ompl::geometric::SPARStwo::InterfaceData Struct Reference

Interface information storage class, which does bookkeeping for criterion four. More...

`#include <ompl/geometric/planners/prm/SPARStwo.h>`

## Public Member Functions | |

InterfaceData ()=default | |

Constructor. | |

void | clear (const base::SpaceInformationPtr &si) |

Clears the given interface data. | |

void | setFirst (const base::State *p, const base::State *s, const base::SpaceInformationPtr &si) |

Sets information for the first interface (i.e. interface with smaller index vertex). | |

void | setSecond (const base::State *p, const base::State *s, const base::SpaceInformationPtr &si) |

Sets information for the second interface (i.e. interface with larger index vertex). | |

## Public Attributes | |

base::State * | pointA_ {nullptr} |

States which lie inside the visibility region of a vertex and support an interface. | |

base::State * | pointB_ {nullptr} |

base::State * | sigmaA_ {nullptr} |

States which lie just outside the visibility region of a vertex and support an interface. | |

base::State * | sigmaB_ {nullptr} |

double | d_ {std::numeric_limits<double>::infinity()} |

Last known distance between the two interfaces supported by points_ and sigmas. | |

## Detailed Description

Interface information storage class, which does bookkeeping for criterion four.

Definition at line 98 of file SPARStwo.h.

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

- ompl/geometric/planners/prm/SPARStwo.h