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.
 
Cellstab (const ompl::base::EuclideanProjection &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_.
 
Cellleft_
 The left child cell (nullptr for a leaf cell)
 
Cellright_
 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

Cell is a Binary Space Partition.

Definition at line 201 of file PDST.h.


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