ompl::geometric::PDST::Cell Struct Reference

Cell is a Binary Space Partition. More...

`#include <ompl/geometric/planners/pdst/PDST.h>`

## Public Member Functions | |

Cell (double volume, ompl::base::RealVectorBounds bounds, unsigned int splitDimension=0) | |

void | subdivide (unsigned int spaceDimension) |

Subdivides this cell. | |

Cell * | stab (const Eigen::Ref< Eigen::VectorXd > &projection) const |

Locates the cell that this motion begins in. | |

void | addMotion (Motion *motion) |

Add a motion. | |

unsigned int | size () const |

Number of cells. | |

## Public Attributes | |

double | volume_ |

Volume of the cell. | |

unsigned int | splitDimension_ |

Dimension along which the cell is split into smaller cells. | |

double | splitValue_ |

The midpoint between the bounds_ at the splitDimension_. | |

Cell * | left_ |

The left child cell (nullptr for a leaf cell) | |

Cell * | right_ |

The right child cell (nullptr for a leaf cell) | |

ompl::base::RealVectorBounds | bounds_ |

A bounding box for this cell. | |

std::vector< Motion * > | motions_ |

The motions contained in this cell. Motions are stored only in leaf nodes. | |

## Detailed Description

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