hpp-rbprm 4.15.1
Implementation of RB-PRM planner using hpp.
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hpp::rbprm::sampling::OctreeNode Class Reference

#include <hpp/rbprm/sampling/octree-node.hh>

Public Member Functions

 OctreeNode (const pinocchio::JointPtr_t limb, const std::size_t nbSamples, const double resolution=0.1)
 
 ~OctreeNode ()
 

Public Attributes

const std::deque< Samplesamples_
 samples generated More...
 
const fcl::CollisionObject treeObject_
 
const std::vector< fcl::CollisionObject * > boxes_
 Bounding boxes of areas of interest of the octree. More...
 

Constructor & Destructor Documentation

◆ OctreeNode()

hpp::rbprm::sampling::OctreeNode::OctreeNode ( const pinocchio::JointPtr_t  limb,
const std::size_t  nbSamples,
const double  resolution = 0.1 
)

Creates sample from Configuration in presented joint

Parameters
limbroot joint for the considered limb
nbSamplesnumber of samples to generate
resolution,resolutionof the octree voxels

◆ ~OctreeNode()

hpp::rbprm::sampling::OctreeNode::~OctreeNode ( )

Member Data Documentation

◆ boxes_

const std::vector<fcl::CollisionObject*> hpp::rbprm::sampling::OctreeNode::boxes_

Bounding boxes of areas of interest of the octree.

◆ samples_

const std::deque<Sample> hpp::rbprm::sampling::OctreeNode::samples_

samples generated

◆ treeObject_

const fcl::CollisionObject hpp::rbprm::sampling::OctreeNode::treeObject_

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