#include <gnode.h>

Inheritance diagram for GNode:

Collaboration diagram for GNode:

Public Member Functions
	GNode ()
	Different constructors. More...

	GNode (double xx, double yy)

	GNode (double xx, double yy, double tt)

	GNode (double xx, double yy, double tt, int type)

	GNode (double xx, double yy, double tt, int type, double steer_c)

	GNode (double xx, double yy, double tt, int type, double steer_c, double c, double orien)

	GNode (double xx, double yy, double tt, int type, double steer_c, double c, double orien, double xxx, double yyy)

	GNode (const GNode &n)

	~GNode () override

GNode &	operator= (const GNode &n)

bool	operator== (const GNode &n)

bool	operator!= (const GNode &n)

bool	operator< (const GNode &n) const

double *	getLineCost ()
	============================================================================================ More...

bool	setOrientation (GNode *parent_node)
	============================================================================================ setOrientation(GNode *parent_node) set the orientation of the current node as the one of the line connecting More...

bool	IsSameState (GNode &rhs)
	============================================================================================ bool IsSameState( GNode &rhs ) More...

void	PrintNodeInfo ()
	============================================================================================ void PrintNodeInfo() More...

float	GoalDistanceEstimate (GNode &nodeGoal)
	============================================================================================ GoalDistanceEstimate( GNode &nodeGoal ) More...

bool	IsGoal (const GNode &nodeGoal)
	============================================================================================ bool IsGoal( GNode &nodeGoal ) More...

bool	GetSuccessors_or (ThetaStarSearch< GNode > thetastarsearch, GNode parent_node)
	=========================================== bool GetSuccessors( ThetaStarSearch<GNode> <em>thetastarsearch, GNode *parent_node ) This generates the successors to the given Node. More...

double	GetCost (GNode &successor)
	============================================================================================ float GetCost( GNode &successor ) More...

float	GetCostTraj (GNode &successor)
	float GetCostTraj( GNode &successor ) get the cost of the trajectory that connect the current node to the More...

double	GetCostTrajFromParent (GNode &parent, GNode &successor)
	float GetCostTraj( GNode &successor ) get the cost of the trajectory that connect the current node to the More...

bool	setType (int type)
	============================================================================================ setType(int type) Set the Type of Node, if Type ==1, the node connects to the successor with More...

bool	GetSuccessors (ThetaStarSearch< GNode > thetastarsearch, GNode parent_node)
	=========================================== bool GetSuccessors( ThetaStarSearch<GNode> <em>thetastarsearch, GNode *parent_node ) This generates the successors to the given Node. More...

bool	lineofsight (GNode parent_node, GNode successor)
	============================================================================================ lineofsight(GNode parent_node,GNode successor)th It generates the trajectory based on the desired behaviour. More...

Public Member Functions inherited from GNode_base
virtual	~GNode_base ()=default

ompl::base::State *	toState () const

Additional Inherited Members
Static Public Member Functions inherited from GNode_base
static bool	line (const GNode_base parent_node, const GNode_base successor)
	line(GNode successor,GNode parent_node) More...

static bool	isblock (double x, double y, double theta)
	bool isblock(double x, double y) More...

Public Attributes inherited from GNode_base
double	steer_cost {0}
	Cost associated to the best Node selected. More...

int	nEdges {0}
	Number of outgoing edges per node. More...

double *	costs {nullptr}
	Cost per each orientation associated to the node. More...

double *	orientations {nullptr}
	array of possible orientations More...

int	READ_OR {0}
	flag to read orientations from Map More...

int	CHECK_SUCCESSOR {0}

int	goal_x {0}

int	goal_y {0}

int	start_x {0}

int	start_y {0}

int	x {0}
	X and Y coordinates of the Node. More...

int	y {0}

double	x_r {0}

double	y_r {0}

bool	steer {false}
	Flag to indicate if node hase been generated by a steering function. More...

double	theta {0}
	Orientation associated to the best node. More...

bool	hasParent {false}

GNode_base *	parent {nullptr}

GNode_base *	child {nullptr}

Constructor & Destructor Documentation

◆ GNode() [1/8]

GNode::GNode ( )

inline

Different constructors.

◆ GNode() [2/8]

GNode::GNode	(	double	xx,
		double	yy
	)

inline

◆ GNode() [3/8]

GNode::GNode	(	double	xx,
		double	yy,
		double	tt
	)

inline

◆ GNode() [4/8]

GNode::GNode	(	double	xx,
		double	yy,
		double	tt,
		int	type
	)

inline

◆ GNode() [5/8]

GNode::GNode	(	double	xx,
		double	yy,
		double	tt,
		int	type,
		double	steer_c
	)

inline

◆ GNode() [6/8]

GNode::GNode	(	double	xx,
		double	yy,
		double	tt,
		int	type,
		double	steer_c,
		double *	c,
		double *	orien
	)

inline

◆ GNode() [7/8]

GNode::GNode	(	double	xx,
		double	yy,
		double	tt,
		int	type,
		double	steer_c,
		double *	c,
		double *	orien,
		double	xxx,
		double	yyy
	)

inline

◆ GNode() [8/8]

GNode::GNode ( const GNode & n )

inline

◆ ~GNode()

GNode::~GNode ( )

inlineoverride

Member Function Documentation

◆ GetCost()

double GNode::GetCost ( GNode & successor )

inline

============================================================================================ float GetCost( GNode &successor )

Euclidean Distance Cost

◆ GetCostTraj()

float GNode::GetCostTraj ( GNode & successor )

inline

float GetCostTraj( GNode &successor ) get the cost of the trajectory that connect the current node to the

successor

◆ GetCostTrajFromParent()

double GNode::GetCostTrajFromParent	(	GNode &	parent,
		GNode &	successor
	)

inline

float GetCostTraj( GNode &successor ) get the cost of the trajectory that connect the current node to the

successor

◆ getLineCost()

double * GNode::getLineCost ( )

inline

============================================================================================

getLineCost(), not _baseused

◆ GetSuccessors()

bool GNode::GetSuccessors	(	ThetaStarSearch< GNode > *	thetastarsearch,
		GNode *	parent_node
	)

inline

=========================================== bool GetSuccessors( ThetaStarSearch<GNode> <em>thetastarsearch, GNode *parent_node ) This generates the successors to the given Node.

It uses a helper function called AddSuccessor to give the successors to the Thetastar class. The Theta specific initialisation is done for each node internally, so here you just set the state information that is specific to

the application

◆ GetSuccessors_or()

bool GNode::GetSuccessors_or	(	ThetaStarSearch< GNode > *	thetastarsearch,
		GNode *	parent_node
	)

inline

=========================================== bool GetSuccessors( ThetaStarSearch<GNode> <em>thetastarsearch, GNode *parent_node ) This generates the successors to the given Node.

It uses a helper function called AddSuccessor to give the successors to the Thetastar class. The Theta specific initialisation is done for each node internally, so here you just set the state information that is specific to

the application

◆ GoalDistanceEstimate()

float GNode::GoalDistanceEstimate ( GNode & nodeGoal )

inline

============================================================================================ GoalDistanceEstimate( GNode &nodeGoal )

============================================================================================

◆ IsGoal()

bool GNode::IsGoal ( const GNode & nodeGoal )

inline

============================================================================================ bool IsGoal( GNode &nodeGoal )

Check if the node is the Goal

◆ IsSameState()

bool GNode::IsSameState ( GNode & rhs )

inline

============================================================================================ bool IsSameState( GNode &rhs )

Check if we have the same state

◆ lineofsight()

bool GNode::lineofsight	(	GNode *	parent_node,
		GNode *	successor
	)

inline

============================================================================================ lineofsight(GNode *parent_node,GNode *successor)th It generates the trajectory based on the desired behaviour.

if OPTIM_OR == 1, generates the best trajectory according to a cost and choose also the best orientation to use OTHERWISE, connect the two poses

with the orientation being the one of the line connecting the two poses

◆ operator!=()

bool GNode::operator!= ( const GNode & n )

inline

◆ operator<()

bool GNode::operator< ( const GNode & n ) const

inline

◆ operator=()

GNode & GNode::operator= ( const GNode & n )

inline

◆ operator==()

bool GNode::operator== ( const GNode & n )

inline

◆ PrintNodeInfo()

void GNode::PrintNodeInfo ( )

inline

============================================================================================ void PrintNodeInfo()

============================================================================================

◆ setOrientation()

bool GNode::setOrientation ( GNode * parent_node )

inline

============================================================================================ setOrientation(GNode *parent_node) set the orientation of the current node as the one of the line connecting

to the parent_node

◆ setType()

bool GNode::setType ( int type )

inline

============================================================================================ setType(int type) Set the Type of Node, if Type ==1, the node connects to the successor with

a steer function

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

src/planners/thetastar/gnode.h

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ GNode() [1/8]

◆ GNode() [2/8]

◆ GNode() [3/8]

◆ GNode() [4/8]

◆ GNode() [5/8]

◆ GNode() [6/8]

◆ GNode() [7/8]

◆ GNode() [8/8]

◆ ~GNode()

Member Function Documentation

◆ GetCost()

Euclidean Distance Cost

◆ GetCostTraj()

successor

◆ GetCostTrajFromParent()

successor

◆ getLineCost()

getLineCost(), not _baseused

◆ GetSuccessors()

the application

◆ GetSuccessors_or()

the application

◆ GoalDistanceEstimate()

◆ IsGoal()

Check if the node is the Goal

◆ IsSameState()

Check if we have the same state

◆ lineofsight()

with the orientation being the one of the line connecting the two poses

◆ operator!=()

◆ operator<()

◆ operator=()

◆ operator==()

◆ PrintNodeInfo()

◆ setOrientation()

to the parent_node

◆ setType()

a steer function