ompl::geometric::RRTXstatic::Motion Class Reference

Representation of a motion (node of the tree) More...

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

Public Member Functions

 Motion (const base::SpaceInformationPtr &si)
 Constructor that allocates memory for the state. This constructor automatically allocates memory for state, cost, and incCost.
 

Public Attributes

base::Statestate
 The state contained by the motion.
 
Motionparent
 The parent motion in the exploration tree.
 
base::Cost cost
 The cost up to this motion.
 
std::vector< Motion * > children
 The set of motions descending from the current motion.
 
std::vector< std::pair< Motion *, bool > > nbh
 The set of neighbors of this motion with a boolean indicating if the feasibility of edge as been tested.
 
BinaryHeap< Motion *, MotionCompare >::Element * handle
 Handle to identify the motion in the queue.
 

Detailed Description

Representation of a motion (node of the tree)

Definition at line 326 of file RRTXstatic.h.


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