LPOutput< MPTraits > Struct Template Reference

Public Member Functions
Construction
	LPOutput ()
Interface
void	Clear ()
void	SetLPLabel (const std::string &_label)
void	AddIntermediatesToWeights (const bool _saveIntermediates)

Public Types
Motion Planning Types
typedef MPTraits::CfgType	CfgType
typedef MPTraits::WeightType	WeightType
Local Types
typedef std::pair< WeightType, WeightType >	LPEdge

Public Attributes
Internal State
std::vector< CfgType >	m_path
std::vector< CfgType >	m_intermediates
LPEdge	m_edge

Detailed Description

template<typename MPTraits>
struct LPOutput< MPTraits >

Computed information from a local plan.

Stores all information available from local plan computations, including intermediates along edges (not straight line), the path generated, and the edge weights to be added to the RoadmapGraph.

Todo:

Destroy this object and have LPs/Extenders work directly with a LocalPlan object, which should replace the DefaultWeight class as our roadmap edge.

Member Data Documentation

m_path

template<typename MPTraits >

std::vector<CfgType> LPOutput< MPTraits >::m_path

The resolution-level path computed by a local planner. Does not include the start or goal configurations.

m_intermediates

template<typename MPTraits >

std::vector<CfgType> LPOutput< MPTraits >::m_intermediates

The set of 'intermediate' configurations, between each of which is a straight-line path in c-space (i.e. these are the vertices of a polygonal chain). Does not include the start or goal configurations.

m_edge

template<typename MPTraits >

LPEdge LPOutput< MPTraits >::m_edge

A pair of weight objects. The first is in the forward direction and the second is its reverse.

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The documentation for this struct was generated from the following file:

• LPOutput.h