TAtlasRRTBranchStatus Struct Reference

Detailed Description

Information related with the branch extensions process.

These parameters are grouped in a struct just to clarify the code.

Definition at line 129 of file atlasrrt.c.

Data Fields
boolean	reachedGoal
boolean	reachedQrand
boolean	reachedTmpQrand
boolean	blocked
boolean	tooFar
boolean	collision
boolean	validChart
unsigned int	lastID
unsigned int	nCreatedCharts
unsigned int	tree
double *	deltaParam
Tvector	traversedCharts
double	desiredLength
double	maxLength
double	length
double	stepLength
double	distQrand
double	distGoal
double	distOrigin
double	maxDistOrigin
double	delta
double	cost

Field Documentation

boolean TAtlasRRTBranchStatus::reachedGoal

TRUE if we managed to reach the goal.

Definition at line 130 of file atlasrrt.c.

Referenced by AddStepToAtlasRRTstar(), AtlasRRT(), AtlasTRRT(), canContinueBranch(), InitBranchStatus(), and New_AddBranchToAtlasRRT().

boolean TAtlasRRTBranchStatus::reachedQrand

TRUE if the random sample is reached.

Definition at line 131 of file atlasrrt.c.

Referenced by AddStepToAtlasRRTstar(), AtlasBiRRTstar(), canContinueBranch(), InitBranchStatus(), New_AddBranchToAtlasRRT(), ReconstructAtlasRRTPath(), ReWireAtlasRRTstar(), SmoothPathInAtlasRRT(), and WireAtlasRRTstar().

boolean TAtlasRRTBranchStatus::reachedTmpQrand

TRUE if the intermediate random sample is reache. This is the random sample projected to the current chart.

Definition at line 132 of file atlasrrt.c.

Referenced by canContinueBranch(), InitBranchStatus(), and New_AddBranchToAtlasRRT().

boolean TAtlasRRTBranchStatus::blocked

The branch is stopped for any reason (obstacles, singularities,...)

Definition at line 136 of file atlasrrt.c.

Referenced by canContinueBranch(), InitBranchStatus(), New_AddBranchToAtlasRRT(), and New_NewTemptativeSample().

boolean TAtlasRRTBranchStatus::tooFar

The branch has grown too far form the initial node (and, hence, its tension is stopped).

Definition at line 137 of file atlasrrt.c.

Referenced by canContinueBranch(), InitBranchStatus(), and New_AddBranchToAtlasRRT().

boolean TAtlasRRTBranchStatus::collision

The brach has been stopped due to a collision.

Definition at line 138 of file atlasrrt.c.

Referenced by canContinueBranch(), InitBranchStatus(), New_AddBranchToAtlasRRT(), and New_NewTemptativeSample().

boolean TAtlasRRTBranchStatus::validChart

TRUE if the current chart is valid. FALSE if a new chart has to be generated at the current point.

Definition at line 139 of file atlasrrt.c.

Referenced by InitBranchStatus(), New_AddBranchToAtlasRRT(), and New_NewTemptativeSample().

unsigned int TAtlasRRTBranchStatus::lastID

Identifier of the last sample added to the branch. Initialized to i_near

Definition at line 142 of file atlasrrt.c.

Referenced by AddStepToAtlasRRTstar(), AtlasRRT(), AtlasTRRT(), InitBranchStatus(), and New_AddBranchToAtlasRRT().

unsigned int TAtlasRRTBranchStatus::nCreatedCharts

Number of transitions between charts so far.

Definition at line 145 of file atlasrrt.c.

Referenced by InitBranchStatus(), New_AddBranchToAtlasRRT(), and New_NewTemptativeSample().

unsigned int TAtlasRRTBranchStatus::tree

Tree including the current branch.

Definition at line 147 of file atlasrrt.c.

Referenced by InitBranchStatus(), and New_AddBranchToAtlasRRT().

double* TAtlasRRTBranchStatus::deltaParam

Direction of advance in tangent space (normalized vector).

Definition at line 149 of file atlasrrt.c.

Referenced by DeleteBranchStatus(), InitBranchStatus(), New_NewTemptativeSample(), and New_PointTowardRandSample().

Tvector TAtlasRRTBranchStatus::traversedCharts

List of charts traversed by the branch. Used to avoid infinite loops.

Definition at line 151 of file atlasrrt.c.

Referenced by DeleteBranchStatus(), InitBranchStatus(), New_AddBranchToAtlasRRT(), and New_NewTemptativeSample().

double TAtlasRRTBranchStatus::desiredLength

Desired length for the new branch. Distance to the initial Qrand or maxLength, if given.

Definition at line 153 of file atlasrrt.c.

Referenced by InitBranchStatus().

double TAtlasRRTBranchStatus::maxLength

Maximum length of the branch.

Definition at line 155 of file atlasrrt.c.

Referenced by canContinueBranch(), InitBranchStatus(), New_AddBranchToAtlasRRT(), and New_PointTowardRandSample().

double TAtlasRRTBranchStatus::length

Branch lenght so far

Definition at line 156 of file atlasrrt.c.

Referenced by canContinueBranch(), InitBranchStatus(), and New_AddBranchToAtlasRRT().

double TAtlasRRTBranchStatus::stepLength

Length of the last step in the branch.

Definition at line 157 of file atlasrrt.c.

Referenced by InitBranchStatus(), and New_AddBranchToAtlasRRT().

double TAtlasRRTBranchStatus::distQrand

Distance from current to rand sample (as given in the input).

Definition at line 159 of file atlasrrt.c.

Referenced by InitBranchStatus(), New_AddBranchToAtlasRRT(), and Steps2PathinAtlasRRT().

double TAtlasRRTBranchStatus::distGoal

Distance from current sample to goal.

Definition at line 161 of file atlasrrt.c.

Referenced by AddStepToAtlasRRTstar(), InitBranchStatus(), and New_AddBranchToAtlasRRT().

double TAtlasRRTBranchStatus::distOrigin

Distance form current sample to the root of the branch.

Definition at line 163 of file atlasrrt.c.

Referenced by InitBranchStatus(), and New_AddBranchToAtlasRRT().

double TAtlasRRTBranchStatus::maxDistOrigin

Maximum distance from the end to the start of the branch.

Definition at line 164 of file atlasrrt.c.

Referenced by InitBranchStatus(), and New_AddBranchToAtlasRRT().

double TAtlasRRTBranchStatus::delta

Current step size.

Definition at line 166 of file atlasrrt.c.

Referenced by InitBranchStatus(), New_AddBranchToAtlasRRT(), and New_NewTemptativeSample().

double TAtlasRRTBranchStatus::cost

Cost of the next node to be added to the branch.

Definition at line 168 of file atlasrrt.c.

Referenced by InitBranchStatus(), New_AddBranchToAtlasRRT(), and New_NewTemptativeSample().