ompl::geometric::FMT::Motion Class Reference

Representation of a motion. More...

#include <ompl/geometric/planners/fmt/FMT.h>

Public Types

enum  SetType { SET_CLOSED, SET_OPEN, SET_UNVISITED }
 The FMT* planner begins with all nodes included in set Unvisited "Waiting for optimal connection". As nodes are connected to the tree, they are transferred into set Open "Horizon of explored tree." Once a node in Open is no longer close enough to the frontier to connect to any more nodes in Unvisited, it is removed from Open. These three SetTypes are flags indicating which set the node belongs to; Open, Unvisited, or Closed (neither)
 

Public Member Functions

 Motion (const base::SpaceInformationPtr &si)
 Constructor that allocates memory for the state.
 
void setState (base::State *state)
 Set the state associated with the motion.
 
base::StategetState () const
 Get the state associated with the motion.
 
void setParent (Motion *parent)
 Set the parent motion of the current motion.
 
MotiongetParent () const
 Get the parent motion of the current motion.
 
void setCost (const base::Cost cost)
 Set the cost-to-come for the current motion.
 
base::Cost getCost () const
 Get the cost-to-come for the current motion.
 
void setSetType (const SetType currentSet)
 Specify the set that this motion belongs to.
 
SetType getSetType () const
 Get the set that this motion belongs to.
 
bool alreadyCC (Motion *m)
 Returns true if the connection to m has been already tested and failed because of a collision.
 
void addCC (Motion *m)
 Caches a failed collision check to m.
 
void setHeuristicCost (const base::Cost h)
 Set the cost to go heuristic cost.
 
base::Cost getHeuristicCost () const
 Get the cost to go heuristic cost.
 
std::vector< Motion * > & getChildren ()
 Get the children of the motion.
 

Protected Attributes

base::Statestate_ {nullptr}
 The state contained by the motion.
 
Motionparent_ {nullptr}
 The parent motion in the exploration tree.
 
base::Cost cost_ {0.}
 The cost of this motion.
 
base::Cost hcost_ {0.}
 The minimum cost to go of this motion (heuristically computed)
 
SetType currentSet_ {SET_UNVISITED}
 The flag indicating which set a motion belongs to.
 
std::set< Motion * > collChecksDone_
 Contains the connections attempted FROM this node.
 
std::vector< Motion * > children_
 The set of motions descending from the current motion.
 

Detailed Description

Representation of a motion.

Definition at line 214 of file FMT.h.


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