Vertex data for minimum-time reachability. More...
#include <minimum_time_reachability.h>
Public Attributes | |
| bool | reaches_goal |
| Reachability of the goal region. | |
Vertex data for minimum-time reachability.
This data structure is attached to each vertex in the graph maintained by the planner algorithm. The data structure includes two variables. One variable indicates whether the associated vertex lies inside the goal region. Another variables keeps track of the cost to reach this particular vertex starting from the root vertex. The latter variable is particularly created to work with teh RRT* algorithm.
libbot_rrtstar_double_integrator.cpp, libbot_rrtstar_dubins_car.cpp, libbot_rrtstar_dubins_double_integrator_airplane.cpp, libbot_rrtstar_single_integrator.cpp, libbot_rrtstar_single_integrator_halton.cpp, libbot_rrtstar_single_integrator_trajectory_biasing.cpp, libbot_rrtstar_single_integrator_trajectory_biasing_and_bnb.cpp, standalone_rrtstar_double_integrator.cpp, standalone_rrtstar_dubins_car.cpp, standalone_rrtstar_dubins_double_integrator_airplane.cpp, standalone_rrtstar_single_integrator.cpp, standalone_rrtstar_single_integrator_halton.cpp, standalone_rrtstar_single_integrator_trajectory_biasing.cpp, and standalone_rrtstar_single_integrator_trajectory_biasing_and_bnb.cpp.
Reachability of the goal region.
This variable that indicates whether the associated vertex state is inside the goal region.
