Index

M

mav_trajectory_generation::checkMatrices (C++ function) mav_trajectory_generation::computeBaseCoefficients (C++ function) mav_trajectory_generation::computeCostNumeric (C++ function) mav_trajectory_generation::computeTimeVelocityRamp (C++ function) mav_trajectory_generation::ConvolutionDimension (C++ class) mav_trajectory_generation::ConvolutionDimension::__anonymous0 (C++ type) mav_trajectory_generation::ConvolutionDimension::length (C++ enumerator) mav_trajectory_generation::convolve (C++ function) mav_trajectory_generation::createRandomDouble (C++ function) mav_trajectory_generation::createRandomVertices (C++ function) mav_trajectory_generation::createRandomVertices1D (C++ function) mav_trajectory_generation::createSquareVertices (C++ function) mav_trajectory_generation::derivative_order::ACCELERATION (C++ member) mav_trajectory_generation::derivative_order::ANGULAR_ACCELERATION (C++ member) mav_trajectory_generation::derivative_order::ANGULAR_VELOCITY (C++ member) mav_trajectory_generation::derivative_order::INVALID (C++ member) mav_trajectory_generation::derivative_order::JERK (C++ member) mav_trajectory_generation::derivative_order::ORIENTATION (C++ member) mav_trajectory_generation::derivative_order::POSITION (C++ member) mav_trajectory_generation::derivative_order::SNAP (C++ member) mav_trajectory_generation::derivative_order::VELOCITY (C++ member) mav_trajectory_generation::drawMavSampledTrajectory (C++ function) mav_trajectory_generation::drawMavSampledTrajectoryWithMavMarker (C++ function) mav_trajectory_generation::drawMavTrajectory (C++ function) mav_trajectory_generation::drawMavTrajectoryWithMavMarker (C++ function) mav_trajectory_generation::drawVertices (C++ function) mav_trajectory_generation::estimateSegmentTimes (C++ function) mav_trajectory_generation::estimateSegmentTimesNfabian (C++ function) mav_trajectory_generation::estimateSegmentTimesVelocityRamp (C++ function) mav_trajectory_generation::Extremum (C++ class) mav_trajectory_generation::Extremum::Extremum (C++ function), [1] mav_trajectory_generation::Extremum::operator< (C++ function) mav_trajectory_generation::Extremum::operator> (C++ function) mav_trajectory_generation::Extremum::segment_idx (C++ member) mav_trajectory_generation::Extremum::time (C++ member) mav_trajectory_generation::Extremum::value (C++ member) mav_trajectory_generation::FeasibilityAnalytic (C++ class) mav_trajectory_generation::FeasibilityAnalytic::checkInputFeasibility (C++ function) mav_trajectory_generation::FeasibilityAnalytic::FeasibilityAnalytic (C++ function), [1], [2], [3] mav_trajectory_generation::FeasibilityAnalytic::Roots (C++ type) mav_trajectory_generation::FeasibilityAnalytic::Settings (C++ class), [1] mav_trajectory_generation::FeasibilityAnalytic::Settings::getMinSectionTimeS (C++ function), [1] mav_trajectory_generation::FeasibilityAnalytic::Settings::setMinSectionTimeS (C++ function), [1] mav_trajectory_generation::FeasibilityAnalytic::Settings::Settings (C++ function), [1] mav_trajectory_generation::FeasibilityAnalytic::settings_ (C++ member) mav_trajectory_generation::FeasibilityBase (C++ class) mav_trajectory_generation::FeasibilityBase::checkHalfPlaneFeasibility (C++ function), [1] mav_trajectory_generation::FeasibilityBase::checkInputFeasibility (C++ function) mav_trajectory_generation::FeasibilityBase::checkInputFeasibilityTrajectory (C++ function) mav_trajectory_generation::FeasibilityBase::FeasibilityBase (C++ function), [1] mav_trajectory_generation::FeasibilityBase::getInputConstraints (C++ function) mav_trajectory_generation::FeasibilityBase::gravity_ (C++ member) mav_trajectory_generation::FeasibilityBase::half_plane_constraints_ (C++ member) mav_trajectory_generation::FeasibilityBase::input_constraints_ (C++ member) mav_trajectory_generation::FeasibilityRecursive (C++ class) mav_trajectory_generation::FeasibilityRecursive::checkInputFeasibility (C++ function) mav_trajectory_generation::FeasibilityRecursive::FeasibilityRecursive (C++ function), [1], [2], [3] mav_trajectory_generation::FeasibilityRecursive::Roots (C++ type) mav_trajectory_generation::FeasibilityRecursive::Settings (C++ class), [1] mav_trajectory_generation::FeasibilityRecursive::Settings::getMinSectionTimeS (C++ function), [1] mav_trajectory_generation::FeasibilityRecursive::Settings::setMinSectionTimeS (C++ function), [1] mav_trajectory_generation::FeasibilityRecursive::Settings::Settings (C++ function), [1] mav_trajectory_generation::FeasibilityRecursive::settings_ (C++ member) mav_trajectory_generation::FeasibilitySampling (C++ class) mav_trajectory_generation::FeasibilitySampling::checkInputFeasibility (C++ function) mav_trajectory_generation::FeasibilitySampling::FeasibilitySampling (C++ function), [1], [2], [3] mav_trajectory_generation::FeasibilitySampling::Settings (C++ class), [1] mav_trajectory_generation::FeasibilitySampling::Settings::getSamplingIntervalS (C++ function), [1] mav_trajectory_generation::FeasibilitySampling::Settings::setSamplingIntervalS (C++ function), [1] mav_trajectory_generation::FeasibilitySampling::Settings::Settings (C++ function), [1] mav_trajectory_generation::FeasibilitySampling::settings_ (C++ member) mav_trajectory_generation::findLastNonZeroCoeff (C++ function) mav_trajectory_generation::findRootsJenkinsTraub (C++ function) mav_trajectory_generation::getHighestDerivativeFromN (C++ function) mav_trajectory_generation::getInputFeasibilityResultName (C++ function) mav_trajectory_generation::getMaximumMagnitude (C++ function) mav_trajectory_generation::HalfPlane (C++ class) mav_trajectory_generation::HalfPlane::createBoundingBox (C++ function) mav_trajectory_generation::HalfPlane::HalfPlane (C++ function), [1] mav_trajectory_generation::HalfPlane::normal (C++ member) mav_trajectory_generation::HalfPlane::point (C++ member) mav_trajectory_generation::HalfPlane::Vector (C++ type) mav_trajectory_generation::InputConstraints (C++ class) mav_trajectory_generation::InputConstraints::addConstraint (C++ function) mav_trajectory_generation::InputConstraints::getConstraint (C++ function) mav_trajectory_generation::InputConstraints::hasConstraint (C++ function) mav_trajectory_generation::InputConstraints::InputConstraints (C++ function) mav_trajectory_generation::InputConstraints::removeConstraint (C++ function) mav_trajectory_generation::InputConstraints::setDefaultValues (C++ function) mav_trajectory_generation::InputConstraintType (C++ type) mav_trajectory_generation::InputFeasibilityResult (C++ type) mav_trajectory_generation::kFMax (C++ enumerator) mav_trajectory_generation::kFMin (C++ enumerator) mav_trajectory_generation::kInputFeasible (C++ enumerator) mav_trajectory_generation::kInputIndeterminable (C++ enumerator) mav_trajectory_generation::kInputInfeasibleRollPitchRates (C++ enumerator) mav_trajectory_generation::kInputInfeasibleThrustHigh (C++ enumerator) mav_trajectory_generation::kInputInfeasibleThrustLow (C++ enumerator) mav_trajectory_generation::kInputInfeasibleVelocity (C++ enumerator) mav_trajectory_generation::kInputInfeasibleYawAcc (C++ enumerator) mav_trajectory_generation::kInputInfeasibleYawRates (C++ enumerator) mav_trajectory_generation::kOmegaXYMax (C++ enumerator) mav_trajectory_generation::kOmegaZDotMax (C++ enumerator) mav_trajectory_generation::kOmegaZMax (C++ enumerator) mav_trajectory_generation::kOptimizationTimeLowerBound (C++ member) mav_trajectory_generation::kVMax (C++ enumerator) mav_trajectory_generation::NonlinearOptimizationParameters (C++ class) mav_trajectory_generation::NonlinearOptimizationParameters::algorithm (C++ member) mav_trajectory_generation::NonlinearOptimizationParameters::equality_constraint_tolerance (C++ member) mav_trajectory_generation::NonlinearOptimizationParameters::f_abs (C++ member) mav_trajectory_generation::NonlinearOptimizationParameters::f_rel (C++ member) mav_trajectory_generation::NonlinearOptimizationParameters::inequality_constraint_tolerance (C++ member) mav_trajectory_generation::NonlinearOptimizationParameters::initial_stepsize_rel (C++ member) mav_trajectory_generation::NonlinearOptimizationParameters::kMellingerOuterLoop (C++ enumerator) mav_trajectory_generation::NonlinearOptimizationParameters::kRichterTime (C++ enumerator) mav_trajectory_generation::NonlinearOptimizationParameters::kRichterTimeAndConstraints (C++ enumerator) mav_trajectory_generation::NonlinearOptimizationParameters::kSquaredTime (C++ enumerator) mav_trajectory_generation::NonlinearOptimizationParameters::kSquaredTimeAndConstraints (C++ enumerator) mav_trajectory_generation::NonlinearOptimizationParameters::kUnknown (C++ enumerator) mav_trajectory_generation::NonlinearOptimizationParameters::max_iterations (C++ member) mav_trajectory_generation::NonlinearOptimizationParameters::print_debug_info (C++ member) mav_trajectory_generation::NonlinearOptimizationParameters::print_debug_info_time_allocation (C++ member) mav_trajectory_generation::NonlinearOptimizationParameters::random_seed (C++ member) mav_trajectory_generation::NonlinearOptimizationParameters::soft_constraint_weight (C++ member) mav_trajectory_generation::NonlinearOptimizationParameters::time_alloc_method (C++ member) mav_trajectory_generation::NonlinearOptimizationParameters::time_penalty (C++ member) mav_trajectory_generation::NonlinearOptimizationParameters::TimeAllocMethod (C++ type) mav_trajectory_generation::NonlinearOptimizationParameters::use_soft_constraints (C++ member) mav_trajectory_generation::NonlinearOptimizationParameters::x_abs (C++ member) mav_trajectory_generation::NonlinearOptimizationParameters::x_rel (C++ member) mav_trajectory_generation::operator<< (C++ function), [1], [2], [3] mav_trajectory_generation::OptimizationInfo (C++ class) mav_trajectory_generation::OptimizationInfo::cost_soft_constraints (C++ member) mav_trajectory_generation::OptimizationInfo::cost_time (C++ member) mav_trajectory_generation::OptimizationInfo::cost_trajectory (C++ member) mav_trajectory_generation::OptimizationInfo::maxima (C++ member) mav_trajectory_generation::OptimizationInfo::n_iterations (C++ member) mav_trajectory_generation::OptimizationInfo::optimization_time (C++ member) mav_trajectory_generation::OptimizationInfo::stopping_reason (C++ member) mav_trajectory_generation::orientationDerivativeToInt (C++ function) mav_trajectory_generation::orintationDerivativeToString (C++ function) mav_trajectory_generation::Polynomial (C++ class) mav_trajectory_generation::Polynomial::base_coefficients_ (C++ member) mav_trajectory_generation::Polynomial::baseCoeffsWithTime (C++ function), [1] mav_trajectory_generation::Polynomial::computeMinMax (C++ function) mav_trajectory_generation::Polynomial::computeMinMaxCandidates (C++ function) mav_trajectory_generation::Polynomial::convolve (C++ function) mav_trajectory_generation::Polynomial::evaluate (C++ function), [1] mav_trajectory_generation::Polynomial::getCoefficients (C++ function) mav_trajectory_generation::Polynomial::getConvolutionLength (C++ function) mav_trajectory_generation::Polynomial::getPolynomialWithAppendedCoefficients (C++ function) mav_trajectory_generation::Polynomial::getRoots (C++ function) mav_trajectory_generation::Polynomial::kMaxConvolutionSize (C++ member) mav_trajectory_generation::Polynomial::kMaxN (C++ member) mav_trajectory_generation::Polynomial::N (C++ function) mav_trajectory_generation::Polynomial::operator!= (C++ function) mav_trajectory_generation::Polynomial::operator* (C++ function), [1] mav_trajectory_generation::Polynomial::operator+ (C++ function) mav_trajectory_generation::Polynomial::operator+= (C++ function) mav_trajectory_generation::Polynomial::operator== (C++ function) mav_trajectory_generation::Polynomial::Polynomial (C++ function), [1], [2] mav_trajectory_generation::Polynomial::scalePolynomialInTime (C++ function) mav_trajectory_generation::Polynomial::selectMinMaxCandidatesFromRoots (C++ function) mav_trajectory_generation::Polynomial::selectMinMaxFromCandidates (C++ function) mav_trajectory_generation::Polynomial::selectMinMaxFromRoots (C++ function) mav_trajectory_generation::Polynomial::setCoefficients (C++ function)

mav_trajectory_generation::Polynomial::Vector (C++ type) mav_trajectory_generation::PolynomialOptimizationNonLinear (C++ class) mav_trajectory_generation::PolynomialOptimizationNonLinear::__anonymous1 (C++ type) mav_trajectory_generation::PolynomialOptimizationNonLinear::addMaximumMagnitudeConstraint (C++ function) mav_trajectory_generation::PolynomialOptimizationNonLinear::ConstraintData (C++ class) mav_trajectory_generation::PolynomialOptimizationNonLinear::getCost (C++ function) mav_trajectory_generation::PolynomialOptimizationNonLinear::getOptimizationInfo (C++ function) mav_trajectory_generation::PolynomialOptimizationNonLinear::getPolynomialOptimizationRef (C++ function), [1] mav_trajectory_generation::PolynomialOptimizationNonLinear::getTotalCostWithSoftConstraints (C++ function) mav_trajectory_generation::PolynomialOptimizationNonLinear::getTrajectory (C++ function) mav_trajectory_generation::PolynomialOptimizationNonLinear::N (C++ enumerator) mav_trajectory_generation::PolynomialOptimizationNonLinear::optimize (C++ function) mav_trajectory_generation::PolynomialOptimizationNonLinear::PolynomialOptimizationNonLinear (C++ function) mav_trajectory_generation::PolynomialOptimizationNonLinear::scaleSegmentTimesWithViolation (C++ function) mav_trajectory_generation::PolynomialOptimizationNonLinear::setupFromVertices (C++ function) mav_trajectory_generation::PolynomialOptimizationNonLinear::solveLinear (C++ function) mav_trajectory_generation::PolynomialOptimizationNonLinear<_N>::ConstraintData::derivative (C++ member) mav_trajectory_generation::PolynomialOptimizationNonLinear<_N>::ConstraintData::this_object (C++ member) mav_trajectory_generation::PolynomialOptimizationNonLinear<_N>::ConstraintData::value (C++ member) mav_trajectory_generation::polynomialTrajectoryMsgToTrajectory (C++ function) mav_trajectory_generation::positionDerivativeToInt (C++ function) mav_trajectory_generation::positionDerivativeToString (C++ function) mav_trajectory_generation::sampledTrajectoryStatesToFile (C++ function) mav_trajectory_generation::sampleFlatStateAtTime (C++ function) mav_trajectory_generation::sampleSegmentAtTime (C++ function) mav_trajectory_generation::sampleTrajectoryAtTime (C++ function) mav_trajectory_generation::sampleTrajectoryInRange (C++ function) mav_trajectory_generation::sampleTrajectoryStartDuration (C++ function) mav_trajectory_generation::sampleWholeTrajectory (C++ function) mav_trajectory_generation::segmentsFromFile (C++ function) mav_trajectory_generation::segmentsToFile (C++ function) mav_trajectory_generation::sgn (C++ function) mav_trajectory_generation::timing::Accumulator (C++ class) mav_trajectory_generation::timing::Accumulator::Accumulator (C++ function) mav_trajectory_generation::timing::Accumulator::Add (C++ function) mav_trajectory_generation::timing::Accumulator::LazyVariance (C++ function) mav_trajectory_generation::timing::Accumulator::Max (C++ function) mav_trajectory_generation::timing::Accumulator::Mean (C++ function) mav_trajectory_generation::timing::Accumulator::Min (C++ function) mav_trajectory_generation::timing::Accumulator::RollingMean (C++ function) mav_trajectory_generation::timing::Accumulator::Sum (C++ function) mav_trajectory_generation::timing::Accumulator::TotalSamples (C++ function) mav_trajectory_generation::timing::DebugTimer (C++ type) mav_trajectory_generation::timing::DummyTimer (C++ class) mav_trajectory_generation::timing::DummyTimer::DummyTimer (C++ function), [1] mav_trajectory_generation::timing::DummyTimer::IsTiming (C++ function) mav_trajectory_generation::timing::DummyTimer::Start (C++ function) mav_trajectory_generation::timing::DummyTimer::Stop (C++ function) mav_trajectory_generation::timing::DummyTimer::~DummyTimer (C++ function) mav_trajectory_generation::timing::MiniTimer (C++ class) mav_trajectory_generation::timing::MiniTimer::getTime (C++ function) mav_trajectory_generation::timing::MiniTimer::MiniTimer (C++ function) mav_trajectory_generation::timing::MiniTimer::start (C++ function) mav_trajectory_generation::timing::MiniTimer::stop (C++ function) mav_trajectory_generation::timing::Timer (C++ class) mav_trajectory_generation::timing::Timer::IsTiming (C++ function) mav_trajectory_generation::timing::Timer::Start (C++ function) mav_trajectory_generation::timing::Timer::Stop (C++ function) mav_trajectory_generation::timing::Timer::Timer (C++ function), [1] mav_trajectory_generation::timing::Timer::~Timer (C++ function) mav_trajectory_generation::timing::TimerMapValue (C++ class) mav_trajectory_generation::timing::TimerMapValue::acc_ (C++ member) mav_trajectory_generation::timing::TimerMapValue::TimerMapValue (C++ function) mav_trajectory_generation::timing::Timing (C++ class) mav_trajectory_generation::timing::Timing::GetHandle (C++ function) mav_trajectory_generation::timing::Timing::GetHz (C++ function), [1] mav_trajectory_generation::timing::Timing::GetMaxSeconds (C++ function), [1] mav_trajectory_generation::timing::Timing::GetMeanSeconds (C++ function), [1] mav_trajectory_generation::timing::Timing::GetMinSeconds (C++ function), [1] mav_trajectory_generation::timing::Timing::GetNumSamples (C++ function), [1] mav_trajectory_generation::timing::Timing::GetTag (C++ function) mav_trajectory_generation::timing::Timing::GetTimers (C++ function) mav_trajectory_generation::timing::Timing::GetTotalSeconds (C++ function), [1] mav_trajectory_generation::timing::Timing::GetVarianceSeconds (C++ function), [1] mav_trajectory_generation::timing::Timing::map_t (C++ type) mav_trajectory_generation::timing::Timing::Print (C++ function), [1] mav_trajectory_generation::timing::Timing::Reset (C++ function) mav_trajectory_generation::timing::Timing::SecondsToTimeString (C++ function) mav_trajectory_generation::Trajectory (C++ class) mav_trajectory_generation::Trajectory::addSegments (C++ function) mav_trajectory_generation::Trajectory::addTrajectories (C++ function) mav_trajectory_generation::Trajectory::clear (C++ function) mav_trajectory_generation::Trajectory::computeMaxVelocityAndAcceleration (C++ function) mav_trajectory_generation::Trajectory::computeMinMaxMagnitude (C++ function) mav_trajectory_generation::Trajectory::D (C++ function) mav_trajectory_generation::Trajectory::empty (C++ function) mav_trajectory_generation::Trajectory::evaluate (C++ function) mav_trajectory_generation::Trajectory::evaluateRange (C++ function) mav_trajectory_generation::Trajectory::getGoalVertex (C++ function) mav_trajectory_generation::Trajectory::getMaxTime (C++ function) mav_trajectory_generation::Trajectory::getMinTime (C++ function) mav_trajectory_generation::Trajectory::getSegments (C++ function) mav_trajectory_generation::Trajectory::getSegmentTimes (C++ function) mav_trajectory_generation::Trajectory::getStartVertex (C++ function) mav_trajectory_generation::Trajectory::getTrajectoryWithAppendedDimension (C++ function) mav_trajectory_generation::Trajectory::getTrajectoryWithSingleDimension (C++ function) mav_trajectory_generation::Trajectory::getVertexAtTime (C++ function) mav_trajectory_generation::Trajectory::K (C++ function) mav_trajectory_generation::Trajectory::N (C++ function) mav_trajectory_generation::Trajectory::operator!= (C++ function) mav_trajectory_generation::Trajectory::operator== (C++ function) mav_trajectory_generation::Trajectory::scaleSegmentTimesToMeetConstraints (C++ function) mav_trajectory_generation::Trajectory::segments (C++ function) mav_trajectory_generation::Trajectory::setSegments (C++ function) mav_trajectory_generation::Trajectory::Trajectory (C++ function) mav_trajectory_generation::Trajectory::~Trajectory (C++ function) mav_trajectory_generation::trajectoryFromFile (C++ function) mav_trajectory_generation::trajectoryToFile (C++ function) mav_trajectory_generation::trajectoryToPolynomialTrajectoryMsg (C++ function) mav_trajectory_generation::Vertex (C++ class) mav_trajectory_generation::Vertex::addConstraint (C++ function), [1] mav_trajectory_generation::Vertex::cBegin (C++ function) mav_trajectory_generation::Vertex::cEnd (C++ function) mav_trajectory_generation::Vertex::Constraint (C++ type) mav_trajectory_generation::Vertex::Constraints (C++ type) mav_trajectory_generation::Vertex::ConstraintValue (C++ type) mav_trajectory_generation::Vertex::D (C++ function) mav_trajectory_generation::Vertex::getConstraint (C++ function) mav_trajectory_generation::Vertex::getNumberOfConstraints (C++ function) mav_trajectory_generation::Vertex::getSubdimension (C++ function) mav_trajectory_generation::Vertex::hasConstraint (C++ function) mav_trajectory_generation::Vertex::isEqualTol (C++ function) mav_trajectory_generation::Vertex::makeStartOrEnd (C++ function), [1] mav_trajectory_generation::Vertex::removeConstraint (C++ function) mav_trajectory_generation::Vertex::Vector (C++ type) mav_trajectory_generation::Vertex::Vertex (C++ function) mav_visualization::Color (C++ class) mav_visualization::Color::Black (C++ function) mav_visualization::Color::Blue (C++ function) mav_visualization::Color::Chartreuse (C++ function) mav_visualization::Color::Color (C++ function), [1], [2] mav_visualization::Color::Gray (C++ function) mav_visualization::Color::Green (C++ function) mav_visualization::Color::Orange (C++ function) mav_visualization::Color::Pink (C++ function) mav_visualization::Color::Purple (C++ function) mav_visualization::Color::Red (C++ function) mav_visualization::Color::Teal (C++ function) mav_visualization::Color::White (C++ function) mav_visualization::Color::Yellow (C++ function) mav_visualization::createPoint (C++ function) mav_visualization::drawArrowPoints (C++ function) mav_visualization::drawArrowPositionOrientation (C++ function) mav_visualization::drawAxes (C++ function) mav_visualization::drawAxesArrows (C++ function) mav_visualization::drawCovariance3D (C++ function) mav_visualization::HexacopterMarker (C++ class) mav_visualization::HexacopterMarker::HexacopterMarker (C++ function) mav_visualization::LeicaMarker (C++ class) mav_visualization::LeicaMarker::LeicaMarker (C++ function) mav_visualization::MarkerGroup (C++ class) mav_visualization::MarkerGroup::description_ (C++ member) mav_visualization::MarkerGroup::getMarkers (C++ function), [1] mav_visualization::MarkerGroup::MarkerGroup (C++ function) mav_visualization::MarkerGroup::markers_ (C++ member) mav_visualization::MarkerGroup::name_ (C++ member) mav_visualization::MarkerGroup::publish (C++ function) mav_visualization::MarkerGroup::setAction (C++ function) mav_visualization::MarkerGroup::setFrameLocked (C++ function) mav_visualization::MarkerGroup::setHeader (C++ function) mav_visualization::MarkerGroup::setHeaderAndNamespace (C++ function) mav_visualization::MarkerGroup::setLifetime (C++ function) mav_visualization::MarkerGroup::setNamespace (C++ function) mav_visualization::MarkerGroup::transform (C++ function) mav_visualization::MarkerGroup::transformMarker (C++ function) mav_visualization::MarkerGroup::~MarkerGroup (C++ function) mav_visualization::MarkerVector (C++ type)

N

nlopt::returnValueToString (C++ function)

T

TrajectorySamplerNode (C++ class)

TrajectorySamplerNode::TrajectorySamplerNode (C++ function) TrajectorySamplerNode::~TrajectorySamplerNode (C++ function)