Template Class NodeBasic

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