A sblMilestone represents the data structure for storing a free sample. The SBL sblPlanner grows two trees (one from the start and one form the goal) consisting of these collision-free 'sblMilestones' as nodes. Each sblMilestone stores in itself links to its parent node and children nodes.

Public Fields

sblEdge

edgeFromFather link to the father of the node

Public Methods

	sblMilestone ()
	sblMilestone (int inx, const mpkConfig& qq, double tim=0)
void	setIndex (const int& index)
void	setConfig (mpkConfig& q_n)
void	isFatherOf (sblMilestone& child)
void	setFather (int from, int to)
void	addChild (const sblMilestone& m)
mpkConfig&	getConfig ()
int	getIndex () const
int	getFather ()
sblEdge&	getsblEdge ()
int	getNrSons () const
int	getChild (int k)
void	markSafe ()
bool	isEqual (const sblMilestone& m)
void	print ()
void	printChilds ()
double	distance (const sblMilestone& m) const
double	L_inf (const sblMilestone& m) const

Protected Fields

int	i an index to identify the nodes
mpkConfig*	q Configuration
double	t time associated to the configuration
vector<int>	children to store who are the children of the node

Documentation

A sblMilestone represents the data structure for storing a free sample. The SBL sblPlanner grows two trees (one from the start and one form the goal) consisting of these collision-free 'sblMilestones' as nodes. Each sblMilestone stores in itself links to its parent node and children nodes.

sblMilestone()

sblMilestone(int inx, const mpkConfig& qq, double tim=0)

Function setRoot on the planner is the one that uses this

void setIndex(const int& index)

To set the serial number of this sblMilestone

void setConfig(mpkConfig& q_n)

To set the Configuration of the sblMilestone

void isFatherOf(sblMilestone& child)

This function is used to set that the current milestone is the father of the milestone child.

void setFather(int from, int to)

Links to the parent node in the tree

void addChild(const sblMilestone& m)

To store the index of the Children Nodes

mpkConfig& getConfig()

Returns the Configuration of the sblMilestone

int getIndex() const

To set the serial number of this sblMilestone

int getFather()

Returns the Father of this node in the tree

sblEdge& getsblEdge()

Returns the edge from its father

int getNrSons() const

Returns the number of its children in the Tree

int getChild(int k)

Returns the 'kth' children

void markSafe()

Marks that the edge to its father is collision free

bool isEqual(const sblMilestone& m)

To check if the two sblMilestones are equal or not

void print()

Prints the Configuration and the parent information

void printChilds()

Prints the list of Children

double distance(const sblMilestone& m) const

Returns Euclidean Distance

double L_inf(const sblMilestone& m) const

Returns L-infinity distance

This class has no child classes.

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