Vertex data for reachability checking. More...
#include <reachability.h>
Public Attributes | |
| bool | reaches_goal |
| Reachability of the goal region. | |
Vertex data for reachability checking.
This data structure is attached to each vertex in the graph maintained by the planner algorithm. The main component of the data structure is a variable that keeps track of whether this vertex is inside the goal region.
libbot_rrg_double_integrator.cpp, libbot_rrg_dubins_car.cpp, libbot_rrg_dubins_double_integrator_airplane.cpp, libbot_rrg_single_integrator.cpp, libbot_rrt_double_integrator.cpp, libbot_rrt_dubins_car.cpp, libbot_rrt_dubins_double_integrator_airplane.cpp, libbot_rrt_single_integrator.cpp, standalone_rrg_double_integrator.cpp, standalone_rrg_dubins_car.cpp, standalone_rrg_dubins_double_integrator_airplane.cpp, standalone_rrg_single_integrator.cpp, standalone_rrt_double_integrator.cpp, standalone_rrt_dubins_car.cpp, standalone_rrt_dubins_double_integrator_airplane.cpp, and standalone_rrt_single_integrator.cpp.
Reachability of the goal region.
This variable that indicates whether the associated vertex state is inside the goal region. This data structure is suitable when the planner includes a trajectory to reach every vertex in the graph. RRT, RRT*, and RRG planners satsify this criterion.
