ompl::control::PDST::Cell Struct Reference
Cell is a Binary Space Partition. More...
#include <ompl/control/planners/pdst/PDST.h>
Public Member Functions | |
| Cell (double volume, 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) | |
| 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: