TAtlasHeapElement Struct Reference

Detailed Description

In AtlasGBF we need to use a heap of charts to select the one closest to the target point. This structure represents one element of this heap.

Definition at line 176 of file atlas.h.

Data Fields

unsigned int chartID
double cost
double beta
unsigned int nPenalized

Field Documentation

unsigned int TAtlasHeapElement::chartID

Identifier of the local chart.

Definition at line 177 of file atlas.h.

Referenced by GetAtlasHeapElementID(), and InitAtlasHeapElement().

double TAtlasHeapElement::cost

Estimated cost (including the heuristic) to reach the goal.

Definition at line 178 of file atlas.h.

Referenced by GetAtlasHeapElementCost(), and InitAtlasHeapElement().

double TAtlasHeapElement::beta

Factor used to penalize the cost.

Definition at line 179 of file atlas.h.

Referenced by InitAtlasHeapElement().

unsigned int TAtlasHeapElement::nPenalized

Times we used this chart to extend the atlas.

Definition at line 180 of file atlas.h.

Referenced by InitAtlasHeapElement(), and PenalizeAtlasHeapElement().