Template Class NodeBasic

• Defined in File node_basic.hpp

Class Documentation

template<typename NodeT>
class NodeBasic

NodeBasic implementation for priority queue insertion.

Public Functions

inline explicit NodeBasic(const uint64_t index)

A constructor for nav2_smac_planner::NodeBasic.

Parameters:

index – The index of this node for self-reference

void populateSearchNode(NodeT *&node)

Take a NodeBasic and populate it with any necessary state cached in the queue for NodeT.

Parameters:

node – NodeT ptr to populate metadata into NodeBasic

void processSearchNode()

Take a NodeBasic and populate it with any necessary state cached in the queue for NodeTs.

Parameters:

node – Search node (basic) object to initialize internal node with state

Public Members

NodeT::Coordinates pose

NodeT *graph_node_ptr

MotionPrimitive *prim_ptr

uint64_t index

unsigned int motion_index

bool backward

TurnDirection turn_dir