Motion Strategy Library

00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) University of Illinois and Steven M. LaValle.     
00006 // All Rights Reserved.
00007 //
00008 // Permission to use, copy, and distribute this software and its
00009 // documentation is hereby granted free of charge, provided that
00010 // (1) it is not a component of a commercial product, and
00011 // (2) this notice appears in all copies of the software and
00012 //     related documentation.
00013 //
00014 // The University of Illinois and the author make no representations
00015 // about the suitability or fitness of this software for any purpose.
00016 // It is provided "as is" without express or implied warranty.
00017 //----------------------------------------------------------------------
00018 
00019 // This file is used to put the classes holding the extra information in
00020 // the node in the search tree.
00021 // Written by Peng Cheng (pcheng1@cs.uiuc.edu) 1/14/2002
00022  
00023 #
00024 #ifndef MSL_NODEINFO_H
00025 #define MSL_NODEINFO_H
00026 
00027 #include "vector.h" 
00028 
00032 
00033 class MSLNodeInfo{
00034 
00035  private:
00037   MSLVector explorationinfo;
00038 
00040   double collisiontendency;
00041 
00042  public:
00043 
00045   MSLVector GetExplorationInfo() {return explorationinfo; };
00046 
00048   void SetExplorationInfo(MSLVector& exploreinfo) {
00049     explorationinfo = exploreinfo;
00050   };
00051 
00053   double GetCollisionTendency() {return collisiontendency; };
00054 
00056   void SetCollisionTendency(double& collisioninfo) {
00057     collisiontendency = collisioninfo;
00058   };
00059 
00060   MSLNodeInfo() { };
00061   MSLNodeInfo(const MSLVector& exploreinfo, const double& collisioninfo ){
00062     explorationinfo = exploreinfo;
00063     collisiontendency = collisioninfo;
00064   };
00065   ~MSLNodeInfo();
00066 
00067 };
00068 
00069 #endif
00070 
00071
nodeinfo.h
