RRTNodeBase Class Reference

Base class for RRT nodes used by GenericRRT. More...

#include <GenericRRT.h>

Inheritance diagram for RRTNodeBase:

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Detailed Description

Base class for RRT nodes used by GenericRRT.

Subclasses of RRTNodeBase must provide a NodeValue_t type, a CollisionChecker class, and the following methods: distance, generateSample, interpolate, toString.

Definition at line 20 of file GenericRRT.h.

List of all members.

Public Types
enum	Interp_t { COLLISION, APPROACHED, REACHED }
Public Member Functions
	RRTNodeBase (unsigned int p)
virtual	~RRTNodeBase ()
virtual std::string	toString () const =0
Static Public Member Functions
static float	randRange (float minVal, float maxVal)
	returns a value in the range [minVal, maxVal), i.e. inclusive minVal, exclusive maxVal
Public Attributes
unsigned int	parent

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Member Enumeration Documentation

enum RRTNodeBase::Interp_t

Enumerator:

COLLISION
APPROACHED
REACHED

Definition at line 24 of file GenericRRT.h.

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Constructor & Destructor Documentation

RRTNodeBase::RRTNodeBase

(

unsigned int

p

)

Definition at line 22 of file GenericRRT.h.

virtual RRTNodeBase::~RRTNodeBase

(

)

[virtual]

Definition at line 29 of file GenericRRT.h.

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Member Function Documentation

static float RRTNodeBase::randRange	(	float	minVal,
		float	maxVal
	)			[static]

returns a value in the range [minVal, maxVal), i.e. inclusive minVal, exclusive maxVal

Definition at line 26 of file GenericRRT.h.

Referenced by RRTNodeXYTheta::generateSample(), RRTNodeXY::generateSample(), RRTNode3DR< N >::generateSample(), and RRTNode2DR< N >::generateSample().

virtual std::string RRTNodeBase::toString

(

)

const [pure virtual]

Implemented in RRTNode2DR< N >, RRTNode3DR< N >, RRTNodeXY, and RRTNodeXYTheta.

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Member Data Documentation

unsigned int RRTNodeBase::parent

Definition at line 23 of file GenericRRT.h.

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The documentation for this class was generated from the following file:

• GenericRRT.h