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