jafar::lgl::PursuitGNode Class Reference

PursuitGNode is the class for representing each node in the pursuit graph. More...

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Detailed Description

PursuitGNode is the class for representing each node in the pursuit graph.

Each node corresponds to a cell of the environment (Cell_ID) (which is the robot position) and a set of cells (Cell_ID) which are the target potential positions.

Definition at line 43 of file PursuitGNode.hpp.

#include <PursuitGNode.hpp>

List of all members.

Public Member Functions
	PursuitGNode ()
	default constructor
	PursuitGNode (Cell_ID _robotPos, RISK_LEVEL _risk, unsigned long int _time=0, unsigned long int _riskTerm=0)
	PursuitGNode (Cell_ID _robotPos, RISK_LEVEL _risk, std::set< Cell_ID > _targetPos, unsigned long int _time=0, unsigned long int _riskTerm=0)
void	setChildren (const std::vector< boost::shared_ptr< PursuitGNode > > &newChildren)
	change the children of the node
void	noMoreChildren ()
	erase the children vector
void	addChild (const boost::shared_ptr< PursuitGNode > &newChild)
	add a new child to the node (ie a link to a brand new node)
void	addChild (const boost::weak_ptr< PursuitGNode > &newChild)
const std::vector < boost::weak_ptr < PursuitGNode > > &	getChildren () const
	get the children of the node
bool	operator== (const PursuitGNode &rhs) const
	operator == /!\ does not take into account the "time" parameter...
bool	equal (const PursuitGNode &rhs) const
	test equality (total equility, including time
Public Attributes
Cell_ID	robotPos
	Robot position.
RISK_LEVEL	risk
	Risk node.
std::set< Cell_ID >	targetPos
	Target potential positions.
unsigned int	time
	Time associated with the node.
unsigned int	riskTerm
	Time associated with the risk (term of the risk)
Private Attributes
std::vector< boost::weak_ptr < PursuitGNode > >	children
	{{{

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Constructor & Destructor Documentation

jafar::lgl::PursuitGNode::PursuitGNode	(	Cell_ID	_robotPos,
		RISK_LEVEL	_risk,
		unsigned long int	_time = 0,
		unsigned long int	_riskTerm = 0
	)		[inline]

Parameters:

robotPos	position of the robot (Cell_ID)
risk	is the node a risk node

Definition at line 77 of file PursuitGNode.hpp.

jafar::lgl::PursuitGNode::PursuitGNode	(	Cell_ID	_robotPos,
		RISK_LEVEL	_risk,
		std::set< Cell_ID >	_targetPos,
		unsigned long int	_time = 0,
		unsigned long int	_riskTerm = 0
	)		[inline]

Parameters:

robotPos	position of the robot (Cell_ID)
risk	is the node a risk node
targetPos	potential positions of the target (std::set<Cell_ID>)

Definition at line 89 of file PursuitGNode.hpp.

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

• modules/lgl/include/lgl/PursuitGNode.hpp