Class BundleSpaceGraph::Configuration

Nested Relationships

This class is a nested type of Class BundleSpaceGraph.

Class Documentation

class Configuration

A configuration in Bundle-space.

Public Functions

Configuration() = delete
Configuration(const ompl::base::SpaceInformationPtr &si)
Configuration(const ompl::base::SpaceInformationPtr &si, const ompl::base::State *state_)
inline void setPDFElement(void *element_)
inline void *getPDFElement()

Public Members

ompl::base::State *state = {nullptr}
ompl::control::Control *control = {nullptr}
unsigned int total_connection_attempts = {0}
unsigned int successful_connection_attempts = {0}
bool on_shortest_path = {false}
void *pdf_element

Element of Probability Density Function (needed to update probability)

bool isStart = {false}
bool isGoal = {false}
Configuration *parent = {nullptr}

parent index for {qrrt*}

base::Cost cost

cost to reach until current vertex in {qrrt*}

base::Cost lineCost

same as rrt*, connection cost with parent {qrrt*}

std::vector<Configuration*> children

The set of motions descending from the current motion {qrrt*}.

normalized_index_type index = {-1}

Index of configuration in boost::graph. Usually in the interval [0,num_vertices(graph)], but if vertices are deleted or graphs are copied, we sometimes need to map them back to [0, num_vertices(graph)]

normalized_index_type representativeIndex = {-1}

Access to the representatives (Sparse Vertex) of the Dense vertices For Sparse Graph: Store index of Sparse Vertex which is represtative of Dense Graph Vertex.

std::set<normalized_index_type> nonInterfaceIndexList

Access to all non-interface supporting vertices of the sparse nodes.

std::unordered_map<normalized_index_type, std::set<normalized_index_type>> interfaceIndexList

Access to the interface-supporting vertice hashes of the sparse nodes.

std::vector<Configuration*> reachableSet