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.
void	setRoot (const ConfigType &root)
	Tree ()
	Tree (std::size_t maximalWorkerCount)

Member Typedef Documentation

ConfigType

using ConfigType = VectorXf

Constructor & Destructor Documentation

Tree() [1/2]

Tree ( )

inline

Tree() [2/2]

Tree ( std::size_t maximalWorkerCount )

inline

Member Function Documentation

addNode()

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

inline

applyUpdate()

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

inline

getNearestNeighbour()

armarx::rrtconnect::NodeId getNearestNeighbour

(

const ConfigType &

cfg

)

getNode()

const NodeType & getNode ( const NodeId & nodeId ) const

inline

getNodes()

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

inline

getPathTo()

std::vector< ConfigType > getPathTo

(

const NodeId &

nodeId

)

const

getReversedPathTo()

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

(

NodeId

nodeId

)

const

getSize()

std::size_t getSize ( ) const

inline

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.

setRoot()

void setRoot

(

const ConfigType &

root

)

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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