mrpt::nav::TPlannerResultTempl< tree_t > Struct Template Reference

Detailed Description

template<typename tree_t>
struct mrpt::nav::TPlannerResultTempl< tree_t >

Definition at line 38 of file PlannerRRT_common.h.

#include <mrpt/nav/planners/PlannerRRT_common.h>

Inheritance diagram for mrpt::nav::TPlannerResultTempl< tree_t >:

Public Member Functions
	TPlannerResultTempl ()

Public Attributes
bool	success {false}
	Whether the target was reached or not. More...
double	computation_time {0}
	Time spent (in secs) More...
double	goal_distance
	Distance from best found path to goal. More...
double	path_cost
	Total cost of the best found path (cost ~~ Euclidean distance) More...
mrpt::graphs::TNodeID	best_goal_node_id
	The ID of the best target node in the tree. More...
std::set< mrpt::graphs::TNodeID >	acceptable_goal_node_ids
	The set of target nodes within an acceptable distance to target (including best_goal_node_id and others) More...
tree_t	move_tree
	The generated motion tree that explores free space starting at "start". More...

Constructor & Destructor Documentation

TPlannerResultTempl()

template<typename tree_t>

mrpt::nav::TPlannerResultTempl< tree_t >::TPlannerResultTempl ( )

inline

Definition at line 57 of file PlannerRRT_common.h.

Member Data Documentation

acceptable_goal_node_ids

template<typename tree_t>

std::set<mrpt::graphs::TNodeID> mrpt::nav::TPlannerResultTempl< tree_t >::acceptable_goal_node_ids

The set of target nodes within an acceptable distance to target (including best_goal_node_id and others)

Definition at line 52 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerRRT_SE2_TPS::solve().

best_goal_node_id

template<typename tree_t>

mrpt::graphs::TNodeID mrpt::nav::TPlannerResultTempl< tree_t >::best_goal_node_id

The ID of the best target node in the tree.

Definition at line 49 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerRRT_SE2_TPS::solve().

computation_time

template<typename tree_t>

double mrpt::nav::TPlannerResultTempl< tree_t >::computation_time {0}

Time spent (in secs)

Definition at line 43 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerRRT_SE2_TPS::solve().

goal_distance

template<typename tree_t>

double mrpt::nav::TPlannerResultTempl< tree_t >::goal_distance

Distance from best found path to goal.

Definition at line 45 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerRRT_SE2_TPS::solve().

move_tree

template<typename tree_t>

tree_t mrpt::nav::TPlannerResultTempl< tree_t >::move_tree

The generated motion tree that explores free space starting at "start".

Definition at line 55 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree(), and mrpt::nav::PlannerRRT_SE2_TPS::solve().

path_cost

template<typename tree_t>

double mrpt::nav::TPlannerResultTempl< tree_t >::path_cost

Total cost of the best found path (cost ~~ Euclidean distance)

Definition at line 47 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerRRT_SE2_TPS::solve().

success

template<typename tree_t>

bool mrpt::nav::TPlannerResultTempl< tree_t >::success {false}

Whether the target was reached or not.

Definition at line 41 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerRRT_SE2_TPS::solve().