mrpt::nav::TMoveEdgeSE2_TP Struct Reference

Detailed Description

An edge for the move tree used for planning in SE2 and TP-space.

Definition at line 182 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...

Constructor & Destructor Documentation

TMoveEdgeSE2_TP() [1/2]

mrpt::nav::TMoveEdgeSE2_TP::TMoveEdgeSE2_TP ( const mrpt::graphs::TNodeID  parent_id_, const mrpt::math::TPose2D  end_pose_  )

inline

Definition at line 199 of file TMoveTree.h.

TMoveEdgeSE2_TP() [2/2]

mrpt::nav::TMoveEdgeSE2_TP::TMoveEdgeSE2_TP ( )

inline

Definition at line 210 of file TMoveTree.h.

Member Data Documentation

cost

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 191 of file TMoveTree.h.

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

end_state

mrpt::math::TPose2D mrpt::nav::TMoveEdgeSE2_TP::end_state

state in SE2 as 2D pose (x, y, phi) -

Note

: it is not possible to initialize a motion without a state

Definition at line 188 of file TMoveTree.h.

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

parent_id

mrpt::graphs::TNodeID mrpt::nav::TMoveEdgeSE2_TP::parent_id

The ID of the parent node in the tree.

Definition at line 185 of file TMoveTree.h.

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

ptg_dist

double mrpt::nav::TMoveEdgeSE2_TP::ptg_dist

identify the lenght of the trajectory for this motion

Definition at line 197 of file TMoveTree.h.

ptg_index

int mrpt::nav::TMoveEdgeSE2_TP::ptg_index

indicate the type of trajectory used for this motion

Definition at line 193 of file TMoveTree.h.

ptg_K

int mrpt::nav::TMoveEdgeSE2_TP::ptg_K

identify the trajectory number K of the type ptg_index

Definition at line 195 of file TMoveTree.h.