Inheritance diagram for LCPNode:

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 Member Functions inherited from dpNode
double	AstarCost ()

dpNode *	Brother ()

dpNode *	Child ()

double	Cost ()

int	Depth (dpNode *target_p=0)

	dpNode ()

dpNode *	GetParent (int id)

int	ID ()

dpNode *	Parent ()

dpQueue *	Queue ()

double	TotalAstarCost ()

double	TotalCost ()

virtual	~dpNode ()

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). More...

double	calc_cost ()
	Compute the local cost at the node. More...

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. More...

int	is_goal ()
	Check if the state is goal. More...

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) More...

Protected Member Functions inherited from dpNode
void	add_child (dpNode *n)

virtual void	dump (ostream &ost)

void	dump_all (ostream &ost)

void	dump_trajectory (ostream &ost)

dpNode *	next_breadth (dpNode *refnode)

dpNode *	next_depth (dpNode *first_child=0)

int	open (int _max_nodes, int _max_goals)

void	remove ()

void	remove_single ()

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

Protected Attributes inherited from dpNode
int	active

double	astar_cost

dpNode *	brother

dpNode *	child

double	cost

int	depth

dpMain *	dp_main

int	id

dpNode *	parent

dpQueue *	queue

double	total_astar_cost

double	total_cost

Detailed Description

Definition at line 51 of file lcp_pivot.cpp.

Constructor & Destructor Documentation

◆ LCPNode()

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::~LCPNode ( )

inline

Definition at line 214 of file lcp_pivot.cpp.

Member Function Documentation

◆ calc_astar_cost()

double LCPNode::calc_astar_cost ( dpNode * potential_parent )

inlineprotectedvirtual

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

Reimplemented from dpNode.

Definition at line 471 of file lcp_pivot.cpp.

◆ calc_cost()

double LCPNode::calc_cost ( )

inlineprotectedvirtual

Compute the local cost at the node.

Implements dpNode.

Definition at line 467 of file lcp_pivot.cpp.

◆ calc_new_q()

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

inlineprotected

Definition at line 498 of file lcp_pivot.cpp.

◆ create_child_nodes()

int LCPNode::create_child_nodes ( dpNode **& nodes )

inlineprotectedvirtual

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.

◆ is_goal()

int LCPNode::is_goal ( )

inlineprotectedvirtual

Check if the state is goal.

Implements dpNode.

Definition at line 494 of file lcp_pivot.cpp.

◆ min_new_q()

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`
	)

inlineprotected

Definition at line 508 of file lcp_pivot.cpp.

◆ NumStep()

int LCPNode::NumStep ( )

inline

Definition at line 217 of file lcp_pivot.cpp.

◆ same_state()

int LCPNode::same_state ( dpNode * refnode )

inlineprotectedvirtual

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.

Member Data Documentation

◆ a_in_z

std::list<int> LCPNode::a_in_z

protected

Definition at line 231 of file lcp_pivot.cpp.

◆ g_in_w

std::list<int> LCPNode::g_in_w

protected

Definition at line 231 of file lcp_pivot.cpp.

◆ jr

int LCPNode::jr

protected

Definition at line 543 of file lcp_pivot.cpp.

◆ js

int LCPNode::js

protected

Definition at line 543 of file lcp_pivot.cpp.

◆ lcp

LCP* LCPNode::lcp

protected

Definition at line 546 of file lcp_pivot.cpp.

◆ Maa_inv

fMat LCPNode::Maa_inv

Definition at line 222 of file lcp_pivot.cpp.

◆ max_error

double LCPNode::max_error

protected

Definition at line 542 of file lcp_pivot.cpp.

◆ n_steps

int LCPNode::n_steps

protected

Definition at line 548 of file lcp_pivot.cpp.

◆ n_vars

int LCPNode::n_vars

protected

Definition at line 545 of file lcp_pivot.cpp.

◆ new_jr

int LCPNode::new_jr

protected

Definition at line 232 of file lcp_pivot.cpp.

◆ num_errors

int LCPNode::num_errors = 0

static

Definition at line 229 of file lcp_pivot.cpp.

◆ num_loops

int LCPNode::num_loops = 0

static

Definition at line 228 of file lcp_pivot.cpp.

◆ q_old

fVec LCPNode::q_old

Definition at line 224 of file lcp_pivot.cpp.

◆ terminate

int LCPNode::terminate

protected

Definition at line 547 of file lcp_pivot.cpp.

◆ w2a

vector<int> LCPNode::w2a

Definition at line 225 of file lcp_pivot.cpp.

◆ w2g

vector<int> LCPNode::w2g

Definition at line 225 of file lcp_pivot.cpp.

◆ yr2a

int LCPNode::yr2a

protected

Definition at line 544 of file lcp_pivot.cpp.

◆ yr2g

int LCPNode::yr2g

protected

Definition at line 544 of file lcp_pivot.cpp.

◆ ys2a

int LCPNode::ys2a

protected

Definition at line 544 of file lcp_pivot.cpp.

◆ ys2g

int LCPNode::ys2g

protected

Definition at line 544 of file lcp_pivot.cpp.

◆ z2a

vector<int> LCPNode::z2a

Definition at line 225 of file lcp_pivot.cpp.

◆ z2g

vector<int> LCPNode::z2g

Definition at line 225 of file lcp_pivot.cpp.

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

lcp_pivot.cpp

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LCPNode()

◆ ~LCPNode()

Member Function Documentation

◆ calc_astar_cost()

◆ calc_cost()

◆ calc_new_q()

◆ create_child_nodes()

◆ is_goal()

◆ min_new_q()

◆ NumStep()

◆ same_state()

Member Data Documentation

◆ a_in_z

◆ g_in_w

◆ jr

◆ js

◆ lcp

◆ Maa_inv

◆ max_error

◆ n_steps

◆ n_vars

◆ new_jr

◆ num_errors

◆ num_loops

◆ q_old

◆ terminate

◆ w2a

◆ w2g

◆ yr2a

◆ yr2g

◆ ys2a

◆ ys2g

◆ z2a

◆ z2g