MRPT  1.9.9
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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::TNodeIDacceptable_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().




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