GMapping::GridSlamProcessor::TNode Struct Reference

#include <gridslamprocessor.h>

Public Member Functions
	TNode (const OrientedPoint &pose, double weight, TNode *parent=0, unsigned int childs=0)
	~TNode ()
Public Attributes
double	accWeight
unsigned int	childs
bool	flag
double	gweight
TNode *	parent
OrientedPoint	pose
const RangeReading *	reading
unsigned int	visitCounter
double	weight

Detailed Description

This class defines the the node of reversed tree in which the trajectories are stored. Each node of a tree has a pointer to its parent and a counter indicating the number of childs of a node. The tree is updated in a way consistent with the operation performed on the particles.

Definition at line 25 of file gridslamprocessor.h.

Constructor & Destructor Documentation

GMapping::GridSlamProcessor::TNode::TNode	(	const OrientedPoint &	pose,
		double	weight,
		TNode *	parent = `0`,
		unsigned int	childs = `0`
	)

Constructs a node of the trajectory tree.

Parameters:

	pose,:	the pose of the robot in the trajectory
	weight,:	the weight of the particle at that point in the trajectory
	accWeight,:	the cumulative weight of the particle
	parent,:	the parent node in the tree
	childs,:	the number of childs

GMapping::GridSlamProcessor::TNode::~TNode ( )

Destroys a tree node, and consistently updates the tree. If a node whose parent has only one child is deleted, also the parent node is deleted. This because the parent will not be reacheable anymore in the trajectory tree.