Tsample Struct Reference

Detailed Description

A sample, that is, a point in the configuration space of the mechanism at hand. Therefore, sample can be called also configurations. We use the name sample because we mainly use them in the contex of probabilistic path planning.

For samples, only the system variables of the mechanisms are used since these are the only ones that are involved in the motion of the mechanism.

See Also
sample.h,sample.c.

Definition at line 38 of file sample.h.

Data Fields

unsigned int sID
 
unsigned int boxID
 
Tvector v
 

Field Documentation

unsigned int Tsample::sID

Identifier of the sample.

Definition at line 39 of file sample.h.

Referenced by GetSampleID(), InitSample(), LoadSample(), and SaveSample().

unsigned int Tsample::boxID

Identifier of the box in the graph of boxes that includes the sample.

Definition at line 40 of file sample.h.

Referenced by GetSampleBoxID(), InitSample(), LoadSample(), SaveSample(), and SetSampleBoxID().

Tvector Tsample::v

Vector of doubles, one for each one of the system variables of the mechanism.

Definition at line 42 of file sample.h.

Referenced by GetSampleDim(), GetSampleValue(), GetSampleValues(), InitSample(), LoadSample(), PrintSample(), and SaveSample().