Tree Class Reference

#include <RobotComponents/components/MotionPlanning/Tasks/RRTConnect/Tree.h>

Public Types
using	ConfigType = VectorXf

Public Member Functions
void	addNode (const ConfigType &cfg, const NodeId &parent, std::size_t workerId)
void	applyUpdate (const PerTreeUpdate &u, Ice::Long workerId)
NodeId	getNearestNeighbour (const ConfigType &cfg)
const NodeType &	getNode (const NodeId &nodeId) const
const std::deque< std::deque< NodeType > > &	getNodes () const
std::vector< ConfigType >	getPathTo (const NodeId &nodeId) const
std::vector< ConfigType >	getReversedPathTo (NodeId nodeId) const
std::size_t	getSize () const
void	setMaximalWorkerCount (std::size_t count)
	Sets the maximal worker count to the given value. More...
void	setRoot (const ConfigType &root)
	Tree ()
	Tree (std::size_t maximalWorkerCount)

Detailed Description

Definition at line 48 of file Tree.h.

Member Typedef Documentation

ConfigType

using ConfigType = VectorXf

Definition at line 51 of file Tree.h.

Constructor & Destructor Documentation

Tree() [1/2]

Tree ( )

inline

Definition at line 53 of file Tree.h.

Tree() [2/2]

Tree ( std::size_t  maximalWorkerCount )

inline

Definition at line 57 of file Tree.h.

Member Function Documentation

addNode()

void addNode ( const ConfigType &  cfg, const NodeId &  parent, std::size_t  workerId  )

inline

Definition at line 87 of file Tree.h.

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applyUpdate()

void applyUpdate ( const PerTreeUpdate &  u, Ice::Long  workerId  )

inline

Definition at line 101 of file Tree.h.

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getNearestNeighbour()

armarx::rrtconnect::NodeId getNearestNeighbour

(

const ConfigType &

cfg

)

Definition at line 72 of file Tree.cpp.

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getNode()

const NodeType& getNode ( const NodeId &  nodeId ) const

inline

Definition at line 80 of file Tree.h.

getNodes()

const std::deque<std::deque<NodeType> >& getNodes ( ) const

inline

Definition at line 73 of file Tree.h.

getPathTo()

std::vector<ConfigType> getPathTo

(

const NodeId &

nodeId

)

const

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getReversedPathTo()

std::vector< armarx::rrtconnect::Tree::ConfigType > getReversedPathTo

(

NodeId

nodeId

)

const

Definition at line 52 of file Tree.cpp.

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getSize()

std::size_t getSize ( ) const

inline

Definition at line 96 of file Tree.h.

setMaximalWorkerCount()

void setMaximalWorkerCount ( std::size_t  count )

inline

Sets the maximal worker count to the given value.

This value has to be set before the tree's useage. and should never be set twice.

Parameters

count

The new count.

Definition at line 66 of file Tree.h.

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setRoot()

void setRoot

(

const ConfigType &

root

)

Definition at line 39 of file Tree.cpp.

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

• RobotComponents/components/MotionPlanning/Tasks/RRTConnect/Tree.h
• RobotComponents/components/MotionPlanning/Tasks/RRTConnect/Tree.cpp