LCPNode Class Reference

Inheritance diagram for LCPNode:

List of all members.

Public Member Functions
	LCPNode (LCP *_lcp, LCPNode *parent_lcp, const fVec &_q_old, double _max_error, const vector< int > &_w2a, const vector< int > &_w2g, const vector< int > &_z2a, const vector< int > &_z2g, int _n_steps, int _js, int _jr, double _cost)
int	NumStep ()
	~LCPNode ()
Public Attributes
fMat	Maa_inv
fVec	q_old
vector< int >	w2a
vector< int >	w2g
vector< int >	z2a
vector< int >	z2g
Static Public Attributes
static int	num_errors = 0
static int	num_loops = 0
Protected Member Functions
double	calc_astar_cost (dpNode *potential_parent)
	Compute the A-star cost at the node (optional).
double	calc_cost ()
	Compute the local cost at the node.
void	calc_new_q (const fVec &q, const fMat &m_jr, int piv, fVec &q_new)
int	create_child_nodes (dpNode **&nodes)
	Create (potential) child nodes.
int	is_goal ()
	Check if the state is goal.
double	min_new_q (const fVec &q, const fMat &m_jr, int piv, double max_error, int z0_index=-1, double *new_q_z0=0)
int	same_state (dpNode *refnode)
	Check if the node's state is the same as refnode. (to remove duplicates)
Protected Attributes
std::list< int >	a_in_z
std::list< int >	g_in_w
int	jr
int	js
LCP *	lcp
double	max_error
int	n_steps
int	n_vars
int	new_jr
int	terminate
int	yr2a
int	yr2g
int	ys2a
int	ys2g

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Detailed Description

Definition at line 51 of file lcp_pivot.cpp.

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Constructor & Destructor Documentation

LCPNode::LCPNode	(	LCP *	_lcp,
		LCPNode *	parent_lcp,
		const fVec &	_q_old,
		double	_max_error,
		const vector< int > &	_w2a,
		const vector< int > &	_w2g,
		const vector< int > &	_z2a,
		const vector< int > &	_z2g,
		int	_n_steps,
		int	_js,
		int	_jr,
		double	_cost
	)		[inline]

Definition at line 55 of file lcp_pivot.cpp.

LCPNode::~LCPNode

(

)

[inline]

Definition at line 214 of file lcp_pivot.cpp.

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Member Function Documentation

double LCPNode::calc_astar_cost

(

dpNode *

potential_parent

)

[inline, protected, virtual]

Compute the A-star cost at the node (optional).

Reimplemented from dpNode.

Definition at line 471 of file lcp_pivot.cpp.

double LCPNode::calc_cost

(

)

[inline, protected, virtual]

Compute the local cost at the node.

Implements dpNode.

Definition at line 467 of file lcp_pivot.cpp.

void LCPNode::calc_new_q	(	const fVec &	q,
		const fMat &	m_jr,
		int	piv,
		fVec &	q_new
	)		[inline, protected]

Definition at line 498 of file lcp_pivot.cpp.

int LCPNode::create_child_nodes

(

dpNode **&

nodes

)

[inline, protected, virtual]

Create (potential) child nodes.

Create (potential) child nodes.

Parameters:

[out]

nodes

array of pointers to the child nodes

Implements dpNode.

Definition at line 234 of file lcp_pivot.cpp.

int LCPNode::is_goal

(

)

[inline, protected, virtual]

Check if the state is goal.

Implements dpNode.

Definition at line 494 of file lcp_pivot.cpp.

double LCPNode::min_new_q	(	const fVec &	q,
		const fMat &	m_jr,
		int	piv,
		double	max_error,
		int	z0_index = -1,
		double *	new_q_z0 = 0
	)		[inline, protected]

Definition at line 508 of file lcp_pivot.cpp.

int LCPNode::NumStep

(

)

[inline]

Definition at line 217 of file lcp_pivot.cpp.

int LCPNode::same_state

(

dpNode *

refnode

)

[inline, protected, virtual]

Check if the node's state is the same as refnode. (to remove duplicates)

Implements dpNode.

Definition at line 476 of file lcp_pivot.cpp.

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Member Data Documentation

std::list<int> LCPNode::a_in_z [protected]

Definition at line 231 of file lcp_pivot.cpp.

std::list<int> LCPNode::g_in_w [protected]

Definition at line 231 of file lcp_pivot.cpp.

int LCPNode::jr [protected]

Definition at line 543 of file lcp_pivot.cpp.

int LCPNode::js [protected]

Definition at line 543 of file lcp_pivot.cpp.

LCP* LCPNode::lcp [protected]

Definition at line 546 of file lcp_pivot.cpp.

fMat LCPNode::Maa_inv

Definition at line 222 of file lcp_pivot.cpp.

double LCPNode::max_error [protected]

Definition at line 542 of file lcp_pivot.cpp.

int LCPNode::n_steps [protected]

Definition at line 548 of file lcp_pivot.cpp.

int LCPNode::n_vars [protected]

Definition at line 545 of file lcp_pivot.cpp.

int LCPNode::new_jr [protected]

Definition at line 232 of file lcp_pivot.cpp.

int LCPNode::num_errors = 0 [static]

Definition at line 229 of file lcp_pivot.cpp.

int LCPNode::num_loops = 0 [static]

Definition at line 228 of file lcp_pivot.cpp.

fVec LCPNode::q_old

Definition at line 224 of file lcp_pivot.cpp.

int LCPNode::terminate [protected]

Definition at line 547 of file lcp_pivot.cpp.

vector<int> LCPNode::w2a

Definition at line 225 of file lcp_pivot.cpp.

vector<int> LCPNode::w2g

Definition at line 225 of file lcp_pivot.cpp.

int LCPNode::yr2a [protected]

Definition at line 544 of file lcp_pivot.cpp.

int LCPNode::yr2g [protected]

Definition at line 544 of file lcp_pivot.cpp.

int LCPNode::ys2a [protected]

Definition at line 544 of file lcp_pivot.cpp.

int LCPNode::ys2g [protected]

Definition at line 544 of file lcp_pivot.cpp.

vector<int> LCPNode::z2a

Definition at line 225 of file lcp_pivot.cpp.

vector<int> LCPNode::z2g

Definition at line 225 of file lcp_pivot.cpp.

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

• lcp_pivot.cpp