An edge for the move tree used for planning in SE2 and TP-space.
Definition at line 186 of file TMoveTree.h.
#include <mrpt/nav/planners/TMoveTree.h>
Public Member Functions | |
TMoveEdgeSE2_TP (const mrpt::graphs::TNodeID parent_id_, const mrpt::math::TPose2D end_pose_) | |
TMoveEdgeSE2_TP () | |
Public Attributes | |
mrpt::graphs::TNodeID | parent_id |
The ID of the parent node in the tree. More... | |
mrpt::math::TPose2D | end_state |
state in SE2 as 2D pose (x, y, phi) - More... | |
double | cost |
cost associated to each motion, this should be defined by the user according to a spefic cost function More... | |
int | ptg_index |
indicate the type of trajectory used for this motion More... | |
int | ptg_K |
identify the trajectory number K of the type ptg_index More... | |
double | ptg_dist |
identify the lenght of the trajectory for this motion More... | |
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inline |
Definition at line 203 of file TMoveTree.h.
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inline |
Definition at line 214 of file TMoveTree.h.
double mrpt::nav::TMoveEdgeSE2_TP::cost |
cost associated to each motion, this should be defined by the user according to a spefic cost function
Definition at line 195 of file TMoveTree.h.
Referenced by mrpt::nav::PlannerRRT_SE2_TPS::solve().
mrpt::math::TPose2D mrpt::nav::TMoveEdgeSE2_TP::end_state |
state in SE2 as 2D pose (x, y, phi) -
Definition at line 192 of file TMoveTree.h.
Referenced by mrpt::nav::PlannerRRT_SE2_TPS::solve().
mrpt::graphs::TNodeID mrpt::nav::TMoveEdgeSE2_TP::parent_id |
The ID of the parent node in the tree.
Definition at line 189 of file TMoveTree.h.
Referenced by mrpt::nav::PlannerRRT_SE2_TPS::solve().
double mrpt::nav::TMoveEdgeSE2_TP::ptg_dist |
identify the lenght of the trajectory for this motion
Definition at line 201 of file TMoveTree.h.
Referenced by mrpt::nav::PlannerRRT_SE2_TPS::solve().
int mrpt::nav::TMoveEdgeSE2_TP::ptg_index |
indicate the type of trajectory used for this motion
Definition at line 197 of file TMoveTree.h.
Referenced by mrpt::nav::PlannerRRT_SE2_TPS::solve().
int mrpt::nav::TMoveEdgeSE2_TP::ptg_K |
identify the trajectory number K of the type ptg_index
Definition at line 199 of file TMoveTree.h.
Referenced by mrpt::nav::PlannerRRT_SE2_TPS::solve().
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