Defines and implements the connection between two milestones on the tree. It is composed by information on both nodes (their indexes), the distance between them and the status on collision checking for the straight-line segment that joins both milestones on the C-space.

Public Fields

mpkAdaptSegmentChecker*

seg_checker

Public Methods

	sblEdge ()
	sblEdge (int f, int t)
	sblEdge (int f, int t, double d)
	sblEdge (const sblEdge& e)
sblEdge&	operator= (const sblEdge& e)
void	setFrom (int f)
void	setTo (int t)
void	setDist (double d)
void	markSafe ()
void	markBad ()
void	setsblEdge (int f, int t, double d=0)
int	getFrom ()
int	getTo ()
double	getDist ()
bool	isSafe ()
void	print ()

Protected Fields

int	from Reference of the node where the link starts
double	lambda distance between the two milestones

Documentation

Defines and implements the connection between two milestones on the tree. It is composed by information on both nodes (their indexes), the distance between them and the status on collision checking for the straight-line segment that joins both milestones on the C-space.

sblEdge()

sblEdge(int f, int t)

Constructor that recieves 2 ends of the sblEdge

sblEdge(int f, int t, double d)

Constructor that recieves 2 ends of the sblEdge and extent of edge partition

sblEdge(const sblEdge& e)

sblEdge& operator=(const sblEdge& e)

void setFrom(int f)

To set the start of the edge

void setTo(int t)

To set the end of the edge

void setDist(double d)

To set the edge length based on partition

void markSafe()

To mark that the edge is collision free

void markBad()

To mark that the edge is in collision

void setsblEdge(int f, int t, double d=0)

To set a edge as per given parameters

int getFrom()

To retrieve the start of edge

int getTo()

To retrieve the end of edge

double getDist()

To retrieve the edge-length based on its partioning

bool isSafe()

To check if the segement is collision free or not

void print()

To print the edge parameters

mpkAdaptSegmentChecker* seg_checker

int from

Reference of the node where the link starts

double lambda

distance between the two milestones

This class has no child classes.

Friends:

class sblPrioritizeEdges

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