Struct Node

• Defined in File graph.hpp

Struct Documentation

struct Node

Defines a graph node for search-based planners.

Public Functions

inline Node(const Eigen::VectorXd &config_, int parent_id_)

Constructor.

Parameters:

• config_ – The configuration of the node.

• parent_id_ – The parent id of the node.

Public Members

Eigen::VectorXd config

The configuration (e.g., joint positions) of this node.

int parent_id

The parent node ID.

-1 means this is the root node.