RobWorkProject
23.9.11-
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Tree data type for RRT based planners. More...
#include <RRTTree.hpp>
Public Types | |
typedef X | value_type |
The type of a value. | |
typedef RRTNode< X > | node_type |
The type of a node. | |
typedef std::vector< node_type * >::const_iterator | const_iterator |
Type of an iterator for iterating though the nodes in the tree. | |
Public Member Functions | |
RRTTree (const value_type &value) | |
Construct new tree. More... | |
node_type & | getRoot () const |
Get the root node of the tree. More... | |
node_type & | getLast () const |
Get the last node added to the tree. More... | |
void | add (const value_type &value, node_type *parent) |
Create a new node. More... | |
rw::core::iter_pair< const_iterator > | getNodes () const |
Get all nodes in the tree. More... | |
~RRTTree () | |
Destructor. | |
size_t | size () const |
Get the number of nodes in the tree. More... | |
Static Public Member Functions | |
static void | getRootPath (node_type &last, std::vector< value_type > &path) |
Get the path from the given node to the root ndoe. More... | |
Tree data type for RRT based planners.
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inline |
Construct new tree.
value | [in] value of the root node. |
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inline |
Create a new node.
value | [in] value of the node. |
parent | [in] the parent of the node. |
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inline |
Get the last node added to the tree.
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inline |
Get all nodes in the tree.
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inline |
Get the root node of the tree.
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inlinestatic |
Get the path from the given node to the root ndoe.
last | [in] the node to find path for. |
path | [out] the path. |
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inline |
Get the number of nodes in the tree.