A configuration in Bundle-space. More...

Public Member Functions
	Configuration (const ompl::base::SpaceInformationPtr &si)

	Configuration (const ompl::base::SpaceInformationPtr &si, const ompl::base::State *state_)

void	setPDFElement (void *element_)

void *	getPDFElement ()

Public Attributes
ompl::base::State *	state {nullptr}

ompl::control::Control *	control {nullptr}

unsigned int	total_connection_attempts {0}

unsigned int	successful_connection_attempts {0}

bool	on_shortest_path {false}

void *	pdf_element
	Element of Probability Density Function (needed to update probability)

bool	isStart {false}

bool	isGoal {false}

Configuration *	parent {nullptr}
	parent index for {qrrt*}

base::Cost	cost
	cost to reach until current vertex in {qrrt*}

base::Cost	lineCost
	same as rrt, connection cost with parent {qrrt}

std::vector< Configuration * >	children
	The set of motions descending from the current motion {qrrt*}.

normalized_index_type	index {-1}
	Index of configuration in boost::graph. Usually in the interval [0,num_vertices(graph)], but if vertices are deleted or graphs are copied, we sometimes need to map them back to [0, num_vertices(graph)]

normalized_index_type	representativeIndex {-1}
	Access to the representatives (Sparse Vertex) of the Dense vertices For Sparse Graph: Store index of Sparse Vertex which is represtative of Dense Graph Vertex.

std::set< normalized_index_type >	nonInterfaceIndexList
	Access to all non-interface supporting vertices of the sparse nodes.

std::unordered_map< normalized_index_type, std::set< normalized_index_type > >	interfaceIndexList
	Access to the interface-supporting vertice hashes of the sparse nodes.

std::vector< Configuration * >	reachableSet

Detailed Description

A configuration in Bundle-space.

Definition at line 128 of file BundleSpaceGraph.h.

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

Public Member Functions