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ompl::control::PDST::Cell Struct Reference

Cell is a Binary Space Partition. More...

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

Public Member Functions

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

Public Attributes

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

Detailed Description

Cell is a Binary Space Partition.

Definition at line 206 of file PDST.h.

Constructor & Destructor Documentation

◆ Cell()

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

Definition at line 208 of file PDST.h.

◆ ~Cell()

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

Definition at line 218 of file PDST.h.

Member Function Documentation

◆ addMotion()

void ompl::control::PDST::Cell::addMotion ( Motion * motion)
inline

Add a motion.

Definition at line 244 of file PDST.h.

◆ size()

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

Number of cells.

Definition at line 251 of file PDST.h.

◆ stab()

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

Locates the cell that this motion begins in.

Definition at line 231 of file PDST.h.

◆ subdivide()

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

Subdivides this cell.

Definition at line 385 of file PDST.cpp.

Member Data Documentation

◆ bounds_

base::RealVectorBounds ompl::control::PDST::Cell::bounds_

A bounding box for this cell.

Definition at line 270 of file PDST.h.

◆ left_

Cell* ompl::control::PDST::Cell::left_

The left child cell (nullptr for a leaf cell)

Definition at line 266 of file PDST.h.

◆ motions_

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

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

Definition at line 272 of file PDST.h.

◆ right_

Cell* ompl::control::PDST::Cell::right_

The right child cell (nullptr for a leaf cell)

Definition at line 268 of file PDST.h.

◆ splitDimension_

unsigned int ompl::control::PDST::Cell::splitDimension_

Dimension along which the cell is split into smaller cells.

Definition at line 262 of file PDST.h.

◆ splitValue_

double ompl::control::PDST::Cell::splitValue_

The midpoint between the bounds_ at the splitDimension_.

Definition at line 264 of file PDST.h.

◆ volume_

double ompl::control::PDST::Cell::volume_

Volume of the cell.

Definition at line 260 of file PDST.h.


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