Node Class Reference

A Node can store data to all valid neighbors (successors) and a precessor. More...

#include <armarx/navigation/algorithms/orientation_aware/Node.h>

Public Member Functions
void	initialize (const Eigen::Vector2f &position, float obstacleDistance, float orientation_deg)
	Node ()=default
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Node (const Eigen::Vector2f &position, float obstacleDistance, float orientation_deg)
std::vector< const Node * >	traversePredecessors () const
	Collects all predecessors in order to generate path to starting point.

Public Attributes
float	fScore = -1.F
float	gScore = -1.F
bool	inClosedSet = false
bool	inOpenSet = false
float	obstacleDistance
float	orientation_deg = -1.F
Eigen::Vector2f	position
std::experimental::observer_ptr< Node >	predecessor
	For traversal.
std::optional< Costs >	predecessorCosts
std::vector< std::experimental::observer_ptr< Node > >	successors
	All nodes that are adjacent to this one.

Detailed Description

A Node can store data to all valid neighbors (successors) and a precessor.

It offers methods to determine the complete path to the starting point.

Definition at line 54 of file Node.h.

Constructor & Destructor Documentation

Node() [1/2]

Node	(	const Eigen::Vector2f &	position,
		float	obstacleDistance,
		float	orientation_deg )

Definition at line 10 of file Node.cpp.

Node() [2/2]

Node ( )

default

Member Function Documentation

initialize()

void initialize	(	const Eigen::Vector2f &	position,
		float	obstacleDistance,
		float	orientation_deg )

Definition at line 16 of file Node.cpp.

traversePredecessors()

std::vector< const Node * > traversePredecessors

(

)

const

Collects all predecessors in order to generate path to starting point.

Definition at line 24 of file Node.cpp.

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Member Data Documentation

fScore

float fScore = -1.F

Definition at line 83 of file Node.h.

gScore

float gScore = -1.F

Definition at line 84 of file Node.h.

inClosedSet

bool inClosedSet = false

Definition at line 81 of file Node.h.

inOpenSet

bool inOpenSet = false

Definition at line 82 of file Node.h.

obstacleDistance

float obstacleDistance

Definition at line 75 of file Node.h.

orientation_deg

float orientation_deg = -1.F

Definition at line 66 of file Node.h.

position

Eigen::Vector2f position

Definition at line 65 of file Node.h.

predecessor

std::experimental::observer_ptr<Node> predecessor

For traversal.

Definition at line 72 of file Node.h.

predecessorCosts

std::optional<Costs> predecessorCosts

Definition at line 73 of file Node.h.

successors

std::vector<std::experimental::observer_ptr<Node> > successors

All nodes that are adjacent to this one.

Definition at line 70 of file Node.h.

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

• armarx/navigation/algorithms/orientation_aware/Node.h
• armarx/navigation/algorithms/orientation_aware/Node.cpp