An implementation of the vertex and edge components in the graph. More...
#include <smp/planner_utils/trajectory.h>#include <list>Go to the source code of this file.
Classes | |
| class | smp::vertex< typeparams > |
| Vertex data structure of the graph maintained by a planner algorithm. More... | |
| class | smp::edge< typeparams > |
| Edge data structure of the graph maintained by a planner algorithm. More... | |
Namespaces | |
| namespace | smp |
Sampling-based Motion Planning (SMP) Library. | |
Defines | |
| #define | _SMP_FAST_VERTEX_DELETE 1 |
| This parameter can be set to one for fast vertex deletion. | |
An implementation of the vertex and edge components in the graph.
Provides an implementation of the vertex and edge components in the graph. Both classes are defined as templates that take the types of the state, input, and the data stored in the vertices as well as the type of the data that is stored in the edges as an argument.
| #define _SMP_FAST_VERTEX_DELETE 1 |
This parameter can be set to one for fast vertex deletion.
The planner maintains a list of all the vertices present in the graph. If this parameter is set to one, then each vertex includes a pointer to its location in the list, which makes vertex deletion faster. However, it introduces the overhead of maintaining this variable, which some users may not like. This variable should be set to one when there is intense vertex deletion, e.g., when using a branch and bound heuristic.