Vertex data structure of the graph maintained by a planner algorithm. More...
#include <vertex_edge.h>
Public Attributes | |
| vertex_data_t | data |
| The data that is stored in this vertex. | |
| state_t * | state |
| A pointer to the state stored in this vertex. | |
| list< edge_t * > | incoming_edges |
| A list of incoming edges. | |
| list< edge_t * > | outgoing_edges |
| A list of outgoing edges. | |
| list< vertex_t * >::iterator | it_vertex_list |
| A pointer to the location of this vertex in the list of vertices maintained by the planner. | |
Vertex data structure of the graph maintained by a planner algorithm.
This class provides a generic vertex structure that takes the types of the state, input, and the data stored in the vertices as a template argument (for technical reasons it takes the edge data as an argument as well). The main components of the vertex class are the state and the data that the vertex stores. Also for effective search, lists of incoming and outgoing edges are also stored.
| vertex_data_t smp::vertex< typeparams >::data |
The data that is stored in this vertex.
The data that is stored in every vertex of the graph. The type for this data is given as a template argument, and in principle it can be any type/
| list<edge_t*> smp::vertex< typeparams >::incoming_edges |
A list of incoming edges.
The list of all edges that point to this vertex.
| list<vertex_t*>::iterator smp::vertex< typeparams >::it_vertex_list |
A pointer to the location of this vertex in the list of vertices maintained by the planner.
The planner maintains a list of vertices present in the graph. This variable is a pointer to the location of this vertex in that list. The variable is used to quickly remove the vertex from list, without having to traverse the whole list.
| list<edge_t*> smp::vertex< typeparams >::outgoing_edges |
A list of outgoing edges.
This list of all edges that point out from this vertex.
| state_t* smp::vertex< typeparams >::state |
A pointer to the state stored in this vertex.
The state that is associated with this vertex. The type for this state is as a template argument, and it can be of any type.
