armarx::addirrtstar::WorkerNodeBase

Overview

[ "cpp:virtual" ] class WorkerNodeBase implements TreeUpdateInterface

@brief The worker used by addirrt*.

Operation Index

killWorker

@brief Requests the worker to kill its working task.

pauseWorker

@brief

getUpdate

@brief Requests an already send update again.

Data Member Index

cspace

@brief The used planning cspace.

startCfg

@brief The start config.

goalCfg

@brief The goal config.

DCDStepSize

@brief The dcd stepsize.

addParams

@brief The parameters used for add.

manager

@brief The workers manager.

workerId

@brief The workers id.

batchSize

@brief The batch size before an update is send and other updates are integrated.

nodeCountDeltaForGoalConnectionTries

@brief Number of nodes created (by a worker) before a connect to the goal node is tried (by this worker).

topicPrefix

@brief The update topics prefix

rotationMatrix

@brief The precalculated rotation matrix used by the informed sampler.

Operations

void killWorker()

void pauseWorker(bool pauseFlag)

Update getUpdate(long updateId)

@brief Requests an already send update again.

Data Members

CSpaceBase cspace;

@brief The used planning cspace.

VectorXf startCfg;

@brief The start config.

VectorXf goalCfg;

@brief The goal config.

float DCDStepSize;

AdaptiveDynamicDomainParameters addParams;

@brief The parameters used for add.

ManagerNodeBase* manager;

@brief The workers manager.

long workerId;

long batchSize;

long nodeCountDeltaForGoalConnectionTries;

string topicPrefix;

::Ice::FloatSeq rotationMatrix;