class sblMilestone |
A sblMilestone represents the data structure for storing a free sample. The SBL sblPlanner grows two trees (one from the start and one form the goal) consisting of these collision-free 'sblMilestones' as nodes. Each sblMilestone stores in itself links to its parent node and children nodes.
sblEdge | edgeFromFather link to the father of the node |
sblMilestone () | |
sblMilestone (int inx, const mpkConfig& qq, double tim=0) | |
void | setIndex (const int& index) |
void | setConfig (mpkConfig& q_n) |
void | isFatherOf (sblMilestone& child) |
void | setFather (int from, int to) |
void | addChild (const sblMilestone& m) |
mpkConfig& | getConfig () |
int | getIndex () const |
int | getFather () |
sblEdge& | getsblEdge () |
int | getNrSons () const |
int | getChild (int k) |
void | markSafe () |
bool | isEqual (const sblMilestone& m) |
void | print () |
void | printChilds () |
double | distance (const sblMilestone& m) const |
double | L_inf (const sblMilestone& m) const |
int | i an index to identify the nodes |
mpkConfig* | q Configuration |
double | t time associated to the configuration |
vector<int> | children to store who are the children of the node |
A sblMilestone represents the data structure for storing a free sample. The SBL sblPlanner grows two trees (one from the start and one form the goal) consisting of these collision-free 'sblMilestones' as nodes. Each sblMilestone stores in itself links to its parent node and children nodes.
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