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ompl::geometric::SPARStwo::InterfaceData Struct Reference

Interface information storage class, which does bookkeeping for criterion four. More...

#include <ompl/geometric/planners/prm/SPARStwo.h>

Public Member Functions

 InterfaceData ()=default
 Constructor.
 
void clear (const base::SpaceInformationPtr &si)
 Clears the given interface data.
 
void setFirst (const base::State *p, const base::State *s, const base::SpaceInformationPtr &si)
 Sets information for the first interface (i.e. interface with smaller index vertex).
 
void setSecond (const base::State *p, const base::State *s, const base::SpaceInformationPtr &si)
 Sets information for the second interface (i.e. interface with larger index vertex).
 

Public Attributes

base::StatepointA_ {nullptr}
 States which lie inside the visibility region of a vertex and support an interface.
 
base::StatepointB_ {nullptr}
 
base::StatesigmaA_ {nullptr}
 States which lie just outside the visibility region of a vertex and support an interface.
 
base::StatesigmaB_ {nullptr}
 
double d_ {std::numeric_limits<double>::infinity()}
 Last known distance between the two interfaces supported by points_ and sigmas.
 

Detailed Description

Interface information storage class, which does bookkeeping for criterion four.

Definition at line 98 of file SPARStwo.h.

Member Function Documentation

◆ clear()

void ompl::geometric::SPARStwo::InterfaceData::clear ( const base::SpaceInformationPtr &  si)
inline

Clears the given interface data.

Definition at line 115 of file SPARStwo.h.

◆ setFirst()

void ompl::geometric::SPARStwo::InterfaceData::setFirst ( const base::State p,
const base::State s,
const base::SpaceInformationPtr &  si 
)
inline

Sets information for the first interface (i.e. interface with smaller index vertex).

Definition at line 141 of file SPARStwo.h.

◆ setSecond()

void ompl::geometric::SPARStwo::InterfaceData::setSecond ( const base::State p,
const base::State s,
const base::SpaceInformationPtr &  si 
)
inline

Sets information for the second interface (i.e. interface with larger index vertex).

Definition at line 156 of file SPARStwo.h.

Member Data Documentation

◆ d_

double ompl::geometric::SPARStwo::InterfaceData::d_ {std::numeric_limits<double>::infinity()}

Last known distance between the two interfaces supported by points_ and sigmas.

Definition at line 109 of file SPARStwo.h.

◆ pointA_

base::State* ompl::geometric::SPARStwo::InterfaceData::pointA_ {nullptr}

States which lie inside the visibility region of a vertex and support an interface.

Definition at line 101 of file SPARStwo.h.

◆ pointB_

base::State* ompl::geometric::SPARStwo::InterfaceData::pointB_ {nullptr}

Definition at line 102 of file SPARStwo.h.

◆ sigmaA_

base::State* ompl::geometric::SPARStwo::InterfaceData::sigmaA_ {nullptr}

States which lie just outside the visibility region of a vertex and support an interface.

Definition at line 105 of file SPARStwo.h.

◆ sigmaB_

base::State* ompl::geometric::SPARStwo::InterfaceData::sigmaB_ {nullptr}

Definition at line 106 of file SPARStwo.h.


The documentation for this struct was generated from the following file: