ompl::geometric::LBTRRT::Motion Class Reference

Representation of a motion. More...

#include <ompl/geometric/planners/rrt/LBTRRT.h>

Public Member Functions

 Motion (const base::SpaceInformationPtr &si)
 Constructor that allocates memory for the state.
 

Public Attributes

base::Statestate_ {nullptr}
 The state contained by the motion.
 
std::size_t id_
 unique id of the motion
 
double costLb_
 The lower bound cost of the motion while it is stored in the lowerBoundGraph_ and this may seem redundant, the cost in lowerBoundGraph_ may change causing ordering according to it inconsistencies.
 
MotionparentApx_ {nullptr}
 The parent motion in the approximation tree.
 
double costApx_ {0.0}
 The approximation cost.
 
std::vector< Motion * > childrenApx_
 The children in the approximation tree.
 

Detailed Description

Representation of a motion.

a motion is a simultunaeous represntation of the two trees used by LBT-RRT a lower bound tree named Tlb and an approximaion tree named Tapx.

Definition at line 162 of file LBTRRT.h.


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