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< CSpaceNodePtr >	children
	children of this node More...

Detailed Description

A CSpaceNode is used to store a configuration in cspace.

See also: CSpaceTree

Constructor & Destructor Documentation

◆ CSpaceNode()

Saba::CSpaceNode::CSpaceNode ( )

default

◆ ~CSpaceNode()

Saba::CSpaceNode::~CSpaceNode ( )

virtualdefault

Field Documentation

◆ allocated

bool Saba::CSpaceNode::allocated

◆ children

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

children of this node

◆ configuration

Eigen::VectorXf Saba::CSpaceNode::configuration

the configuration vector

◆ dynDomRadius

float Saba::CSpaceNode::dynDomRadius

radius for this node (used by dynamic domain RRTs)

◆ ID

unsigned int Saba::CSpaceNode::ID

id of CSpaceNode

◆ obstacleDistance

float Saba::CSpaceNode::obstacleDistance

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

◆ parentID

int Saba::CSpaceNode::parentID

id of parent (root node if < 0)

◆ status

int Saba::CSpaceNode::status

Public Member Functions

Data Fields