Simox  2.3.50
Saba::CSpaceNode Class Reference

Public Member Functions

 CSpaceNode ()
 
virtual ~CSpaceNode ()
 

Data Fields

Eigen::VectorXf configuration
 the configuration vector More...
 
int parentID
 id of parent (root node if < 0) More...
 
unsigned int ID
 id of CSpaceNode More...
 
bool allocated
 
int status
 
float obstacleDistance
 work space distance to obstacles (-1 if the dist was not calculated) More...
 
float dynDomRadius
 radius for this node (used by dynamic domain RRTs) More...
 
std::vector< CSpaceNodePtrchildren
 children of this node More...
 

Detailed Description

A CSpaceNode is used to store a configuration in cspace.

See also
CSpaceTree

Constructor & Destructor Documentation

Saba::CSpaceNode::CSpaceNode ( )
Saba::CSpaceNode::~CSpaceNode ( )
virtual

Field Documentation

bool Saba::CSpaceNode::allocated
std::vector<CSpaceNodePtr> Saba::CSpaceNode::children

children of this node

Eigen::VectorXf Saba::CSpaceNode::configuration

the configuration vector

float Saba::CSpaceNode::dynDomRadius

radius for this node (used by dynamic domain RRTs)

unsigned int Saba::CSpaceNode::ID

id of CSpaceNode

float Saba::CSpaceNode::obstacleDistance

work space distance to obstacles (-1 if the dist was not calculated)

int Saba::CSpaceNode::parentID

id of parent (root node if < 0)

int Saba::CSpaceNode::status