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.

Member Function Documentation

clear()

void ompl::geometric::SPARStwo::InterfaceData::clear ( const base::SpaceInformationPtr & si )

inline

Clears the given interface data.

Definition at line 115 of file SPARStwo.h.

setFirst()

void ompl::geometric::SPARStwo::InterfaceData::setFirst ( const base::State * p, const base::State * s, const base::SpaceInformationPtr & si )

inline

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

Definition at line 141 of file SPARStwo.h.

setSecond()

void ompl::geometric::SPARStwo::InterfaceData::setSecond ( const base::State * p, const base::State * s, const base::SpaceInformationPtr & si )

inline

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

Definition at line 156 of file SPARStwo.h.

Member Data Documentation

d_

double ompl::geometric::SPARStwo::InterfaceData::d_ {std::numeric_limits<double>::infinity()}

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

Definition at line 109 of file SPARStwo.h.

pointA_

base::State* ompl::geometric::SPARStwo::InterfaceData::pointA_ {nullptr}

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

Definition at line 101 of file SPARStwo.h.

pointB_

base::State* ompl::geometric::SPARStwo::InterfaceData::pointB_ {nullptr}

Definition at line 102 of file SPARStwo.h.

sigmaA_

base::State* ompl::geometric::SPARStwo::InterfaceData::sigmaA_ {nullptr}

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

Definition at line 105 of file SPARStwo.h.

sigmaB_

base::State* ompl::geometric::SPARStwo::InterfaceData::sigmaB_ {nullptr}

Definition at line 106 of file SPARStwo.h.

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

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