Representation of a region in the Decomposition assigned to Syclop. More...

#include <ompl/control/planners/syclop/Syclop.h>

Public Member Functions
	Region (const Region &)=default

Region &	operator= (const Region &)=default

	Region (Region &&)=default

Region &	operator= (Region &&)=default

void	clear ()
	Clears motions and coverage information from this region.

Public Attributes
std::set< int >	covGridCells
	The cells of the underlying coverage grid that contain tree motions from this region.

std::vector< Motion * >	motions
	The tree motions contained in this region.

double	volume
	The volume of this region.

double	freeVolume
	The free volume of this region.

double	percentValidCells
	The percent of free volume of this region.

double	weight
	The probabilistic weight of this region, used when sampling from PDF.

double	alpha
	The coefficient contributed by this region to edge weights in lead computations.

int	index
	The index of the graph node corresponding to this region.

unsigned int	numSelections
	The number of times this region has been selected for expansion.

PDF< int >::Element *	pdfElem
	The Element corresponding to this region in the PDF of available regions.

Detailed Description

Representation of a region in the Decomposition assigned to Syclop.

Definition at line 278 of file Syclop.h.

Member Function Documentation

◆ clear()

void ompl::control::Syclop::Region::clear ( )

inline

Clears motions and coverage information from this region.

Definition at line 290 of file Syclop.h.

Member Data Documentation

◆ alpha

double ompl::control::Syclop::Region::alpha

The coefficient contributed by this region to edge weights in lead computations.

Definition at line 310 of file Syclop.h.

◆ covGridCells

std::set<int> ompl::control::Syclop::Region::covGridCells

The cells of the underlying coverage grid that contain tree motions from this region.

Definition at line 298 of file Syclop.h.

◆ freeVolume

double ompl::control::Syclop::Region::freeVolume

The free volume of this region.

Definition at line 304 of file Syclop.h.

◆ index

int ompl::control::Syclop::Region::index

The index of the graph node corresponding to this region.

Definition at line 312 of file Syclop.h.

◆ motions

std::vector<Motion *> ompl::control::Syclop::Region::motions

The tree motions contained in this region.

Definition at line 300 of file Syclop.h.

◆ numSelections

unsigned int ompl::control::Syclop::Region::numSelections

The number of times this region has been selected for expansion.

Definition at line 314 of file Syclop.h.

◆ pdfElem

PDF<int>::Element* ompl::control::Syclop::Region::pdfElem

The Element corresponding to this region in the PDF of available regions.

Definition at line 316 of file Syclop.h.

◆ percentValidCells

double ompl::control::Syclop::Region::percentValidCells

The percent of free volume of this region.

Definition at line 306 of file Syclop.h.

◆ volume

double ompl::control::Syclop::Region::volume

The volume of this region.

Definition at line 302 of file Syclop.h.

◆ weight

double ompl::control::Syclop::Region::weight

The probabilistic weight of this region, used when sampling from PDF.

Definition at line 308 of file Syclop.h.

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

ompl/control/planners/syclop/Syclop.h

Public Member Functions

Public Attributes