Node.cpp
Go to the documentation of this file.
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#include "
Node.h
"
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namespace
armarx::navigation::algorithm::astar
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{
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Node::Node
(
const
Eigen::Vector2f& position,
const
float
obstacleDistance) :
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position(position), obstacleDistance(obstacleDistance)
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{
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}
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std::vector<Eigen::Vector2f>
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Node::traversePredecessors
()
const
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{
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std::vector<Eigen::Vector2f> result;
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result.push_back(
position
);
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NodePtr
predecessor
= this->
predecessor
;
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while
(predecessor)
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{
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result.push_back(
predecessor
->position);
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predecessor
=
predecessor
->predecessor;
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}
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return
result;
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}
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}
// namespace armarx::navigation::algorithm::astar
armarx::navigation::algorithm::astar::Node::Node
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Node(const Eigen::Vector2f &position, float obstacleDistance)
Definition:
Node.cpp:6
armarx::navigation::algorithm::astar::Node::traversePredecessors
std::vector< Eigen::Vector2f > traversePredecessors() const
Collects all predecessors in order to generate path to starting point.
Definition:
Node.cpp:12
armarx::navigation::algorithm::astar::Node::position
Eigen::Vector2f position
Definition:
Node.h:26
armarx::navigation::algorithm::astar::NodePtr
std::shared_ptr< Node > NodePtr
Definition:
Node.h:13
armarx::navigation::algorithm::astar
Definition:
AStarPlanner.cpp:29
Node.h
armarx::navigation::algorithm::astar::Node::predecessor
NodePtr predecessor
For traversal.
Definition:
Node.h:30
armarx
navigation
algorithms
astar
Node.cpp
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