandedCostToComeFromGoal | ( | const ompl::base::Cost & | cost | ) |
Sets the cost to come to this vertex from the goal when it was expanded.
Definition at line 180 of file Vertex.cpp.
◆ setForwardEdgeCost()
void ompl::geometric::aitstar::Vertex::setForwardEdgeCost | ( | const ompl::base::Cost & | cost | ) |
Sets the cost to come to this vertex.
Definition at line 164 of file Vertex.cpp.
◆ setForwardParent()
void ompl::geometric::aitstar::Vertex::setForwardParent | ( | const std::shared_ptr< Vertex > & | vertex, |
const ompl::base::Cost & | edgeCost | ||
) |
Sets the parent vertex (in the forward-search tree).
Definition at line 239 of file Vertex.cpp.
◆ setReverseParent()
void ompl::geometric::aitstar::Vertex::setReverseParent | ( | const std::shared_ptr< Vertex > & | vertex | ) |
Sets the parent vertex (in the reverse-search tree).
Definition at line 262 of file Vertex.cpp.
◆ setReverseQueuePointer()
void ompl::geometric::aitstar::Vertex::setReverseQueuePointer | ( | typename ompl::BinaryHeap< std::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex > >, std::function< bool(const std::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex > > &, const std::pair< std::array< ompl::base::Cost, 2u >, std::shared_ptr< Vertex > > &)> | , |
::Element * | pointer | ||
) |
Sets the reverse queue pointer of this vertex.
Definition at line 441 of file Vertex.cpp.
◆ unregisterExpansionDuringReverseSearch()
void ompl::geometric::aitstar::Vertex::unregisterExpansionDuringReverseSearch | ( | ) |
Unregisters the expansion of this vertex during the current reverse search, needed when a reverse branch is invalidated due to a collision detection on an edge.
Definition at line 416 of file Vertex.cpp.
◆ updateCostOfForwardBranch()
void ompl::geometric::aitstar::Vertex::updateCostOfForwardBranch | ( | ) | const |
Updates the cost to the whole branch rooted at this vertex.
Definition at line 190 of file Vertex.cpp.
◆ whitelistAsChild()
void ompl::geometric::aitstar::Vertex::whitelistAsChild | ( | const std::shared_ptr< Vertex > & | vertex | ) | const |
Whitelists a child.
Definition at line 327 of file Vertex.cpp.
The documentation for this class was generated from the following files:
- ompl/geometric/planners/informedtrees/aitstar/Vertex.h
- ompl/geometric/planners/informedtrees/aitstar/src/Vertex.cpp