TRRTSampleInfo Struct Reference Detailed DescriptionEmcompasses the information associated with each sample in a RRT that is not already included in the underlying RRT. If the ambient space has circular topology in any dimension, the same point can be represented in infinite many different ways. In the RRT we only store points in canonical form (i.e., in the -pi, pi range). When searching for the shortest path between samples (i.e., the straight line between them) we have to take into account the topology since each pair of samples can be connected in many different ways. If we do not advance along the shortest path, the RRT would be strange. The search for nearest-neighbours should be also done taking into account the topology.
Field Documentation
The sample. Definition at line 291 of file rrt.h. Referenced by AddBranchToRRT(), AddNodeToRRT(), AddStepToRRTstar(), BiRRTstar(), cBiRRT(), ccRRT(), ccTRRT(), DeleteRRT(), GetRRTNN(), GetRRTNNInBall(), GetRRTNNInBranch(), GetRRTNode(), InDynamicDomain(), InitRRT(), LoadRRT(), PathStart2GoalInRRT(), PlotRRT(), RecursiveReWireRRTstar(), ReWireRRTstar(), RRTPathLength(), RRTstar(), RRTValidateSample(), SaveRRT(), SaveRRTNodes(), Steps2PathinRRT(), and WireRRTstar().
Parent sample for each sample. This defines the tree structure. When in graph mode this is one of the neighbours in 'n'. Definition at line 292 of file rrt.h. Referenced by AddNodeToRRT(), AddStepToRRTstar(), CostToRoot(), GetRRTNNInBranch(), GetRRTParent(), InitRRT(), LoadRRT(), PlotRRT(), RecursiveReWireRRTstar(), ReWireRRTstar(), RRTPathLength(), RRTPathSteps(), SaveRRT(), SetRRTCostAndParent(), SetRRTParent(), StepsToRoot(), UpdateCostAndTree(), UpdateTree(), and WireRRTstar().
Distance to the parent (when cost is related to path). When in graph mode this is of the costs in field 'cn'. Definition at line 294 of file rrt.h. Referenced by AddNodeToRRT(), AddStepToRRTstar(), CostToRoot(), GetRRTNodeCostFromParent(), InitRRT(), LoadRRT(), RecursiveReWireRRTstar(), ReWireRRTstar(), RRTPathSteps(), SaveRRT(), SetRRTCostAndParent(), SetRRTNodeCost(), UpdateCostAndTree(), and WireRRTstar().
Cost of a given node. This can have two different meanings: The cost of the node as evaluated with a user-given function (in T-RRT) or the length of the path form the root of the tree (in RRT*). In this second case, when using bi-directional trees the root can be either the goal or the start sample. When in graph mode this is actually the 'rhs', the min cost to this node via any of its neighbours. This is always a better approximation to the cost than that stored in 'g'. Definition at line 296 of file rrt.h. Referenced by AddNodeToRRT(), AddStepToRRTstar(), BiRRTstar(), ccTRRT(), GetRRTNodeCost(), InitRRT(), LoadRRT(), RecursiveReWireRRTstar(), ReWireRRTstar(), RRTstar(), RRTstarCloseIteration(), SaveRRT(), SaveRRTCosts(), SetRRTCostAndParent(), SetRRTNodeCost(), Steps2PathinRRT(), TransitionTestRRT(), UpdateBiRRTSteps(), UpdateCostAndTree(), UpdateCostToRoot(), and WireRRTstar().
Dynamic domain radius. 0 if not used. Definition at line 306 of file rrt.h. Referenced by AddNodeToRRT(), AdjustDynamicDomain(), GetDynamicDomainRadius(), InDynamicDomain(), InitRRT(), LoadRRT(), and SaveRRT().
Cost of the node. Then g>cost we have to propagate the cost update. Used in RRT* in graph mode. Definition at line 308 of file rrt.h. Referenced by AddNodeToRRT(), InitRRT(), LoadRRT(), RecursiveReWireRRTstar(), and SaveRRT().
Maximum number of neigbours. Definition at line 311 of file rrt.h. Referenced by AddEdgeToRRT(), AddNodeToRRT(), InitRRT(), LoadRRT(), and SaveRRT().
Number of neighbours. Definition at line 312 of file rrt.h. Referenced by AddEdgeToRRT(), AddNodeToRRT(), InitRRT(), LoadRRT(), RecursiveReWireRRTstar(), RRTMemSize(), and SaveRRT().
Vector of neighbours. Definition at line 313 of file rrt.h. Referenced by AddEdgeToRRT(), AddNodeToRRT(), DeleteRRT(), InitRRT(), LoadRRT(), RecursiveReWireRRTstar(), and SaveRRT().
Cost to reach each neighbour. Definition at line 314 of file rrt.h. Referenced by AddEdgeToRRT(), AddNodeToRRT(), DeleteRRT(), InitRRT(), LoadRRT(), RecursiveReWireRRTstar(), and SaveRRT().
Tree including the sample Definition at line 316 of file rrt.h. Referenced by AddNodeToRRT(), AddStepToRRTstar(), BiRRTstar(), ChangeBiRRTSteps(), GetRRTNN(), GetRRTNNInBall(), GetRRTNNInBranch(), GetRRTNodeTree(), InitRRT(), LoadRRT(), PathStart2GoalInRRT(), PlotRRT(), RecursiveReWireRRTstar(), ReWireRRTstar(), SaveRRT(), SetRRTCostAndParent(), SetRRTParent(), UpdateBiRRTSteps(), UpdateCostAndTree(), UpdateTree(), and WireRRTstar().
General information provided by caller. Definition at line 317 of file rrt.h. Referenced by AddNodeToRRT(), GetRRTNodeInfo(), LoadRRT(), and SetRRTNodeInfo(). |
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