#include <gnode_base.h>

Inheritance diagram for GNode_base:

Collaboration diagram for GNode_base:

Public Member Functions
virtual	~GNode_base ()=default

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

Static Public Member Functions
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
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_base()

virtual GNode_base::~GNode_base ( )

virtualdefault

Member Function Documentation

◆ isblock()

bool GNode_base::isblock	(	double	x,
		double	y,
		double	theta
	)

static

bool isblock(double x, double y)

Check if the cell is blocked by an obstacle

◆ line()

bool GNode_base::line	(	const GNode_base *	parent_node,
		const GNode_base *	successor
	)

static

line(GNode *successor,GNode *parent_node)

Check if there is a geometric line of sight between the two nodes

◆ toState()

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

inline

Member Data Documentation

◆ CHECK_SUCCESSOR

int GNode_base::CHECK_SUCCESSOR {0}

◆ child

GNode_base* GNode_base::child {nullptr}

◆ costs

double* GNode_base::costs {nullptr}

Cost per each orientation associated to the node.

◆ goal_x

int GNode_base::goal_x {0}

◆ goal_y

int GNode_base::goal_y {0}

◆ hasParent

bool GNode_base::hasParent {false}

◆ nEdges

int GNode_base::nEdges {0}

Number of outgoing edges per node.

◆ orientations

double* GNode_base::orientations {nullptr}

array of possible orientations

◆ parent

GNode_base* GNode_base::parent {nullptr}

◆ READ_OR

int GNode_base::READ_OR {0}

flag to read orientations from Map

◆ start_x

int GNode_base::start_x {0}

◆ start_y

int GNode_base::start_y {0}

◆ steer

bool GNode_base::steer {false}

Flag to indicate if node hase been generated by a steering function.

◆ steer_cost

double GNode_base::steer_cost {0}

Cost associated to the best Node selected.

◆ theta

double GNode_base::theta {0}

Orientation associated to the best node.

◆ x

int GNode_base::x {0}

X and Y coordinates of the Node.

◆ x_r

double GNode_base::x_r {0}

◆ y

int GNode_base::y {0}

◆ y_r

double GNode_base::y_r {0}

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

src/planners/thetastar/gnode_base.h
src/planners/thetastar/gnode_base.cpp

Public Member Functions

Static Public Member Functions

Public Attributes