ompl::geometric::PDST::Cell Struct Reference

Cell is a Binary Space Partition. More...

#include <ompl/geometric/planners/pdst/PDST.h>

Public Member Functions

 Cell (double volume, ompl::base::RealVectorBounds bounds, unsigned int splitDimension=0)
 
void subdivide (unsigned int spaceDimension)
 Subdivides this cell. More...
 
Cellstab (const Eigen::Ref< Eigen::VectorXd > &projection) const
 Locates the cell that this motion begins in. More...
 
void addMotion (Motion *motion)
 Add a motion. More...
 
unsigned int size () const
 Number of cells. More...
 

Public Attributes

double volume_
 Volume of the cell. More...
 
unsigned int splitDimension_
 Dimension along which the cell is split into smaller cells. More...
 
double splitValue_
 The midpoint between the bounds_ at the splitDimension_. More...
 
Cellleft_
 The left child cell (nullptr for a leaf cell) More...
 
Cellright_
 The right child cell (nullptr for a leaf cell) More...
 
ompl::base::RealVectorBounds bounds_
 A bounding box for this cell. More...
 
std::vector< Motion * > motions_
 The motions contained in this cell. Motions are stored only in leaf nodes. More...
 

Detailed Description

Cell is a Binary Space Partition.

Definition at line 201 of file PDST.h.

Constructor & Destructor Documentation

◆ Cell()

ompl::geometric::PDST::Cell::Cell ( double  volume,
ompl::base::RealVectorBounds  bounds,
unsigned int  splitDimension = 0 
)
inline

Definition at line 203 of file PDST.h.

◆ ~Cell()

ompl::geometric::PDST::Cell::~Cell ( )
inline

Definition at line 213 of file PDST.h.

Member Function Documentation

◆ addMotion()

void ompl::geometric::PDST::Cell::addMotion ( Motion motion)
inline

Add a motion.

Definition at line 239 of file PDST.h.

◆ size()

unsigned int ompl::geometric::PDST::Cell::size ( ) const
inline

Number of cells.

Definition at line 246 of file PDST.h.

◆ stab()

Cell * ompl::geometric::PDST::Cell::stab ( const Eigen::Ref< Eigen::VectorXd > &  projection) const
inline

Locates the cell that this motion begins in.

Definition at line 226 of file PDST.h.

◆ subdivide()

void ompl::geometric::PDST::Cell::subdivide ( unsigned int  spaceDimension)

Subdivides this cell.

Definition at line 310 of file PDST.cpp.

Member Data Documentation

◆ bounds_

ompl::base::RealVectorBounds ompl::geometric::PDST::Cell::bounds_

A bounding box for this cell.

Definition at line 265 of file PDST.h.

◆ left_

Cell* ompl::geometric::PDST::Cell::left_

The left child cell (nullptr for a leaf cell)

Definition at line 261 of file PDST.h.

◆ motions_

std::vector<Motion *> ompl::geometric::PDST::Cell::motions_

The motions contained in this cell. Motions are stored only in leaf nodes.

Definition at line 267 of file PDST.h.

◆ right_

Cell* ompl::geometric::PDST::Cell::right_

The right child cell (nullptr for a leaf cell)

Definition at line 263 of file PDST.h.

◆ splitDimension_

unsigned int ompl::geometric::PDST::Cell::splitDimension_

Dimension along which the cell is split into smaller cells.

Definition at line 257 of file PDST.h.

◆ splitValue_

double ompl::geometric::PDST::Cell::splitValue_

The midpoint between the bounds_ at the splitDimension_.

Definition at line 259 of file PDST.h.

◆ volume_

double ompl::geometric::PDST::Cell::volume_

Volume of the cell.

Definition at line 255 of file PDST.h.


The documentation for this struct was generated from the following files:
  • ompl/geometric/planners/pdst/PDST.h
  • ompl/geometric/planners/pdst/src/PDST.cpp