RRTTree< X > Class Template Reference

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...

Detailed Description

template<class X>
class rwlibs::pathplanners::RRTTree< X >

Tree data type for RRT based planners.

Constructor & Destructor Documentation

RRTTree()

RRTTree ( const value_type &  value )

inline

Construct new tree.

Parameters

value

[in] value of the root node.

Member Function Documentation

add()

void add ( const value_type &  value, node_type *  parent  )

inline

Create a new node.

Parameters

value	[in] value of the node.
parent	[in] the parent of the node.

getLast()

node_type& getLast ( ) const

inline

Get the last node added to the tree.

Returns

the last node.

getNodes()

rw::core::iter_pair<const_iterator> getNodes ( ) const

inline

Get all nodes in the tree.

Returns

a pair of iterators for the first and last node in the tree respectively.

getRoot()

node_type& getRoot ( ) const

inline

Get the root node of the tree.

Returns

the root node.

getRootPath()

static void getRootPath ( node_type &  last, std::vector< value_type > &  path  )

inlinestatic

Get the path from the given node to the root ndoe.

Parameters

last	[in] the node to find path for.
path	[out] the path.

size()

size_t size ( ) const

inline

Get the number of nodes in the tree.

Returns

the size of the tree.

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The documentation for this class was generated from the following files:

• RRTNode.hpp
• RRTTree.hpp