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RRTNodeXY Class Reference

#include <ShapeSpacePlannerXY.h>

Inheritance diagram for RRTNodeXY:

Detailed Description

Definition at line 11 of file ShapeSpacePlannerXY.h.

List of all members.


class  CollisionChecker
 Collision checker to be called by RRT search algorithm. More...

Public Types

typedef std::pair< float, floatNodeValue_t
GenericRRTBase::PlannerResult< 2 > 

Public Member Functions

 RRTNodeXY (const NodeValue_t &_q, unsigned int _parent)
virtual ~RRTNodeXY ()
virtual float distance (const NodeValue_t &target)
virtual std::string toString () const

Static Public Member Functions

static void generateSample (const NodeValue_t &lower, const NodeValue_t &upper, NodeValue_t &sample)
static Interp_t interpolate (const NodeValue_t &start, const NodeValue_t &target, const NodeValue_t &interp, bool truncate, CollisionChecker *cc, NodeValue_t &reached, bool searchingBackwards)

Public Attributes

NodeValue_t q

Static Public Attributes

static const unsigned int maxInterpolations = 10
 Maximum number of interpolation steps in interpolate() when truncate is true.

Member Typedef Documentation

typedef std::pair<float,float> RRTNodeXY::NodeValue_t

Definition at line 13 of file ShapeSpacePlannerXY.h.

Constructor & Destructor Documentation

RRTNodeXY::RRTNodeXY ( const NodeValue_t _q,
unsigned int  _parent 


Definition at line 18 of file ShapeSpacePlannerXY.h.

virtual RRTNodeXY::~RRTNodeXY (  )  [virtual]


Definition at line 21 of file ShapeSpacePlannerXY.h.

Member Function Documentation

float RRTNodeXY::distance ( const NodeValue_t target  )  [virtual]

Definition at line 7 of file ShapeSpacePlannerXY.cc.

void RRTNodeXY::generateSample ( const NodeValue_t lower,
const NodeValue_t upper,
RRTNodeXY::NodeValue_t sample 
) [static]

Definition at line 12 of file ShapeSpacePlannerXY.cc.

RRTNodeBase::Interp_t RRTNodeXY::interpolate ( const NodeValue_t start,
const NodeValue_t target,
const NodeValue_t interp,
bool  truncate,
CollisionChecker cc,
NodeValue_t reached,
bool  searchingBackwards 
) [static]

Definition at line 20 of file ShapeSpacePlannerXY.cc.

std::string RRTNodeXY::toString (  )  const [virtual]

Implements RRTNodeBase.

Definition at line 49 of file ShapeSpacePlannerXY.cc.

Member Data Documentation

const unsigned int RRTNodeXY::maxInterpolations = 10 [static]

Maximum number of interpolation steps in interpolate() when truncate is true.

Definition at line 37 of file ShapeSpacePlannerXY.h.

Referenced by interpolate().

Definition at line 15 of file ShapeSpacePlannerXY.h.

Referenced by distance(), and toString().

The documentation for this class was generated from the following files:

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