TRRTStep Struct Reference

Detailed Description

Step in solution path. Used in bi-RRTs.

Note that steps in a solution path are always valid transitions between nodes (collion free) and that the cost corresponds to that of the direct connection between the nodes (it can not be improved).

Definition at line 248 of file rrt.h.

Data Fields

unsigned int id
 
double cost
 

Field Documentation

unsigned int TRRTStep::id

Next node in the path.

Definition at line 249 of file rrt.h.

Referenced by ChangeBiRRTSteps(), RRTPathSteps(), Steps2PathinRRT(), and UpdateBiRRTSteps().

double TRRTStep::cost

Cost to the next node.

Definition at line 250 of file rrt.h.

Referenced by ChangeBiRRTSteps(), RRTPathSteps(), and UpdateBiRRTSteps().