#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 42 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

Definition at line 16 of file gridslamprocessor_tree.cpp.

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.

Definition at line 31 of file gridslamprocessor_tree.cpp.