struct mrpt::nav::TMoveTree::node_t

Overview

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

struct node_t: public NODE_TYPE_DATA
{
    // fields

    mrpt::graphs::TNodeID node_id;
    mrpt::graphs::TNodeID parent_id;
    EDGE_TYPE* edge_to_parent;

    // construction

    node_t(
        mrpt::graphs::TNodeID node_id_,
        mrpt::graphs::TNodeID parent_id_,
        EDGE_TYPE* edge_to_parent_,
        const NODE_TYPE_DATA& data
        );

    node_t();
};

Fields

mrpt::graphs::TNodeID node_id

Duplicated ID (it’s also in the map::iterator->first), but put here to make it available in path_t.

mrpt::graphs::TNodeID parent_id

INVALID_NODEID for the root, a valid ID otherwise.

EDGE_TYPE* edge_to_parent

NULL for root, a valid edge otherwise.