private:
class DijkstraNode {
public:
- RRTNode* node = nullptr;
+ RRTNode* p_rrtnode = nullptr;
unsigned int i = 0;
bool v = false;
double d = 0.0;
this->v = true;
return false;
}
- DijkstraNode(RRTNode* n) : node(n) {}
+ DijkstraNode(RRTNode* n) : p_rrtnode(n) {}
};
class DijkstraNodeComparator {
public:
int operator() (DijkstraNode const& n1, DijkstraNode const& n2)
{
- return n1.node->cc() > n2.node->cc();
+ return n1.p_rrtnode->cc() > n2.p_rrtnode->cc();
}
};
class DijkstraNodeBackwardComparator {
pq.push(this->dn_.front());
while (!pq.empty()) {
DijkstraNode fd = pq.top();
- RRTNode& f = *fd.node;
+ RRTNode& f = *fd.p_rrtnode;
pq.pop();
this->set_bc_pose_to(f);
for (unsigned int i = fd.i + 1; i < this->dn_.size(); i++) {
- RRTNode& t = *this->dn_[i].node;
+ RRTNode& t = *this->dn_[i].p_rrtnode;
if (!this->_bc.drivable(t)) {
continue;
}
pq.push(this->dn_.front());
while (!pq.empty()) {
DijkstraNode td = pq.top();
- RRTNode& t = *td.node;
+ RRTNode& t = *td.p_rrtnode;
pq.pop();
this->set_bc_pose_to(t);
for (unsigned int i = td.i; i > 0; i--) {
DijkstraNode& fd = this->dn_[i];
- RRTNode& f = *this->dn_[i].node;
+ RRTNode& f = *this->dn_[i].p_rrtnode;
if (!this->_bc.drivable(f)) {
continue;
}